Motion trajectory generation method, motion control method and related devices

Abstract

The present disclosure provides a motion trajectory generation method, a motion control method, and related devices, relating to the field of robotics. The motion trajectory generation method includes: determining motion constraints corresponding to a target motion, and determining a reference pose for the target motion, wherein the target motion includes the robot performing a preset action and, upon completion of the preset action, touching the ground with a target support leg and maintaining a stable state; the motion constraints are used to limit the range of variation of the robot's state parameters and control parameters during the target motion; obtaining a target cost function model based on the motion constraints; and obtaining a motion trajectory for the target motion based on the target cost function model and the reference pose. In this way, the robot can be controlled to complete more complex target motions based on the motion trajectory, thereby expanding the complexity of the actions that the robot can perform and further expanding the robot's application scenarios.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular to a motion trajectory generation method, a motion control method, and related devices. Background Art

[0002] In related technologies, legged robots can perform simple walking movements, but more complex movements are difficult to achieve. Summary of the Invention

[0003] In order to overcome the problems existing in the related art, the present disclosure provides a motion trajectory generation method, a motion control method and related devices.

[0004] According to a first aspect of an embodiment of the present disclosure, a motion trajectory generating method is provided, comprising:

[0005] Determining motion constraints corresponding to a target motion, and determining a reference pose for the target motion, wherein the target motion includes the robot performing a preset action and, upon completion of the preset action, touching the ground with a target supporting leg and maintaining a stable state, and the motion constraints are used to limit the range of variation of state parameters and control parameters of the robot during the target motion;

[0006] According to the motion constraint conditions, a target cost function model is obtained;

[0007] A motion trajectory of the target motion is obtained according to the target cost function model and the reference pose.

[0008] Optionally, the robot is a quadruped robot, the target supporting leg is a front leg or a hind leg, the target motion is that the robot performs a preset action, and when the preset action is completed, the body is supported by the foot end contact and knee joint contact of the target supporting leg, and the body remains in a balanced state.

[0009] Optionally, the state parameter includes the posture at each moment, the control parameter includes the support reaction force of each target supporting leg, and the motion constraint condition corresponding to the target motion is determined, including:

[0010] Determining the motion constraint condition includes at least one of the following constraints:

[0011] In a first motion state of the target motion, the to-be-optimized support reaction force of each target supporting leg satisfies a friction cone constraint, wherein the first motion state is a ground contact state of the target supporting leg;

[0012] In the second motion state of the target motion, the posture to be optimized satisfies a preset balance condition, wherein the second motion state is a state in which the target supporting leg touches the ground and remains stable when the preset action is completed, and the balance condition includes that the projection of the center of mass of the fuselage is within a stable support area, and the stable support area is an area composed of the foot end contact point and the knee joint contact point of the supporting leg.

[0013] Optionally, the friction cone constraint is that the resultant force of the reaction force to be optimized in the horizontal plane direction is less than the product of a preset friction coefficient and a normal force, and the direction of the normal force is perpendicular to the horizontal plane direction.

[0014] Optionally, the motion constraint condition further includes at least one of the following constraints:

[0015] In each state of the target motion, the posture to be optimized and / or the control parameters to be optimized satisfy a preset dynamic equation;

[0016] In each state of the target motion, the posture to be optimized and / or the control parameter to be optimized meet a preset experience range.

[0017] Optionally, determining a reference pose of the target motion includes:

[0018] determining a temporal foot contact sequence of the target movement;

[0019] determining, according to the foot contact sequence, at least one movement phase corresponding to the target movement and a time of each movement phase in the at least one movement phase;

[0020] The reference posture is determined according to the at least one motion phase and the time of each motion phase in the at least one motion phase.

[0021] Optionally, the robot is a quadruped robot, the preset action is a front flip or a back flip, the foot end contact sequence sequentially includes the quadruped foot end touching the ground, the foot end of the first supporting leg touching the ground, the quadruped foot end taking off, the foot end of the second supporting leg touching the ground, and the foot end and knee joint of the second supporting leg touching the ground, the first supporting leg and the second supporting leg are two different groups of target supporting legs, and the target supporting legs are the front legs or the back legs;

[0022] Determining at least one motion phase corresponding to the target motion according to the foot end contact sequence includes:

[0023] According to the foot end contact sequence, it is determined that the target motion includes at least one of the following five motion phases:

[0024] In the first movement phase, the robot takes a quadrupedal support as a starting posture, and while maintaining the quadrupedal support state, the body flips toward a target direction. When the preset action is a front flip, the target direction is the front of the robot; when the preset action is a back flip, the target direction is the rear of the robot.

[0025] In the second movement phase, the foot end of the second supporting leg leaves the ground, the foot end of the first supporting leg remains in contact with the ground, and the fuselage continues to flip due to the driving force of the first supporting leg;

[0026] In the third movement stage, the foot end of the first supporting leg leaves the ground, the four legs enter a completely airborne state, and the fuselage continues to flip under the action of inertia;

[0027] In the fourth movement stage, the foot end of the second supporting leg touches the ground and outputs a support reaction force, the flipping speed of the fuselage decreases, and the flipping continues;

[0028] In the fifth movement stage, the foot end of the second supporting leg keeps touching the ground and the knee joint touches the ground, and both the foot end and the knee joint output support reaction force, so that the flipping speed of the fuselage is reduced to zero, the fuselage posture reaches the desired posture and maintains static balance.

[0029] According to a second aspect of an embodiment of the present disclosure, a motion control method is provided, the method comprising:

[0030] In response to an instruction to execute a target movement, the robot is controlled to move along a motion trajectory of the target movement, wherein the motion trajectory of the target movement is obtained according to the motion trajectory generation method of the first aspect of the present disclosure.

[0031] According to a third aspect of an embodiment of the present disclosure, there is provided a motion trajectory generating device, comprising:

[0032] a determination module configured to determine motion constraints corresponding to a target motion, and to determine a reference pose for the target motion, wherein the target motion includes the robot performing a preset action and, upon completion of the preset action, touching the ground with a target supporting leg and maintaining a stable state, and the motion constraints are used to limit a range of variation of state parameters and control parameters of the robot during the target motion;

[0033] A first obtaining module is configured to obtain a target cost function model according to the motion constraint condition;

[0034] The second acquisition module is configured to obtain the motion trajectory of the target motion according to the target cost function model and the reference posture.

[0035] According to a fourth aspect of an embodiment of the present disclosure, there is provided a motion control device, comprising:

[0036] The control module is configured to control the robot to move along a motion trajectory of the target motion in response to an instruction to execute the target motion, wherein the motion trajectory of the target motion is obtained according to the motion trajectory generation method of the first aspect of the present disclosure.

[0037] According to a fifth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the motion trajectory generation method of the first aspect of the present disclosure or the motion control method of the second aspect of the present disclosure is implemented.

[0038] According to a sixth aspect of an embodiment of the present disclosure, a computer program product is provided, which includes a computer program that can be executed by a programmable device, and the computer program has a code portion for executing the motion trajectory generation method of the first aspect of the present disclosure or the motion control method of the second aspect of the present disclosure when executed by the programmable device.

[0039] According to a seventh aspect of the embodiments of the present disclosure, there is provided an electronic device, including:

[0040] a storage device for storing a computer program;

[0041] An execution device is used to execute the computer program to implement the motion trajectory generation method of the first aspect of the present disclosure or the motion control method of the second aspect of the present disclosure.

[0042] The technical solutions provided by the embodiments of the present disclosure may have the following beneficial effects:

[0043] The present disclosure aims at more complex target motions, determines the motion constraints corresponding to the target motion and the reference posture of the target motion, and determines the target cost function model based on the motion constraints, so that the motion trajectory of the target motion can be obtained according to the target cost function model and the reference posture. In this way, the robot can be controlled to complete the target motion according to the motion trajectory, which expands the complexity of the movements that the robot can complete and further expands the application scenarios of the robot.

[0044] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0046] Figure 1 The figure is a flowchart of a method for generating a motion trajectory according to an exemplary embodiment.

[0047] Figure 2 FIG. 1 is a schematic diagram showing a first motion phase of target motion according to an exemplary embodiment.

[0048] Figure 3 FIG. 4 is a schematic diagram showing a second motion phase of target motion according to an exemplary embodiment.

[0049] Figure 4 is a schematic diagram showing a third motion stage of target motion according to an exemplary embodiment.

[0050] Figure 5 is a schematic diagram showing a fourth motion stage of target motion according to an exemplary embodiment.

[0051] Figure 6 is a schematic diagram showing a fifth motion stage of target motion according to an exemplary embodiment.

[0052] Figure 7 The figure is a flow chart showing a motion control method according to an exemplary embodiment.

[0053] Figure 8 The figure is a block diagram of a motion trajectory generating device according to an exemplary embodiment.

[0054] Figure 9 The figure is a block diagram of a motion control device according to an exemplary embodiment.

[0055] Figure 10 It is a block diagram of a device according to an exemplary embodiment. DETAILED DESCRIPTION

[0056] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0057] Legged robots are mostly inspired by bionics. In nature, quadrupeds like cats and dogs are capable of basic walking, running, and jumping, and can also perform somersaults and other maneuvers by adjusting their body posture and leg strength. Today, the movement of quadrupedal and bipedal robots is no longer limited to basic walking; the pursuit of highly dynamic movements such as somersaults, running, and jumping is on the rise.

[0058] See also Figure 1 , Figure 1is a flow chart of a motion trajectory generation method according to an exemplary embodiment. Figure 1 As shown, the motion trajectory generation method includes the following steps.

[0059] In step S101, a motion constraint corresponding to a target motion is determined, as well as a reference pose for the target motion. The target motion includes the robot performing a preset action and, upon completion of the preset action, touching the ground with a target supporting leg and maintaining a stable state. The motion constraint is used to limit the range of variation of the robot's state parameters and control parameters during the target motion.

[0060] In step S102, a target cost function model is obtained according to the motion constraint conditions;

[0061] In step S103, the motion trajectory of the target motion is obtained according to the target cost function model and the reference pose.

[0062] For example, the target motion may include the robot performing a preset action and, upon completion of the preset action, touching the ground with the target supporting leg and maintaining a stable state, wherein the preset action may be a front flip, a back flip, a leap, a jump, or the like. A flip is a type of motion in which the body flips in the air. For a quadruped robot, it is a motion in which the body flips in a roll or pitch direction. For example, the target motion may be the robot performing a front flip and, upon landing from the front flip, using the quadruped robot's two hind legs as supporting legs and maintaining body balance; or the robot performing a back flip and, upon landing from the back flip, using the quadruped robot's two front legs as supporting legs and maintaining body balance; or the target motion may be the quadruped robot performing a jump in a four-legged support state and, upon landing from the jump, using the quadruped robot's two hind legs as supporting legs and maintaining body balance. In addition, the above method is also applicable to the target motion of a bipedal robot performing a front flip or a back flip, and upon landing, touching the ground with a single supporting leg and maintaining a stable state.

[0063] The target motion is more complex than typical walking, somersaults, jumps, running, and the like. Therefore, the target motion places high demands on the robot's joint force output, velocity, and balance control capabilities. Dynamic models with lower accuracy cannot meet the trajectory planning requirements for complex motions. By considering the various postures during the target motion, motion constraints corresponding to the target motion can be set by considering the robot's smooth landing and the process of the robot gradually reaching static equilibrium from dynamic equilibrium. These motion constraints can be used to limit the range of variation of the robot's state parameters and control parameters during the target motion. Furthermore, the motion constraints can be used to determine a target cost function model. The target cost function can be used to optimize the trajectory of the target motion based on a reference pose, thereby obtaining the target motion trajectory. The reference pose can be any pose during the target motion, or it can be a pose corresponding to a specific sampling point during the robot's motion, such as the starting pose or ending pose at different stages of the target motion.

[0064] The target action involves the robot executing a preset action and, upon completion, touching the ground with the target support leg and maintaining stability. This is a type of high-dynamic motion for quadruped robots and can be applied to many different scenarios. For example, after a robot performs a front flip and, upon completion, touches the ground with its two hind legs and maintaining stability, it can swing its two front legs to perform challenging maneuvers like a front flip and a bow, creating a surprise and delight for the audience. For example, robots can participate in robot soccer or track and field competitions, demonstrating their flexibility and skill through maneuvers like front flips and bows. In certain fields, such as chemical plants, safety inspections are necessary, and quadruped robots can utilize various high-dynamic motions to better adapt to complex environments and perform inspections. For example, after a disaster, quadruped robots can enter buildings or other hazardous areas, using various high-dynamic motions to overcome obstacles and provide critical support and assistance to rescue efforts. In short, the high-dynamic motion of quadruped robots has broad application prospects and can be applied in various fields to provide people with better services and technological experiences.

[0065] Target motions are more complex and challenging than common front flips and back flips. This disclosure addresses these more complex target motions by determining the motion constraints and reference poses corresponding to the target motions. Based on these constraints, a target cost function model is then determined. This allows the target motion trajectory to be derived from the target cost function model and the reference poses. This trajectory can then be used to control the robot to achieve the target motion, expanding the complexity of the robot's capable movements and further broadening its application scenarios.

[0066] In other related technologies, a rough reference trajectory can be manually given, and the controller can be optimized during the following process to achieve the desired motion. However, this requires high state estimation and makes it difficult to achieve the desired trajectory. The target motion trajectory of the present disclosure can be generated offline, thus enabling the use of more accurate and complex kinematic and dynamic models, ensuring the success rate and efficiency of the target motion execution.

[0067] As an optional embodiment, the robot is a quadruped robot, the target supporting leg is the front leg or the hind leg, the target motion is that the robot performs a preset action, and when the preset action is completed, the body is supported by the foot end contact and knee joint contact of the target supporting leg, and the body remains in a balanced state.

[0068] For example, see Figure 2-Figure 6 For example, if the robot is a quadruped and the preset action is a front flip or back flip, the target supporting legs are the robot's two front legs or two hind legs. In some cases, the target supporting leg can be just one front leg or one hind leg. When the robot performs the target action, such as jumping from a quadruped position to perform a front flip with the body flipping forward approximately 270 degrees, upon completion of the front flip, the two hind legs land smoothly until the foot and knee contact points are fully in contact with the ground, maintaining a stable, nearly upright position.

[0069] As an optional implementation, the state parameters include the posture at each moment, the control parameters include the support reaction force of each target supporting leg, and the motion constraint conditions corresponding to the target motion are determined, including:

[0070] Determining the motion constraints includes at least one of the following constraints:

[0071] In the first motion state of the target motion, the support reaction force to be optimized of each target supporting leg satisfies the friction cone constraint, wherein the first motion state is the target supporting leg touching the ground;

[0072] In the second motion state of the target motion, the posture to be optimized satisfies the preset balance condition, wherein the second motion state is a state in which the target supporting leg touches the ground and remains stable when the preset action is completed. The balance condition includes that the projection of the center of mass of the fuselage is located in the stable support area, and the stable support area is the area composed of the foot end contact point and the knee joint contact point of the supporting leg.

[0073] For example, the support reaction force is also called the axial support force or the axial elastic force, which refers to the reaction force generated by the support of the supporting body when an object is subjected to an external force. Among them, when the target supporting leg is in the touching state, the foot end of the target supporting leg begins to output the support reaction force. When the foot end contact and the knee joint contact of the target supporting leg are in contact with the ground, the foot end contact and the knee joint contact both output the support reaction force. For ordinary front and back flips, the landing state can be ignored in the motion planning stage. The impedance controller can be used to achieve contact and stability between the four legs and the ground, so that there will be some deviation in the touchdown time of the four legs. The target movement is supported by two supporting legs in the touching state after performing the preset action. In the motion planning stage, the foot end support reaction force and the knee joint support reaction force of the target supporting leg in the touching state are considered, and corresponding constraints are set on the support reaction force so that the robot can land smoothly.

[0074] For example, the friction cone constraint is a constraint model used to describe friction between objects. When two objects are in contact and subject to friction, the friction cone constraint can be used to restrict the direction and magnitude of their relative motion. The friction cone constraint restricts relative motion between the objects to a conical region whose boundaries are determined by the friction coefficient between the objects.

[0075] For example, the balance condition is used to control the fuselage attitude to achieve a desired and maintain static balance, and the stable support area includes an area formed by four support points. Specifically, when the target supporting legs are the two front legs, the four support points are the left front leg foot contact point, the left front leg knee contact point, the right front leg foot contact point, and the right front leg knee contact point; when the target supporting legs are the two hind legs, the four support points are the left hind leg foot contact point, the left hind leg knee contact point, the right hind leg foot contact point, and the right hind leg knee contact point. It will be understood that in the real physical world, the contact surface between objects is not an idealized point, but rather a contact area with a certain area. Therefore, when the target supporting leg is any leg, the stable support area can be the area corresponding to the line connecting the foot contact point and the knee contact point of that leg.

[0076] As an optional implementation, the friction cone constraint is that the resultant force of the reaction force to be optimized in the horizontal plane direction is less than the product of a preset friction coefficient and a normal force, and the direction of the normal force is perpendicular to the horizontal plane direction.

[0077] For example, when the first motion state is when the target supporting leg is in a ground contact state, specifically when the foot end contact point of the target supporting leg and / or the knee joint contact point of the target supporting leg are in a ground contact state, the direction and magnitude of the supporting leg movement can be limited by setting a friction cone constraint. Among them, when the support reaction force to be optimized is the foot end support reaction force, the preset friction coefficient is the friction coefficient between the foot end and the ground; when the support reaction force to be optimized is the knee joint support reaction force, the preset friction coefficient is the friction coefficient between the knee joints, that is, the friction coefficient of the contact surface between the thigh and calf of the supporting leg. This friction coefficient can be obtained through the joint controller. Specifically, in theory, the friction cone constraint is that the resultant force of the support reaction force to be optimized in the horizontal plane direction is less than the product of the preset friction coefficient and the normal force, but in actual constraints, the resultant force in the horizontal plane direction is decoupled. For example, in a world coordinate system, the resultant force in the horizontal plane direction can be decoupled into a force in the X direction and a force in the Y direction. It can be understood that the normal force is the force in the Z direction.

[0078] As an optional implementation, the motion constraint condition further includes at least one of the following constraints:

[0079] In each state of the target motion, the pose to be optimized and / or the control parameters to be optimized satisfy the preset dynamic equations;

[0080] In each state of the target motion, the posture to be optimized and / or the control parameter to be optimized meet the preset experience range.

[0081] For example, the dynamics equations can employ multi-body dynamics equations. These equations are used to study the mechanical properties of the robot during motion, focusing on its dynamic characteristics and control, to achieve control of the robot's motion, forces, and torques. The preset empirical ranges are empirically derived ranges for different parameters in actual situations, and can be used to control the values of the pose to be optimized and / or the control parameters to be optimized within a normal or desired range.

[0082] For example, by setting the posture to be optimized and / or the control parameters to be optimized to meet the constraints of a preset dynamic equation, and by setting the posture to be optimized and / or the control parameters to be optimized to meet a preset empirical range, the dynamic characteristics of the robot can be met in each state during the target motion process, and each parameter and posture is within the normal range, so that the optimized motion trajectory is more accurate and efficient, and the target motion can be achieved.

[0083] As an optional implementation, determining a reference pose of the target movement includes:

[0084] Determine the temporal foot contact sequence of the target movement;

[0085] determining, according to the foot contact sequence, at least one movement phase corresponding to the target movement and a time of each movement phase in the at least one movement phase;

[0086] A reference posture is determined based on at least one motion phase and a time of each motion phase in the at least one motion phase.

[0087] For example, the reference posture can be the starting posture or the ending posture in multiple motion stages, which can be determined according to actual conditions. A reference posture can be determined for each motion stage, or at least one posture can be determined as a reference posture in multiple motion stages. Figure 4 For example, you can Figure 4 Any of the three poses in is determined as the reference pose, or Figure 2-6 Any one of the poses is determined as the reference pose.

[0088] For example, in the control of a quadruped robot, a foot contact sequence is a sequence of foot contact events at continuous or discrete time points, representing the state of each leg during the robot's motion. During the robot's motion, each leg can be assigned two contact states: contact and swing, depending on whether the foot is in contact with the ground. The master controller then assigns each leg's state in the given foot contact sequence to the corresponding controllers: the swing leg controller and the contact leg controller.

[0089] For example, the foot contact sequence of the target motion in time sequence can be determined, and based on the foot contact sequence, at least one motion phase corresponding to the target motion and the time of each motion phase can be determined to determine the reference posture. Specifically, the expected posture of multiple nodes of the robot during the motion process can be determined based on at least one motion phase, the time of each motion phase in at least one motion phase, and the relative relationship between the expected postures of different nodes of the robot. In this example, the relative relationship between the expected postures of different nodes is further combined to constrain the expected posture of the node, thereby making the determined expected posture more accurate and closer to reality.

[0090] For example, the relative relationship between the desired poses of different nodes can be determined as follows: when any two nodes belong to the same motion phase, the relative relationship between the desired poses of the robot at the two nodes is determined based on the positions of the two nodes in the motion phase. It is understood that the relative relationship between the desired poses of different nodes can also be determined using other reasonable methods, and this disclosure is not limited thereto.

[0091] As an optional embodiment, the robot is a quadruped robot, the preset action is a front flip or a back flip, and the foot end contact sequence includes, in sequence, the quadruped foot end touching the ground, the foot end of the first supporting leg touching the ground, the quadruped foot end taking off, the foot end of the second supporting leg touching the ground, and the foot end and knee joint of the second supporting leg touching the ground. The first supporting leg and the second supporting leg are two different sets of target supporting legs, and the target supporting legs are the front legs or the back legs.

[0092] Determining at least one motion phase corresponding to the target motion according to the foot contact sequence, including:

[0093] Based on the foot contact sequence, the target movement is determined to include at least one of the following five movement phases:

[0094] In the first movement phase, the robot starts with quadruped support and flips toward the target direction while maintaining quadruped support. When the preset action is a front flip, the target direction is the front of the robot; when the preset action is a back flip, the target direction is the back of the robot.

[0095] In the second movement phase, the foot end of the second supporting leg leaves the ground, the foot end of the first supporting leg remains in contact with the ground, and the fuselage continues to flip due to the driving force of the first supporting leg;

[0096] In the third movement phase, the foot of the first supporting leg leaves the ground, the four legs enter a completely airborne state, and the fuselage continues to flip under the action of inertia;

[0097] In the fourth movement phase, the foot end of the second supporting leg touches the ground and outputs a support reaction force, the fuselage flip speed decreases, and the flip continues;

[0098] In the fifth movement stage, the foot end of the second supporting leg keeps touching the ground and the knee joint touches the ground, and both the foot end and the knee joint output support reaction force, so that the flipping speed of the fuselage is reduced to zero, the fuselage posture reaches the desired posture and maintains static balance.

[0099] Here, you can refer to Figure 2-6 , taking the robot's preset action as a front flip and the target supporting legs as the two hind legs as an example, the states corresponding to the above five motion stages are illustrated. Among them, in the first motion stage, the robot takes the four-legged support as the starting posture, and while maintaining the four-legged support state, the body flips forward, making the robot's posture change from Figure 2 The first posture change in is Figure 2 In the second movement phase, the two hind legs of the robot leave the ground, while the two front legs keep touching the ground. The robot's posture changes from Figure 2 The second posture change in Figure 3The third posture in the figure; and the driving force of the front legs drives the body to continue to flip forward, so that the posture of the robot changes from Figure 3 The third posture change in Figure 3 In the third movement phase, the robot's front legs leave the ground, and the four legs are completely in the air. The body continues to flip forward under the action of inertia, causing the robot's posture to change from Figure 3 The fourth posture in the sequence changes to Figure 4 The fifth posture in Figure 4 After the sixth posture in Figure 4 In the fourth movement phase, the robot's hind legs touch the ground and output a reaction force, the body's flip speed decreases, and it continues to flip forward, causing the robot's posture to change from Figure 4 The seventh posture change in Figure 5 In the fifth movement phase, the foot of the robot's hind legs keeps touching the ground, and the knee joint touches the ground, so that the robot's posture changes from Figure 5 The eighth posture change in Figure 6 The ninth posture in the figure, at this time, the foot end and the knee joint both output a reaction force, which reduces the turning speed of the fuselage to zero, making the robot's posture Figure 6 The ninth posture changes to Figure 6 The tenth posture in the figure is the desired posture, and the static balance is maintained.

[0100] It is understood that, based on the above example where the robot's preset action is a front flip and the target supporting legs are the two hind legs, the above division of movement stages can also be applied to the case where the robot's preset action is a back flip and the target supporting legs are the two front legs, as well as the case where the robot's preset action is an upward jump in a quadruped support state and the target supporting legs are the two front legs. The case where the preset action is a front flip or a back flip and the target supporting legs are either leg can also be divided according to the above movement stages, or adjusted according to the actual situation after the above movement stage division, and no specific examples are given here.

[0101] As a specific implementation method, the target cost function model is as follows:

[0102]

[0103] Where x represents the state variable, u represents the control variable, and t represents time, with the range of t being 0-T. x and u are the sets of all x(t) and u(t), respectively, that is, the sets of optimization variables and control variables for all discrete points on the entire time axis. As shown in Equation (1), the cost function in the target cost function model is represented. When the cost function is minimized as a whole, the optimized state variables and control variables are obtained; the first half represents the evaluation function at the final moment T, and the second half represents the process evaluation function. As shown in Equations (2) to (6), all of them represent constraints. Equation (2) represents the state space equation, which characterizes the relationship between the differential of the state variable and the state variable and the control variable, and includes a dynamic model. Equation (3) represents the equality constraint related to both the state variable and the control variable. Equation (4) represents the constraint related only to the state variable. Equation (5) represents the inequality constraint related to both the state variable and the control variable. Equation (6) indicates that the optimization problem satisfies the given initial state, that is, the reference pose.

[0104] The state variable x includes the displacement p of the center of mass of the fuselage, the attitude θ, the linear velocity v and the angular velocity w, and the angle q of the joint. i With angular velocity q j The control variables include joint torque τj, the foot end reaction force F1~F of each supporting leg n , and knee joint reaction force F k .

[0105] Specifically, the state variables and control parameters satisfy the multi-body dynamics constraints and can be expressed as in, represents the orthogonal generalized mass matrix; q, They represent the generalized position, generalized velocity, and acceleration vectors respectively. The generalized position includes displacement, attitude, and joint angle. The generalized velocity includes the body linear velocity, angular velocity, and joint velocity. The generalized acceleration includes the body linear acceleration, angular acceleration, and joint acceleration. represents the Coriolis force and centrifugal force; G(q) represents the gravity term; S T is the coefficient matrix used for dimension alignment between different parameters; τ represents the external generalized force; represents the geometric Jacobian corresponding to the external force.

[0106] Specifically, the values of joint angle and joint angular velocity are within the preset empirical range and can be expressed as q imax ≥q i ≥q imin ,q jmax ≥q j ≥q jmin Among them, q imax Indicates the maximum angle of the joint, q imin Indicates the minimum angle of the joint, qjmax Indicates the maximum angular velocity of the joint, q jmin Indicates the minimum angular velocity of the joint.

[0107] Specifically, the joint torque is within the preset empirical range and can be expressed as τj max ≥τj≥τj min Among them, τj max Represents the maximum value of the joint torque, τj min Indicates the minimum value of the joint torque.

[0108] Specifically, when the foot touches the ground without slipping, it can be expressed as v f =0,a f =0. Among them, v f is the foot end speed, a f is the foot end acceleration.

[0109] Specifically, the foot end support reaction force and the knee joint support reaction force satisfy the friction cone constraint and can be expressed as μF z >{F x |F y}. Among them, F is F1~F n and F k Any one of the reaction forces, F x Indicates the force in the X-axis direction, F y represents the force in the Y-axis direction, μ is the preset friction coefficient, F z Represents the force in the Z direction.

[0110] Specifically, to ensure the smooth landing of the target action, after the knee joint contact contacts the ground, the robot's posture satisfies the equilibrium condition that the center of mass of the fuselage is projected into the stable support area at the final moment, so that the fuselage reaches a static equilibrium state within the stable support area, where the stable support area can be, for example, an area composed of four contact points: the left hind leg foot end contact point, the left hind leg knee joint contact point, the right hind leg foot end contact point, and the right hind leg knee joint contact point, and the fuselage speed is 0.

[0111] The motion trajectory of the target motion generated by the motion trajectory generation method disclosed herein can effectively achieve high-dynamic movements such as front flips, bows, and back flips, and has been verified in simulation and on real machines. Online following only requires a simple controller. One implementation is a joint controller that follows the optimized joint torque, joint displacement, and velocity. More complex following controllers, such as whole body control (WBC), can also be used.

[0112] Furthermore, the target cost function model derived from motion constraints is optimized offline to obtain the target motion trajectory. This eliminates the need for real-time data acquisition and precise and complex state estimation, reducing runtime computing power consumption and enabling the use of more accurate and complex kinematic and dynamic models. The trajectory optimization used in this solution is precisely modeled, significantly reducing reliance on online following controllers.

[0113] Reference Figure 7 , Figure 7 FIG. 1 is a flow chart of a motion control method according to an exemplary embodiment. Figure 7 As shown, the motion control method includes the following steps.

[0114] In step S701 , in response to an instruction to execute a target movement, the robot is controlled to move along a motion trajectory of the target movement, wherein the motion trajectory of the target movement is obtained according to the motion trajectory generation method disclosed in the present invention.

[0115] For example, the command to execute the target movement can be sent to the robot by a remote control connected to the robot or a terminal device installed with a robot control program. The command to execute the target movement can also be generated by the robot when planning its movement path based on information such as obstacles and road conditions scanned. For example, if the robot detects an obstacle ahead, the command to execute the target movement can be generated. Upon receiving the command to control the robot to execute the target movement, the robot can respond to the command and move along the target movement trajectory, thereby completing the target movement.

[0116] Reference Figure 8 , Figure 8 FIG. 1 is a block diagram of a motion trajectory generating device according to an exemplary embodiment. Figure 8 As shown, the motion trajectory generating device includes a determination module 801 , a first obtaining module 802 and a second obtaining module 803 .

[0117] a determination module 801 configured to determine motion constraints corresponding to a target motion and a reference pose for the target motion, wherein the target motion includes the robot performing a preset action and, upon completion of the preset action, touching the ground with a target supporting leg and maintaining a stable state, and the motion constraints are used to limit the range of variation of the robot's state parameters and control parameters during the target motion;

[0118] A first obtaining module 802 is configured to obtain a target cost function model according to motion constraints;

[0119] The second obtaining module 803 is configured to obtain a motion trajectory of the target motion according to the target cost function model and the reference pose.

[0120] As an optional embodiment, the robot is a quadruped robot, the target supporting leg is the front leg or the hind leg, the target motion is that the robot performs a preset action, and when the preset action is completed, the body is supported by the foot end contact and knee joint contact of the target supporting leg, and the body remains in a balanced state.

[0121] As an optional implementation, the state parameters include the posture at each moment, the control parameters include the support reaction force of each target supporting leg, and the determination module 801 is specifically configured as follows:

[0122] Determining the motion constraints includes at least one of the following constraints:

[0123] In the first motion state of the target motion, the support reaction force to be optimized of each target supporting leg satisfies the friction cone constraint, wherein the first motion state is the target supporting leg touching the ground;

[0124] In the second motion state of the target motion, the posture to be optimized satisfies the preset balance condition, wherein the second motion state is a state in which the target supporting leg touches the ground and remains stable when the preset action is completed. The balance condition includes that the projection of the center of mass of the fuselage is located in the stable support area, and the stable support area is the area composed of the foot end contact point and the knee joint contact point of the supporting leg.

[0125] As an optional implementation, the friction cone constraint is that the resultant force of the reaction force to be optimized in the horizontal plane direction is less than the product of a preset friction coefficient and a normal force, and the direction of the normal force is perpendicular to the horizontal plane direction.

[0126] As an optional implementation, the motion constraint condition further includes at least one of the following constraints:

[0127] In each state of the target motion, the pose to be optimized and / or the control parameters to be optimized satisfy the preset dynamic equations;

[0128] In each state of the target motion, the posture to be optimized and / or the control parameter to be optimized meet the preset experience range.

[0129] As an optional implementation manner, the determining module 801 is further specifically configured to:

[0130] Determine the temporal foot contact sequence of the target movement;

[0131] determining, according to the foot contact sequence, at least one movement phase corresponding to the target movement and a time of each movement phase in the at least one movement phase;

[0132] A reference posture is determined based on at least one motion phase and a time of each motion phase in the at least one motion phase.

[0133] As an optional embodiment, the robot is a quadruped robot, the preset action is a front flip or a back flip, and the foot end contact sequence includes, in sequence, the quadruped foot end touching the ground, the foot end of the first supporting leg touching the ground, the quadruped foot end taking off, the foot end of the second supporting leg touching the ground, and the foot end and knee joint of the second supporting leg touching the ground. The first supporting leg and the second supporting leg are two different sets of target supporting legs, and the target supporting legs are the front legs or the back legs.

[0134] The determination module 801 is further specifically configured to:

[0135] Based on the foot contact sequence, the target movement is determined to include at least one of the following five movement phases:

[0136] In the first movement phase, the robot starts with quadruped support and flips toward the target direction while maintaining quadruped support. When the preset action is a front flip, the target direction is the front of the robot; when the preset action is a back flip, the target direction is the back of the robot.

[0137] In the second movement phase, the foot end of the second supporting leg leaves the ground, the foot end of the first supporting leg remains in contact with the ground, and the fuselage continues to flip due to the driving force of the first supporting leg;

[0138] In the third movement phase, the foot of the first supporting leg leaves the ground, the four legs enter a completely airborne state, and the fuselage continues to flip under the action of inertia;

[0139] In the fourth movement phase, the foot end of the second supporting leg touches the ground and outputs a support reaction force, the fuselage flip speed decreases, and the flip continues;

[0140] In the fifth movement stage, the foot end of the second supporting leg keeps touching the ground and the knee joint touches the ground, and both the foot end and the knee joint output support reaction force, so that the flipping speed of the fuselage is reduced to zero, the fuselage posture reaches the desired posture and maintains static balance.

[0141] Regarding the motion trajectory generating device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the motion trajectory generating method, and will not be elaborated here.

[0142] Reference Figure 9 , Figure 9 FIG. 1 is a block diagram of a motion control device according to an exemplary embodiment. Figure 9 As shown, the motion control device includes a control module 901 .

[0143] The control module 901 is configured to control the robot to move along the motion trajectory of the target motion in response to an instruction to execute the target motion, wherein the motion trajectory of the target motion is obtained according to the motion trajectory generation method disclosed in the present invention.

[0144] Regarding the motion control device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the motion control method, and will not be elaborated here.

[0145] The present disclosure further provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implements the motion trajectory generation method or the motion control method of the present disclosure.

[0146] The present disclosure provides a computer program product, which includes a computer program executable by a programmable device. The computer program has a code portion for executing the motion trajectory generation method or the motion control method of the present disclosure when executed by the programmable device.

[0147] The present disclosure provides an electronic device, comprising:

[0148] a storage device for storing a computer program;

[0149] The execution device is used to execute the computer program to implement the motion trajectory generation method or the motion control method of the present disclosure.

[0150] Figure 10 FIG1 is a block diagram of an electronic device 1000 according to an exemplary embodiment. For example, the electronic device 1000 may be a computer, a tablet device, a robot, etc.

[0151] Reference Figure 10 The electronic device 1000 may include one or more of the following components: a processing component 1002 , a memory 1004 , a power component 1006 , a multimedia component 1008 , an audio component 1010 , an input / output interface 1012 , a sensor component 1014 , and a communication component 1016 .

[0152] The processing component 1002 generally controls the overall operation of the electronic device 1000, such as operations associated with display, phone calls, data communications, camera operation, and recording operations. The processing component 1002 may include one or more processors 1020 to execute instructions to complete all or part of the steps of the above-mentioned motion trajectory generation method or motion control method. In addition, the processing component 1002 may include one or more modules to facilitate interaction between the processing component 1002 and other components. For example, the processing component 1002 may include a multimedia module to facilitate interaction between the multimedia component 1008 and the processing component 1002.

[0153] The memory 1004 is configured to store various types of data to support operations on the electronic device 1000. Examples of such data include instructions for any application or method operating on the electronic device 1000, contact data, phone book data, messages, pictures, videos, etc. The memory 1004 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0154] The power supply assembly 1006 provides power to the various components of the electronic device 1000. The power supply assembly 1006 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the electronic device 1000.

[0155] The multimedia component 1008 includes a screen that provides an output interface between the electronic device 1000 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor can not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 1008 includes a front camera and / or a rear camera. When the electronic device 1000 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have a focal length and optical zoom capability.

[0156] The audio component 1010 is configured to output and / or input audio signals. For example, the audio component 1010 includes a microphone (MIC), which is configured to receive external audio signals when the electronic device 1000 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal can be further stored in the memory 1004 or transmitted via the communication component 1016. In some embodiments, the audio component 1010 also includes a speaker for outputting audio signals.

[0157] The input / output interface 1012 provides an interface between the processing component 1002 and peripheral interface modules, such as a keyboard, a click wheel, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0158] The sensor assembly 1014 includes one or more sensors for providing various aspects of status assessment for the electronic device 1000. For example, the sensor assembly 1014 can detect the open / closed state of the electronic device 1000, the relative positioning of components, such as the display and keypad of the electronic device 1000. The sensor assembly 1014 can also detect changes in the position of the electronic device 1000 or a component of the electronic device 1000, the presence or absence of user contact with the electronic device 1000, the orientation or acceleration / deceleration of the electronic device 1000, and temperature changes of the electronic device 1000. The sensor assembly 1014 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 1014 can also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 1014 can also include an accelerometer, a gyroscope, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0159] The communication component 1016 is configured to facilitate wired or wireless communication between the electronic device 1000 and other devices. The electronic device 1000 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 1016 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 1016 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0160] In an exemplary embodiment, the electronic device 1000 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute the above-mentioned motion trajectory generation method or motion control method.

[0161] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is further provided, such as a memory 1004 including instructions. The instructions can be executed by the processor 1020 of the electronic device 1000 to implement the above-mentioned motion trajectory generation method or motion control method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0162] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the present disclosure. This disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0163] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A motion trajectory generation method, characterized in that: include: Determining motion constraints corresponding to a target motion and determining a reference pose for the target motion, wherein the target motion includes the robot performing a preset action and, upon completion of the preset action, touching the ground with a target supporting leg and maintaining a stable state, the motion constraints are used to limit the range of variation of state parameters and control parameters of the robot in the target motion, and the reference pose is determined based on a temporal foot contact sequence of the target motion; the state parameters include the pose at each moment, and the control parameters include the support reaction force of each target supporting leg; According to the motion constraint conditions, a target cost function model is obtained; Obtaining a motion trajectory of the robot when performing the target motion according to the target cost function model and the reference pose; The robot is a quadruped robot, the target supporting leg is a front leg or a hind leg, and the target motion is that the robot performs a preset action, and when the preset action is completed, the robot supports the body through the foot end contact and the knee joint contact of the target supporting leg, and the body maintains a balanced state; Determining a reference pose of the target movement includes: determining a temporal foot contact sequence of the target movement; determining, according to the foot contact sequence, at least one movement phase corresponding to the target movement and a time of each movement phase in the at least one movement phase; determining the reference posture according to the at least one motion phase and the time of each motion phase in the at least one motion phase; The robot is a quadruped robot, the preset action is a front flip or a back flip, the foot end contact sequence sequentially includes the quadruped foot end touching the ground, the foot end of the first supporting leg touching the ground, the quadruped foot end taking off, the foot end of the second supporting leg touching the ground, and the foot end and knee joint of the second supporting leg touching the ground, the first supporting leg and the second supporting leg being two different groups of target supporting legs, and the target supporting legs are the front legs or the back legs; Determining at least one motion phase corresponding to the target motion according to the foot end contact sequence includes: According to the foot end contact sequence, it is determined that the target motion includes at least one of the following five motion phases: In the first movement phase, the robot takes a quadrupedal support as a starting posture, and while maintaining the quadrupedal support state, the body flips toward a target direction. When the preset action is a front flip, the target direction is the front of the robot; when the preset action is a back flip, the target direction is the rear of the robot. In the second movement phase, the foot end of the second supporting leg leaves the ground, the foot end of the first supporting leg remains in contact with the ground, and the fuselage continues to flip due to the driving force of the first supporting leg; In the third movement stage, the foot end of the first supporting leg leaves the ground, the four legs enter a completely airborne state, and the fuselage continues to flip under the action of inertia; In the fourth movement stage, the foot end of the second supporting leg touches the ground and outputs a support reaction force, the flipping speed of the fuselage decreases, and the flipping continues; In the fifth movement stage, the foot end of the second supporting leg keeps touching the ground and the knee joint touches the ground, and both the foot end and the knee joint output support reaction force, so that the flipping speed of the fuselage is reduced to zero, the fuselage posture reaches the desired posture and maintains static balance.

2. The method according to claim 1, characterized in that Determine the motion constraints corresponding to the target motion, including: Determining the motion constraint condition includes at least one of the following constraints: In a first motion state of the target motion, the to-be-optimized support reaction force of each target supporting leg satisfies a friction cone constraint, wherein the first motion state is a ground contact state of the target supporting leg; In the second motion state of the target motion, the posture to be optimized satisfies a preset balance condition, wherein the second motion state is a state in which the target supporting leg touches the ground and remains stable when the preset action is completed, and the balance condition includes that the projection of the center of mass of the robot's body is located within a stable support area, and the stable support area is an area composed of the foot end contact point and the knee joint contact point of the supporting leg.

3. The method according to claim 2, characterized in that The friction cone constraint is that the resultant force of the reaction force to be optimized in the horizontal plane direction is less than the product of a preset friction coefficient and a normal force, and the direction of the normal force is perpendicular to the horizontal plane direction.

4. The method according to claim 2, characterized in that The motion constraints also include at least one of the following constraints: In each state of the target motion, the posture to be optimized and / or the control parameters to be optimized satisfy a preset dynamic equation; In each state of the target motion, the posture to be optimized and / or the control parameter to be optimized meet a preset experience range.

5. A motion control method, characterized in that: The method comprises: In response to an instruction to execute a target movement, the robot is controlled to move along a motion trajectory of the target movement, wherein the motion trajectory of the target movement is obtained according to the motion trajectory generation method according to any one of claims 1 to 4.

6. A motion trajectory generating device, characterized in that: include: a determination module configured to determine motion constraints corresponding to a target motion and to determine a reference pose for the target motion, wherein the target motion includes the robot performing a preset action and, upon completion of the preset action, touching the ground with a target supporting leg and maintaining a stable state; the motion constraints are used to limit a range of variation of state parameters and control parameters of the robot in the target motion; the reference pose is determined based on a temporal foot contact sequence of the target motion; the state parameters include the pose at each moment, and the control parameters include the support reaction force of each target supporting leg; A first obtaining module is configured to obtain a target cost function model according to the motion constraint condition; A second obtaining module is configured to obtain a motion trajectory of the robot when performing the target motion according to the target cost function model and the reference pose; The robot is a quadruped robot, the target supporting leg is a front leg or a hind leg, and the target motion is that the robot performs a preset action, and when the preset action is completed, the robot supports the body through the foot end contact and the knee joint contact of the target supporting leg, and the body maintains a balanced state; The determination module is also configured to: determining a temporal foot contact sequence of the target movement; determining, according to the foot contact sequence, at least one movement phase corresponding to the target movement and a time of each movement phase in the at least one movement phase; determining the reference posture according to the at least one motion phase and the time of each motion phase in the at least one motion phase; The robot is a quadruped robot, the preset action is a front flip or a back flip, the foot end contact sequence sequentially includes the quadruped foot end touching the ground, the foot end of the first supporting leg touching the ground, the quadruped foot end taking off, the foot end of the second supporting leg touching the ground, and the foot end and knee joint of the second supporting leg touching the ground, the first supporting leg and the second supporting leg being two different groups of target supporting legs, and the target supporting legs are the front legs or the back legs; The determination module is also configured to: According to the foot end contact sequence, it is determined that the target motion includes at least one of the following five motion phases: In the first movement phase, the robot takes a quadrupedal support as a starting posture, and while maintaining the quadrupedal support state, the body flips toward a target direction. When the preset action is a front flip, the target direction is the front of the robot; when the preset action is a back flip, the target direction is the rear of the robot. In the second movement phase, the foot end of the second supporting leg leaves the ground, the foot end of the first supporting leg remains in contact with the ground, and the fuselage continues to flip due to the driving force of the first supporting leg; In the third movement stage, the foot end of the first supporting leg leaves the ground, the four legs enter a completely airborne state, and the fuselage continues to flip under the action of inertia; In the fourth movement stage, the foot end of the second supporting leg touches the ground and outputs a support reaction force, the flipping speed of the fuselage decreases, and the flipping continues; In the fifth movement stage, the foot end of the second supporting leg keeps touching the ground and the knee joint touches the ground, and both the foot end and the knee joint output support reaction force, so that the flipping speed of the fuselage is reduced to zero, the fuselage posture reaches the desired posture and maintains static balance.

7. A motion control device, characterized in that: include: The control module is configured to control the robot to move along the motion trajectory of the target motion in response to an instruction to execute the target motion, wherein the motion trajectory of the target motion Obtained according to the motion trajectory generation method according to any one of claims 1 to 4.

8. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the method according to any one of claims 1 to 5 is implemented.

9. An electronic device, characterized in that: include: a storage device for storing a computer program; An execution device is used to execute the computer program to implement the method according to any one of claims 1 to 5.

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