Transformable vehicle and motion control method, device and storage medium thereof

Abstract

The present application relates to the field of transformable vehicles, and particularly relates to a transformable vehicle, a motion control method and device thereof, and a storage medium. The method comprises: when it is detected that the transformable vehicle is in a sitting posture falling posture, controlling a steering wheel at a first connecting rod leg in a supporting state to rotate, so that a vehicle body of the transformable vehicle is close to a wheel of the first connecting rod leg; controlling the wheel of the first connecting rod leg to provide a sprint wheel driving force in a first direction, so that the transformable vehicle completes posture reset after falling. The first direction is a direction opposite to a sitting posture direction of the transformable vehicle. The wheel of the first connecting rod leg provides reset torque for the transformable vehicle, so that the vehicle body of the transformable vehicle is turned over, thereby effectively controlling the transformable vehicle in the sitting posture falling state to be in a reset posture, which is beneficial to maintaining the continuity of control and improving the control experience of a user.

Description

Technical Field

[0001] This application relates to the field of deformable vehicles, and more particularly to deformable vehicles and their motion control methods, devices and storage media. Background Technology

[0002] Transforming cars are toy vehicles with a certain degree of self-adaptability or transformability, such as adjustable tire height to adapt to different road conditions or display different movement postures. However, during controlled use, due to physical limitations or the limits of the mechanical structure itself, transforming cars may still tip over and fall.

[0003] When a transforming vehicle overturns, the built-in safety strategy may automatically put the vehicle into emergency stop mode or protection mode to reduce further damage during the rollover. In this case, the continuity of control is interrupted, and manual intervention is required to restore the transforming vehicle to a normal state before control can be resumed, which is not conducive to improving the user's control experience of the transforming vehicle. Summary of the Invention

[0004] In view of this, embodiments of this application provide a transforming vehicle and its motion control method, device and storage medium to solve the problem that the control of the transforming vehicle is easily interrupted in the prior art, which is not conducive to improving the user's control experience of the transforming vehicle.

[0005] A first aspect of this application provides a motion control method for a deformable vehicle, the deformable vehicle including a body and a linkage leg, a wheel being disposed at the end of the linkage leg, the body being connected to the linkage leg via a servo motor, the method comprising:

[0006] When the deformable vehicle is detected to be in a seated fall posture, the servo motor at the first link leg in the support state is controlled to rotate, so that the body of the deformable vehicle moves closer to the wheel of the first link leg. The seated fall posture is a state in which the body of the deformable vehicle and the link leg on one side of the deformable vehicle jointly provide support.

[0007] The wheel of the first linkage leg is controlled to provide a sprinting wheel driving force in a first direction, so that the deformable vehicle can complete the posture reset after falling. The first direction is the opposite direction to the sitting posture of the deformable vehicle.

[0008] In conjunction with the first aspect, in a first possible implementation of the first aspect, controlling the wheel of the first link leg to provide a sprinting wheel driving force in a first direction includes:

[0009] Determine the first angle between the line connecting the center of gravity of the deformable vehicle and the center point of the wheel of the first connecting leg and the ground.

[0010] Based on the first included angle, the wheel of the first connecting leg is determined to provide a sprinting wheel driving force in the first direction.

[0011] In conjunction with the first possible implementation of the first aspect, in the second possible implementation of the first aspect, determining the wheel of the first link leg to provide a sprinting wheel driving force in the first direction based on the first included angle includes:

[0012] The sprint resistance of the deformable vehicle in the ground direction is determined based on the weight of the deformable vehicle and the first included angle.

[0013] The wheel driving force is determined within a range greater than the sprint resistance.

[0014] In a third possible implementation of the first aspect, in conjunction with the second possible implementation of the first aspect, before determining the wheel driving force within a range greater than the sprint resistance, the method further includes:

[0015] Determine the friction force between the wheels of the deformable vehicle and the ground;

[0016] When the motor driving force of the deformable vehicle is less than or equal to the friction force, the motor driving force is determined to be the wheel driving force.

[0017] When the motor driving force of the deformable vehicle is greater than the frictional force, the frictional force is determined to be the wheel driving force.

[0018] In conjunction with the first aspect, in a fourth possible implementation of the first aspect, when controlling the rotation of the servo motor at the first link leg in the supported state, the method further includes:

[0019] The wheel of the second link leg of the deformable vehicle is raised and kept in balance by a feedback control method. The second link leg is the link leg on the opposite side of the first link leg of the deformable vehicle.

[0020] In a fifth possible implementation of the first aspect, in combination with any one of the first to fourth possible implementations of the first aspect, after the deformable vehicle has completed its post-fall posture reset, the method further includes:

[0021] Control the rotation of the first link leg and / or the second link leg of the deformable vehicle to raise the center of gravity of the deformable vehicle;

[0022] The deformable vehicle maintains a balanced state supported by the first link leg through a feedback control method;

[0023] Controlling the rotation of the first link leg to move the body of the deformable vehicle away from the wheel of the first link leg, and providing a second-direction wheel driving force to the wheel of the first link leg, so that the deformable vehicle is in a seated, falling state, where the second direction is the direction in which the deformable vehicle is facing when seated.

[0024] In conjunction with the fifth possible implementation of the first aspect, in the sixth possible implementation of the first aspect, when the deformable vehicle maintains the balanced state supported by the first link leg through the feedback control method, the method further includes: raising the second link leg of the deformable vehicle.

[0025] Secondly, embodiments of this application provide a motion control device for a deformable vehicle, the deformable vehicle including a body and a linkage leg, with a wheel disposed at the end of the linkage leg, the body being connected to the linkage leg via a servo motor, the device including:

[0026] The rotation control unit is used to detect when the deformable vehicle is in a seated fall posture, and control the servo motor at the first link leg in the support state to rotate, so that the body of the deformable vehicle moves closer to the wheel of the first link leg. The seated fall posture is a state in which the body of the deformable vehicle and the link leg on one side of the deformable vehicle jointly provide support.

[0027] The drive unit is used to control the wheels of the first linkage leg to provide a sprinting wheel driving force in a first direction, so that the deformable vehicle can complete the posture reset after falling, and the first direction is the opposite direction to the sitting posture of the deformable vehicle.

[0028] In conjunction with the second aspect, in a first possible implementation of the second aspect, the driving unit includes:

[0029] Angle determination subunit is used to determine the first angle between the line connecting the center of gravity of the deformable vehicle and the center point of the wheel of the first link leg and the ground.

[0030] The driving force determination subunit is used to determine the wheel driving force of the first link leg to provide a sprint in the first direction based on the first included angle.

[0031] In conjunction with the first possible implementation of the second aspect, in the second possible implementation of the second aspect, the driving force determining subunit includes:

[0032] The sprint resistance determination submodule is used to determine the sprint resistance of the deformable vehicle in the ground direction based on the weight of the deformable vehicle and the first included angle.

[0033] A wheel driving force determination module is used to determine the wheel driving force within a range greater than the sprint resistance.

[0034] In conjunction with the second possible implementation of the second aspect, in the third possible implementation of the second aspect, the apparatus further includes:

[0035] A friction force determination module is used to determine the friction force between the wheels of the deformable vehicle and the ground.

[0036] The first driving force module is used to determine the motor driving force as the wheel driving force when the motor driving force of the deformable vehicle is less than or equal to the friction force.

[0037] The second driving force determination module is used to determine the friction force as the wheel driving force when the motor driving force of the deformable vehicle is greater than the friction force.

[0038] In conjunction with the second aspect, in a fourth possible implementation of the second aspect, the apparatus further includes:

[0039] The lifting control unit is used to control the wheel of the second link leg of the deformable vehicle to lift upward and maintain balance through feedback control. The second link leg is the link leg on the opposite side of the first link leg of the deformable vehicle.

[0040] In conjunction with any one of the second to fourth possible implementations of the second aspect, in the fifth possible implementation of the second aspect, the apparatus further includes:

[0041] A center of gravity lifting unit is used to control the rotation of the first link leg and / or the second link leg of the deformable vehicle to lift the center of gravity of the deformable vehicle;

[0042] A balance control unit is used to maintain the balance of the first link leg support of the deformable vehicle through a feedback control method;

[0043] The fall control unit is used to control the rotation of the first linkage leg, so that the body of the deformable vehicle moves away from the wheel of the first linkage leg, and provides a second-direction wheel driving force to the wheel of the first linkage leg, so that the deformable vehicle is in a seated fall state, where the second direction is the direction in which the seated deformable vehicle is facing.

[0044] In conjunction with the fifth possible implementation of the second aspect, in the sixth possible implementation of the second aspect, the device further includes: a lifting unit for lifting the second link leg of the deformable vehicle.

[0045] A third aspect of this application provides a variant vehicle including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the method as described in any of the first aspects.

[0046] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method as described in any of the first aspects.

[0047] The beneficial effects of this application embodiment compared with the prior art are as follows: When the deformable vehicle is detected to be in a seated fall posture, this application embodiment controls the rotation of the first link leg, which is in a supporting role, so that the body of the deformable vehicle moves closer to the wheel of the first link leg. The first link leg wheel is also controlled to provide a sprinting wheel driving force in a first direction opposite to the seated orientation, so that the wheel of the first link leg provides a reset torque for the deformable vehicle, causing the deformable vehicle to right itself. This effectively controls the deformable vehicle in the seated fall posture to a reset posture, which helps to maintain the continuity of control and improves the user's control experience. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is a side view of a deformable vehicle provided in an embodiment of this application;

[0050] Figure 2 This is a schematic diagram illustrating the implementation process of a motion control method for a deformable vehicle provided in an embodiment of this application;

[0051] Figure 3 This is a schematic diagram of a deformable vehicle in a seated, fallen-over state, as provided in an embodiment of this application.

[0052] Figure 4 This is a schematic diagram of a deformable vehicle in a balance control state provided in an embodiment of this application;

[0053] Figure 5 This is a schematic diagram of the force analysis of the deformable vehicle provided in the embodiments of this application;

[0054] Figure 6 This is a schematic diagram illustrating the relationship between wheel driving force and motor driving force provided in an embodiment of this application;

[0055] Figure 7 This is a schematic diagram of a deformed vehicle after its body has been righted, as provided in an embodiment of this application.

[0056] Figure 8 This is a schematic diagram of the standard pose of a deformable vehicle provided in an embodiment of this application;

[0057] Figure 9 This is a schematic diagram illustrating the implementation flow of the method provided in the embodiments of this application;

[0058] Figure 10This is a schematic diagram of a motion control device for a deformable vehicle provided in an embodiment of this application;

[0059] Figure 11 This is a schematic diagram of a deformable vehicle provided in an embodiment of this application. Detailed Implementation

[0060] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0061] To illustrate the technical solution described in this application, specific embodiments are provided below.

[0062] A transforming car is a toy vehicle with a certain degree of self-adaptability or transformability. For example, the legs can be adjusted to change the center of gravity of the transforming car to adapt to different road conditions or demonstrate different movement postures. Figure 1 The diagram shown is a side view of a transforming vehicle. This vehicle includes four linkage legs 11, with a wheel 12 at the end of each linkage leg 11. The rotation of the wheels 12 can be controlled to change the position of the transforming vehicle. The linkage legs 11 are connected to the vehicle body 13 via a servo motor 14. The servo motor 14 can change the second angle between the linkage leg 11 and the vertical direction within a certain range. For example, increasing the second angle between the linkage leg 11 and the vertical direction can change the center of gravity of the transforming vehicle.

[0063] During the operation of transforming vehicles, due to physical limitations or the limits of the mechanical structure itself, the vehicles may still overturn or fall. When a transforming vehicle overturns or falls, the built-in safety strategy may automatically put the vehicle into an emergency stop mode or a protection mode to reduce further damage during the rollover. In this case, the continuity of control is interrupted, and manual intervention is required to restore the transforming vehicle to its normal state before control can resume, which is detrimental to improving the user's control experience.

[0064] Based on this, this application proposes a motion control method for a transforming vehicle. By controlling the joint angle of the linkage leg, the transforming vehicle can complete a seated folding motion along a specific trajectory and automatically return to its normal four-wheeled state, thus providing a better continuous control experience for the transforming vehicle. Figure 2 The diagram shown illustrates the implementation flow of the motion control method for this deformable vehicle, detailed below:

[0065] In S201, when it is detected that the deformable vehicle is in a seated, fallen posture, the servo motor at the first link leg, which is in a supporting state, is controlled to rotate, so that the body of the deformable vehicle moves closer to the wheel of the first link leg.

[0066] The deformable vehicle can be equipped with a pose sensor to detect its position and posture information. For example, the pose sensor may include a gyroscope and / or an accelerometer. The pose sensor can detect whether the deformable vehicle is in a normal driving state or in an abnormal sitting or falling state.

[0067] Due to human error or other non-human causes, deformed vehicles may tip over or over. For example... Figure 3 The diagram illustrates a transforming vehicle in a seated, fallen position. A seated, fallen position can be understood as the transforming vehicle being in a fallen state, similar to a seated posture. Figure 3 As shown, when the transforming vehicle is in a seated, fallen position, one of the connecting legs (the first connecting leg) on ​​one side of the transforming vehicle and the vehicle's body together provide support, putting the transforming vehicle in a state between standing and flipping, similar to a human sitting in a supported position with their legs and buttocks.

[0068] For example, the pose sensor can set the standard pose when the deformable vehicle is in a normal moving state. If the angle between the current pose and the standard pose is within a predetermined angle range, it can be considered that the deformable vehicle is in a seated, fallen state.

[0069] In this embodiment, the first link leg (later referred to as the second link leg) can be the link leg corresponding to the first side and the second side when the deformable vehicle may roll over. For example, when the deformable vehicle rolls from the first side to the second side, the first side corresponds to the first link leg, and the second side corresponds to the second link leg. When the deformable vehicle is a four-wheeled deformable vehicle, the first link leg includes the two link legs on the first side, and the second link leg includes the two link legs on the second side.

[0070] To accommodate the needs of rollover control, the wheels of the deformable vehicle can provide driving force in the rollover direction, enabling the vehicle to effectively adapt to the requirements of reset control. For example, when the wheels can provide driving force in both the left-right and forward-backward directions, it can accommodate the reset requirements of left-right and forward-backward rollovers. When the wheels can only provide driving force in the forward-backward direction, it can accommodate the reset requirements of forward-backward rollovers.

[0071] like Figure 3As shown, by detecting that the angle between the current pose of the deformable vehicle and the standard pose is within a predetermined angle range by the pose sensor, it is determined that the deformable vehicle is in a seated fall state. The attitude reset control of the deformable vehicle can be implemented, and the servo motor at the first link leg in the support state is controlled to rotate, so that the wheel of the first link leg is close to the body of the deformable vehicle.

[0072] like Figure 4 As shown, for Figure 3 The transforming vehicle shown is in a seated, fallen position. By rotating the first linkage leg, the angle between the first linkage leg and the vehicle body decreases, causing the vehicle body and the first linkage leg to huddle together, shifting the vehicle's center of gravity towards the seated orientation. Here, the seated orientation refers to the direction the linkage leg of the vehicle body faces when it is in the seated, fallen position. For example... Figure 3 In the side view shown, the sitting posture faces to the left.

[0073] In order to complete the rolling over movement more effectively, such as Figure 4 As shown, when the first link leg is rotated to move the center of gravity of the deformable vehicle toward the direction the seat is facing, the second link leg can also be controlled to lift upwards to better maintain the deformable vehicle in a stable balance.

[0074] When controlling the second link leg to lift upwards and the first link leg to move closer to the body of the deformable vehicle, the position of the deformable vehicle relative to the wheel of the first link leg (i.e., the support point of the deformable vehicle) will be affected. In order to effectively control the stability and reliability of the deformable vehicle during the posture reset process, feedback control algorithms, including methods such as PID control and PI control, can be used to enable the deformable vehicle to achieve posture reset stably and reliably according to the set trajectory.

[0075] For example, the deviation of the center of gravity relative to the support point can be determined based on the influence of the first and second link legs on the center of gravity and the support point. Based on this deviation, a PID control formula can be used.

[0076]

[0077] The required adjustment command is calculated. Here, Kp is the proportional coefficient, Ki is the integral time constant, Kd is the derivative time constant, error(t) represents the current deviation, t is time, and cmd(t) is the deviation adjustment command, which may include control commands for the rotation angles of the first and second link legs.

[0078] In S202, the wheel of the first linkage leg is controlled to provide a sprinting wheel driving force in the first direction, so that the deformable vehicle completes the posture reset after falling.

[0079] The deformed vehicle is in Figure 4In the state shown, for ease of force analysis, the center of gravity of the deformable car can be simplified to point C, and the deformable car model can be abstracted as having a light-weight connecting rod between the wheel and the center of gravity. The force analysis can then be performed as follows: Figure 5 As shown. At this moment, the center of gravity C of the transforming vehicle is subjected to a downward gravitational force G9, and the wheel A of the first link leg of the transforming vehicle can receive an upward vertical support force F from the ground. N The force, f, is the wheel driving force provided to the wheel via the motor. F' is the first force exerted by the deformable vehicle on the wheel via the light rod, and F is the force exerted by the wheel on the deformable vehicle via the light rod. Angle θ is the first angle between the line connecting the center of gravity of the deformable vehicle and the center point of the wheel of the first link leg and the ground. The wheel driving force required to be provided by the wheel of the first link leg is determined based on the first angle.

[0080] Critical conditions can be found through force analysis, which allows the deformable vehicle to determine the wheel driving force required for its center of gravity to move precisely upward.

[0081] For the force analysis at point C, when the critical condition is met, point C satisfies the following in the vertical direction:

[0082]

[0083] Force analysis of point A shows that, under critical conditions, point A satisfies the following in the horizontal direction:

[0084] f≥F′cosθ

[0085] Since forces act in pairs, therefore: F = F'.

[0086] Combining the above formulas, we can obtain: f ≥ Gcotθ. Here, Gcotθ is the drag force of the deformable vehicle in the ground direction. When the condition f ≥ Gcotθ is satisfied, the center of gravity of the deformable vehicle can be moved upwards, causing the vehicle to right itself.

[0087] Since the weight of the deforming vehicle remains constant, the larger the angle θ, the smaller the sprint resistance, and therefore the required wheel driving force can be reduced accordingly. The wheel driving force of the first link leg can be selected from a range greater than Gcotθ.

[0088] In one possible implementation, the relationship between wheel driving force and first angle can be set. By detecting the current first angle, the required wheel driving force can be determined so that the deformable vehicle can meet the requirement of moving the center of gravity upward and provide acceleration for the deformable vehicle, as well as the torque required for the deformable vehicle to right itself.

[0089] Furthermore, since the wheel drive force of the transforming vehicle is converted from the motor drive force, and the motor drive force has a certain numerical range, the sprint can only begin when the sprint resistance determined by the first included angle of the transforming vehicle is less than the maximum motor drive force, in order to right the body of the transforming vehicle.

[0090] In possible implementations, considering the differences in ground conditions, the magnitude of the friction between the wheel and the ground can also be obtained. When the motor driving force is greater than the friction, the wheel may experience sliding friction. Therefore, the wheel driving force will not always be the same as the motor driving force. Figure 6 As shown, when the motor driving force increases to a certain value (such as friction), the motor driving force is greater than the frictional force f' between the wheel and the ground. At this point, the wheel driving force is a constant value fmax. When the motor driving force is less than a certain value (friction), the motor driving force is equal to the wheel driving force.

[0091] Among them, motor driving force refers to the force provided by the motor to drive the wheels to rotate. Wheel driving force is the force provided by the wheels to drive the deformable vehicle to move.

[0092] Because the transforming vehicle is controlled by clustering together and its center of gravity shifts towards the direction the seating position is facing, the wheel drive force provided by the first linkage leg's wheel can be controlled more reliably to provide the torque needed to right the vehicle, allowing it to enter the... Figure 7 The state shown indicates that the first link leg of the transforming vehicle is close to the vehicle body, while the second link leg is far from the vehicle body or the angle between the second link leg and the vehicle body is greater than a predetermined angle threshold. At this time, the pitch angle information of the transforming vehicle can be detected by a pose sensor. When the pitch angle of the transforming vehicle meets the predetermined requirements, it indicates that the vehicle body has been righted, and the rotation of the wheels on the first link leg can be stopped.

[0093] After the transforming vehicle rights itself through a sprint, the wheels of the first linkage leg are rotated, causing the wheels of both the first and second linkage legs to touch the ground. Figure 7 As shown, the angles of the first and second link legs are abnormal at this time, and the angles of the first and second link legs need to be adjusted to bring them into proper alignment. Figure 8 The standard angle shown allows for better posture recovery of the deformable vehicle after a fall. For example... Figure 8 As shown, by adjusting the angles of the first and second linkage legs, the body of the transforming vehicle is positioned parallel to the ground. The first and second linkage legs open to the sides at a set angle, causing the center of gravity of the transforming vehicle to drop downwards, thereby enabling reliable control of the vehicle's movement.

[0094] To further enrich the control operation of the deformable vehicle, embodiments of this application may also include a fall control strategy for the deformable vehicle, such as... Figure 9 As shown, the fall control strategy of the deformable vehicle can include initial state 1, high center of gravity preparation state 2, balance state supported by the first link leg 3, sprint state 4, and seated fall state 5.

[0095] In the high center of gravity preparatory state 2, the center of gravity of the deforming vehicle can be raised by controlling the rotation of the first link leg and / or the second link leg to reduce their angle with the vertical direction, thereby enabling the deforming vehicle to effectively transition to the balanced state 3 supported by the first link leg. In order to maintain balance more effectively, the second link leg can also be raised at this time, and the balance of the deforming vehicle can be maintained through feedback control.

[0096] In the sprint state, the first linkage leg can be rotated to move the vehicle body away from the wheel of the first linkage leg, and to provide a second-direction wheel driving force to the wheel of the first linkage leg, that is, a wheel driving force in the direction the sitting posture is facing. This provides the sprint force for the transforming vehicle to fall, causing the vehicle body to land in a sitting fall state 5. The method for determining the second-direction wheel driving force is similar to the method for determining the first-direction wheel driving force.

[0097] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0098] Figure 10 This is a schematic diagram of a motion control device for a deformable vehicle provided in an embodiment of this application, as shown below. Figure 10 As shown, the device includes:

[0099] The rotation control unit 1001 is used to control the servo motor at the first link leg in the support state to rotate when the deformable vehicle is in a seated and falling posture, so that the body of the deformable vehicle moves closer to the wheel of the first link leg.

[0100] The drive unit 1002 is used to control the wheel of the first link leg to provide a sprinting wheel driving force in a first direction, so that the deformable vehicle can complete the posture reset after falling, and the first direction is the opposite direction of the seat posture of the deformable vehicle.

[0101] Figure 10 The motion control device of the deformable vehicle shown is, with Figure 2 The motion control method of the deformable vehicle shown corresponds to this.

[0102] Figure 11 This is a schematic diagram of the deformable vehicle provided in an embodiment of this application. For example... Figure 11As shown, the deformable vehicle 11 in this embodiment includes: a processor 110, a memory 111, and a computer program 112 stored in the memory 111 and executable on the processor 110, such as a motion control program for the deformable vehicle. When the processor 110 executes the computer program 112, it implements the steps in the motion control method embodiments of the various deformable vehicles described above. Alternatively, when the processor 110 executes the computer program 112, it implements the functions of each module / unit in the various device embodiments described above.

[0103] For example, the computer program 112 may be divided into one or more modules / units, which are stored in the memory 111 and executed by the processor 110 to complete this application. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 112 in the deformable vehicle 11.

[0104] The transforming vehicle may include, but is not limited to, a processor 110 and a memory 111. Those skilled in the art will understand that... Figure 11 This is merely an example of the deformable vehicle 11 and does not constitute a limitation on the deformable vehicle 11. It may include more or fewer components than shown, or combine certain components, or different components. For example, the deformable vehicle may also include input / output devices, network access devices, buses, etc.

[0105] The processor 110 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0106] The memory 111 can be an internal storage unit of the transforming vehicle 11, such as a hard drive or memory. The memory 111 can also be an external storage device of the transforming vehicle 11, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the transforming vehicle 11. Furthermore, the memory 111 can include both internal and external storage units of the transforming vehicle 11. The memory 111 is used to store the computer program and other programs and data required by the transforming vehicle. The memory 111 can also be used to temporarily store data that has been output or will be output.

[0107] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0108] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0109] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0110] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0111] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0112] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0113] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by hardware related to computer program instructions. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0114] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A motion control method for a deformable vehicle, characterized in that, The deformable vehicle includes a body and a linkage leg, with a wheel disposed at the end of the linkage leg. The body is connected to the linkage leg via a servo motor. The method includes: When the deformable vehicle is detected to be in a seated fall posture, the servo motor at the first link leg in the support state is controlled to rotate, so that the body of the deformable vehicle moves closer to the wheel of the first link leg. The seated fall posture is a state in which the body of the deformable vehicle and the link leg on one side of the deformable vehicle jointly provide support. The wheel of the first linkage leg is controlled to provide a sprinting wheel driving force in a first direction, so that the deformable vehicle can complete the posture reset after falling. The first direction is the opposite direction to the sitting posture of the deformable vehicle.

2. The method according to claim 1, characterized in that, Controlling the wheel of the first link leg to provide a sprinting wheel drive force in a first direction includes: Determine the first angle between the line connecting the center of gravity of the deformable vehicle and the center point of the wheel of the first connecting leg and the ground. Based on the first included angle, the wheel of the first connecting leg is determined to provide a sprinting wheel driving force in the first direction.

3. The method according to claim 2, characterized in that, Determining the wheel of the first link leg to provide a sprinting wheel driving force in the first direction based on the first included angle includes: The sprint resistance of the deformable vehicle in the ground direction is determined based on the weight of the deformable vehicle and the first included angle. The wheel driving force is determined within a range greater than the sprint resistance.

4. The method according to claim 3, characterized in that, Before determining the wheel driving force within a range greater than the sprint resistance, the method further includes: Determine the friction force between the wheels of the deformable vehicle and the ground; When the motor driving force of the deformable vehicle is less than or equal to the friction force, the motor driving force is determined to be the wheel driving force. When the motor driving force of the deformable vehicle is greater than the frictional force, the frictional force is determined to be the wheel driving force.

5. The method according to claim 1, characterized in that, When controlling the rotation of the servo motor at the first link leg in the supported state, the method further includes: The wheel of the second link leg of the deformable vehicle is raised and kept in balance by a feedback control method. The second link leg is the link leg on the opposite side of the first link leg of the deformable vehicle.

6. The method according to any one of claims 1-5, characterized in that, After restoring the deformable vehicle to its original posture after the fall, the method further includes: Control the rotation of the first link leg and / or the second link leg of the deformable vehicle to raise the center of gravity of the deformable vehicle; The deformable vehicle maintains a balanced state supported by the first link leg through a feedback control method; Controlling the rotation of the first link leg to move the body of the deformable vehicle away from the wheel of the first link leg, and providing a second-direction wheel driving force to the wheel of the first link leg, so that the deformable vehicle is in a seated, falling state, where the second direction is the direction in which the deformable vehicle is facing when seated.

7. The method according to claim 6, characterized in that, When the deformable vehicle maintains the balanced state supported by the first link leg through the feedback control method, the method further includes: Raise the second link leg of the deformed vehicle.

8. A motion control device for a deformable vehicle, characterized in that, The deformable vehicle includes a body and a linkage leg, with a wheel located at the end of the linkage leg. The body is connected to the linkage leg via a servo motor. The device includes: The rotation control unit is used to detect when the deformable vehicle is in a seated fall posture, and control the servo motor at the first link leg in the support state to rotate, so that the body of the deformable vehicle moves closer to the wheel of the first link leg. The seated fall posture is a state in which the body of the deformable vehicle and the link leg on one side of the deformable vehicle jointly provide support. The drive unit is used to control the wheels of the first linkage leg to provide a sprinting wheel driving force in a first direction, so that the deformable vehicle can complete the posture reset after falling, and the first direction is the opposite direction to the sitting posture of the deformable vehicle.

9. A transforming vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 7.

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