A control method, device and equipment of a spherical metamorphic robot

Abstract

The application provides a control method, device and equipment of a spherical deformation robot, relates to the technical field of robot control, and comprises the following steps: obtaining a three-dimensional geometric body of the spherical deformation robot; extracting vertex coordinates of all triangular facets of the three-dimensional geometric body and removing duplicates; compressing the vertex coordinates after removing duplicates according to a target direction to obtain target coordinates corresponding to each target direction; determining a target extension length of an extension device; generating a control parameter of the extension device according to the target extension length; and respectively controlling each extension device to extend to the corresponding target extension length based on the control parameter of each extension device, so that the spherical deformation robot assumes the same shape as the three-dimensional geometric body. The application realizes accurate control of the external contour and the running track of the spherical deformation robot, and improves the control accuracy of the spherical deformation robot.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to a control method, device and equipment for a spherical deformable robot. Background Art

[0002] Mobile robots can be mainly divided into wheeled chassis mobile robots, tracked chassis mobile robots, legged chassis mobile robots and spherical mobile robots according to the type of chassis; in the field of lunar exploration, conventional exploration vehicles include four-wheel structures, six-wheel suspension structures, wheel-foot structures, etc., but four-wheel structure robots are simple to implement but have poor obstacle crossing capabilities, six-wheel suspension structure robots have good stability but large structure volume, wheel-foot structure robots can resist overturning but are not flexible enough in movement, so there is a need for a deformable rolling robot that is simple to control, not easy to flip over, and small in size; however, existing rolling robots cannot move along a given trajectory and are relatively difficult to control.

[0003] Currently, there are generally three types of deformable robots: those that are mainly driven by traditional pneumatic or cable drives, those that use elastic silicone materials as the main material for soft robots, or those that use advanced intelligent materials and generate movement through material deformation. However, the method of achieving the robot's deformability through air cavity expansion lacks accuracy in controlling the outer contour shape and relies on external air pumps and pipelines, making it unsuitable for providing the deformation capability requirements of rolling robots. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a control method, device and equipment for a spherical deformable robot, so as to solve the above-mentioned problems existing in the prior art, and enable the spherical robot to move along a given trajectory by changing its external contour.

[0005] In a first aspect, a control method for a spherical deformable robot is provided, which is applied to a controller for controlling the spherical deformable robot, wherein the spherical deformable robot is provided with multiple fixed planes; a telescopic device is fixed to each fixed plane; and any two telescopic devices extend outward from the center of the spherical deformable robot in different directions. The method may include:

[0006] Obtaining a three-dimensional geometric body of the spherical deformable robot at any position on a preset trajectory, and distances between each fixed plane and the center of the spherical deformable robot; wherein the three-dimensional geometric body is composed of a plurality of triangular facets; and the three-dimensional geometric body of the spherical deformable robot at different positions is different;

[0007] For any triangular face, extract the coordinates of the three vertices of the triangular face;

[0008] De-duplicate the coordinates of all vertices obtained to obtain de-duplicate vertex coordinates;

[0009] The direction in which each telescopic device extends outward from the center of the spherical deformable robot is used as the target direction;

[0010] Compressing the deduplicated vertex coordinates according to the target direction to obtain target coordinates corresponding to each target direction; wherein the target coordinates are the positions of the tops of the telescopic devices relative to the center of the spherical deformable robot;

[0011] For any telescopic device, obtaining a target telescopic length of the telescopic device based on the target coordinates and the distance between the fixed plane where the telescopic device is located and the center of the spherical deformable robot;

[0012] generating control parameters of the telescopic device according to the target telescopic length;

[0013] Based on the control parameters of each telescopic device, each telescopic device is controlled to extend to a corresponding target telescopic length, so that the spherical deformable robot presents the same shape as the three-dimensional geometric body.

[0014] In an optional implementation, after setting the direction in which each telescopic device extends outward from the center of the spherical deformable robot as the target direction, the method further includes:

[0015] Get the preset coordinate range parameters and the direction coordinates corresponding to each target direction.

[0016] In an optional implementation, the deduplicated vertex coordinates are compressed according to the target direction to obtain the target coordinates corresponding to each target direction, including:

[0017] For any target direction, based on the direction coordinate corresponding to the target direction and the coordinate range parameter, obtain the direction coordinate interval corresponding to the target direction;

[0018] If any vertex coordinate after duplicate removal satisfies the direction coordinate interval corresponding to the target direction, the vertex coordinate after duplicate removal is used as the coordinate of the target direction;

[0019] The obtained coordinates of all the target directions are averaged to obtain the target coordinates of the target direction.

[0020] In an optional implementation, a servo housing is fixed to any fixed plane;

[0021] A steering gear is provided in the steering gear housing; the steering gear is provided with a steering gear; the steering gear is connected to a transmission mechanism;

[0022] The transmission mechanism is connected to the telescopic device.

[0023] In an optional implementation, the spherical deformable robot is further provided with a controller;

[0024] The controller is connected to each steering gear and is used to control each steering gear to rotate to a target rotation angle so that the telescopic device connected to the steering gear through the transmission mechanism is extended to a target telescopic length.

[0025] In an optional implementation, controlling each telescopic device to extend to a corresponding target telescopic length includes:

[0026] Obtain a preset comparison table of target telescopic length and target rotation angle;

[0027] Matching the target rotation angle corresponding to the target telescopic length from the target telescopic length and target rotation angle comparison table;

[0028] generating a control parameter according to the target rotation angle;

[0029] The steering gear connected to the transmission mechanism connected to the telescopic device is used as a target actuator;

[0030] Based on the control parameter, the target actuator is controlled to rotate by the target rotation angle so that the telescopic device is extended to a target telescopic length.

[0031] In a second aspect, a control device for a spherical deformable robot is provided, which may include:

[0032] an acquisition unit, configured to acquire a three-dimensional geometric body of the spherical deformable robot at any position on a preset trajectory, and a distance between each fixed plane and the center of the spherical deformable robot; wherein the spherical deformable robot is provided with a plurality of fixed planes; a telescopic device is fixed to each fixed plane; any two telescopic devices extend outward from the center of the spherical deformable robot in different directions; the three-dimensional geometric body is composed of a plurality of triangular facets; and the three-dimensional geometric body of the spherical deformable robot is different at different positions;

[0033] An extraction unit, configured to extract the coordinates of three vertices of any triangular facet;

[0034] a processing unit configured to remove duplicate coordinates from all vertex coordinates obtained to obtain duplicated vertex coordinates; use the direction in which each telescopic device extends outward from the center of the spherical deformable robot as a target direction; and compress the duplicated vertex coordinates according to the target direction to obtain target coordinates corresponding to each target direction; wherein the target coordinates are the positions of the tops of the telescopic devices relative to the center of the spherical deformable robot;

[0035] a calculation unit, configured to obtain, for any telescopic device, a target telescopic length of the telescopic device based on the target coordinates and a distance between a fixed plane where the telescopic device is located and the center of the spherical deformable robot;

[0036] a generating unit, configured to generate control parameters of the telescopic device according to the target telescopic length;

[0037] The control unit is used to control each telescopic device to extend to a corresponding target telescopic length based on the control parameters of each telescopic device, so that the spherical deformable robot presents the same shape as the three-dimensional geometric body.

[0038] In a third aspect, an electronic device is provided, the electronic device including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0039] Memory for storing computer programs;

[0040] The processor is configured to implement any of the method steps described in the first aspect when executing a program stored in the memory.

[0041] In a fourth aspect, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any of the method steps described in the first aspect is implemented.

[0042] The present application achieves precise control of the external contour of the spherical deformable robot by controlling the length extension and extension of multiple telescopic devices evenly distributed on the spherical deformable robot, thereby enabling the spherical deformable robot to move along a preset trajectory under the action of a constant external force, thereby achieving precise control of the trajectory of the spherical deformable robot and improving the control accuracy of the spherical deformable robot.

[0043] This application achieves fitting of three-dimensional geometric shapes by individually controlling the lengths of multiple telescopic devices. A controller is used to control multiple servos as a whole, and a transmission mechanism is set up to connect the mechanical devices to convert motor rotation into linear motion, thereby deforming the robot's outer contour. Furthermore, Bluetooth control frees the robot from the wired constraints of a computer, enabling remote control of its rolling path. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 A schematic structural diagram of a spherical deformable robot provided in an embodiment of the present application;

[0046] Figure 2 A top view of a spherical deformable robot provided in an embodiment of the present application;

[0047] Figure 3 A schematic structural diagram of a telescopic device provided in an embodiment of the present application;

[0048] Figure 4 A flow chart of a control method for a spherical deformable robot provided in an embodiment of the present application;

[0049] Figure 5 A schematic diagram of unit vectors evenly distributed in 26 directions in a three-dimensional space provided in an embodiment of the present application;

[0050] Figure 6 A schematic diagram of a coordinate range of a target direction provided in an embodiment of the present application;

[0051] Figure 7 A schematic diagram of parameters of the telescopic device provided in an embodiment of the present application;

[0052] Figure 8 A schematic structural diagram of a control device for a spherical deformable robot provided in an embodiment of the present application;

[0053] Figure 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0054] In the figure: 1. Telescopic device; 2. Ball shell; 3. Transmission mechanism; 4. Servo shell; 5. Shell locking device. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0056] Compared with other types of mobile chassis robots, spherical robots have unique structural advantages: spherical robots can achieve zero turning radius, allowing them to operate in a smaller motion space; spherical robots have a certain ability to adjust their own posture, making them less likely to flip over or lose balance under specific working conditions; due to their shape characteristics, the contact surface of spherical robots is a smooth curved surface when colliding with obstacles, and they have relatively high structural strength; spherical robots have more motion modes. In addition to actively controlling motion through their own drive, they can also rely on special terrain and gravitational potential energy to achieve passive motion, and achieve efficient energy utilization by switching between different motion modes; the interior of the spherical robot is relatively closed, making it easier to achieve waterproof and dustproof functions for internal components, and can protect its own hardware system to a certain extent.

[0057] Therefore, due to their structural characteristics, spherical robots have obvious advantages in performing tasks such as disaster relief, military reconnaissance, and pipeline inspection. With the development and advancement of industrial technology, spherical robots will have a broader market in the future. However, existing spherical robots are difficult to control, making it difficult to use them to perform tasks such as disaster relief, military reconnaissance, and pipeline inspection. This application achieves precise control of the spherical robot's external contour and trajectory by controlling the length of the multi-telescopic device, reducing the control difficulty of the spherical deformable robot and expanding its application scenarios and fields.

[0058] The control method for a spherical deformable robot provided in an embodiment of the present application can be applied to a controller for controlling a spherical deformable robot, which can be a chip, a single-chip microcomputer, a computer, a mobile terminal, or a server. The server can be a physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. Specifically, the chip can be an Arduino Uno board; the single-chip microcomputer can be a Raspberry Pi, STM32, or 51 single-chip microcomputer, etc.

[0059] like Figures 1 to 3As shown, in the embodiment of the present application, the spherical deformable robot adopts a spherical probe structure similar to that of a sea urchin. The spherical deformable robot uses a spherical shell 2 as a support, and 26 fixed planes are obtained by uniformly cutting the spherical shell in 26 different directions. A servo housing 4 is fixedly connected to each fixed plane. Each servo housing 4 is equipped with a servo, which is equipped with a servo gear. The servo gear is connected to a transmission mechanism 3. The transmission mechanism 3 is connected to a telescopic device 1, which meshes with the internal teeth of the telescopic device. A controller is disposed in the spherical shell 2 and is connected to the 26 servos. The controller controls the rotation of the servos, which in turn drives the transmission mechanism 3 using the servo gear, and thus drives the telescopic device meshed with the transmission mechanism 3. This converts angular changes into length changes, and the controller controls the telescopic length of the telescopic device.

[0060] In the embodiment of the present application, the servo can be an sg90 servo; the transmission mechanism can be a rotating gear and a tooth groove, or it can be other components such as a worm gear, a crankshaft, an eccentric wheel / cam, a half tooth plus a spring or an internal tooth that can realize the linkage between the servo and the telescopic device.

[0061] In one embodiment of the present application, the spherical deformable robot can be composed of two completely identical hemispherical deformable robots; a shell locking device 5 is provided between any two adjacent fixed planes on the dividing line after the two hemispheres are merged, and the shell locking device 5 is used to fix and lock the two hemispheres.

[0062] In another embodiment of the present application, the spherical deformable robot is a complete and undivided sphere (for example, a sphere obtained by 3D printing), and the shell locking device may not be provided.

[0063] In this embodiment of the present application, a controller is used as a control element. The controller is connected to an array of 26 evenly distributed TowerPro 9g servos as the power source for the operation of the telescopic device. Since the servos can only rotate, the angle variable is converted into a length variable through a transmission structure that converts rotation into translation, thereby adjusting the telescopic length of the telescopic device.

[0064] In the embodiment of the present application, the telescopic device can be extended and retracted. When the telescopic device is fully retracted into the servo housing, the spherical deformable robot takes on a spherical shape.

[0065] The preferred embodiments of the present application are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application and are not used to limit the present application. In addition, the embodiments and features in the embodiments of the present application can be combined with each other if there is no conflict.

[0066] Figure 4This is a flow chart of a control method for a spherical deformable robot provided in an embodiment of the present application. Figure 4 As shown, the method may include:

[0067] Step S410: Obtain the three-dimensional geometry of the spherical deformable robot at any position on the preset trajectory, as well as the distance between each fixed plane and the center of the spherical deformable robot; for any triangular facet, extract the coordinates of the three vertices of the triangular facet.

[0068] In practical applications, the control of a spherical robot is relatively difficult. However, since the shape of the three-dimensional geometric body walking along a preset trajectory is obtained by inverting the preset trajectory, the control method of the spherical deformable robot of the present application controls the spherical deformable robot according to the shape of the three-dimensional geometric body, so that the spherical deformable robot has the same shape as the three-dimensional geometric body obtained by inversion, and the three-dimensional geometric bodies of the spherical deformable robot at different positions are different. Therefore, the process of controlling the spherical deformable robot to change the external contour can be considered as the process of moving at different positions, thereby realizing the control of the spherical deformable robot to move along the preset trajectory in the shape of the inverted three-dimensional geometric body.

[0069] In an embodiment of the present application, the shape of the three-dimensional geometric body of the spherical deformable robot at any position point on the preset trajectory is obtained based on Python programming by periodizing and inverting the predetermined trajectory; specifically, the three-dimensional geometric body is presented in the form of an STL file.

[0070] In an embodiment of the present application, after opening the STL file of a three-dimensional geometric body through ASCII code, the geometric information of the triangular facets that constitute the three-dimensional geometric body can be extracted; wherein, the geometric information of the triangular facets includes: the coordinates of three vertices and the central normal vector; any two adjacent triangular facets have two vertices and one edge in total.

[0071] Step S420: Deduplication is performed on the coordinates of all the vertices obtained to obtain deduplication vertex coordinates; and the direction in which each telescopic device extends outward from the center of the spherical deformable robot is used as the target direction.

[0072] In the embodiment of the present application, since the coordinates of two vertices of any two adjacent triangular facets are the same, the extracted vertex coordinates are repeated, so the coordinates of all vertices are deduplicated to obtain deduplicated vertex coordinates.

[0073] In the embodiment of the present application, any two telescopic devices extend outward from the center of the spherical deformable robot in different directions.

[0074] Step S430: compress the deduplicated vertex coordinates according to the target direction to obtain the target coordinates corresponding to each target direction.

[0075] In an embodiment of the present application, the spherical deformable robot is evenly provided with 26 fixed planes, and 26 telescopic devices are fixed on the 26 fixed surface patches, so 26 target directions can be obtained; however, the vertex coordinates after deduplication are not 26, so all the vertex coordinates after deduplication are compressed and compressed into 26 target coordinates in 26 different directions, thereby obtaining an approximate fit to the three-dimensional geometric body.

[0076] In the embodiment of the present application, after setting the direction in which each telescopic device extends outward from the center of the spherical deformable robot as the target direction, the method further includes:

[0077] Get the preset coordinate range parameter δ and the direction coordinates corresponding to each target direction; specifically, a standard direction coordinate [i, j, k] is predefined Τ ; Among them, i, j, k can all take values ​​between 1, 0, and -1, with a total of 27 possibilities, but i, j, k cannot all be 0, so 26 directional coordinates corresponding to 26 directions are obtained.

[0078] In the embodiment of the present application, the deduplicated vertex coordinates are compressed according to the target direction to obtain the target coordinates corresponding to each target direction, including:

[0079] For any target direction, based on the direction coordinates and coordinate range parameters corresponding to the target direction, the direction coordinate interval corresponding to the target direction is obtained; one by one, it is determined whether the vertex coordinates after deduplication meet the direction coordinate interval of any target direction. If so, the vertex coordinates after deduplication are used as the coordinates of the target direction; if not, it is determined whether the vertex coordinates after deduplication meet the direction coordinate intervals of other target directions, thereby dividing all the vertex coordinates after deduplication into each target direction; all the vertex coordinates after deduplication in any target direction are averaged to obtain the target coordinate of the target direction, that is, the vector sum of the target direction (such as Figure 5 ), which is used to approximate the geometric features of the target direction.

[0080] In the embodiment of the present application, the target coordinates of any target direction are obtained by arithmetically averaging all the obtained coordinates of the target direction.

[0081] In the embodiment of the present application, the compression algorithm uses a certain spatial range in a specific direction to adjust the spatial range parameters to find a suitable approximate interval, and the average of the points in the interval can obtain the approximate shape of the geometric outer contour in the interval.

[0082] In the embodiment of the present application, the vertex coordinates [x, y, z] are determined. Τ Whether it is within a certain spatial range of the direction coordinates, it only needs to satisfy:

[0083]

[0084] Taking the (1,-1,1) direction as an example, x-y+z>0; we can immediately get the following set of equations:

[0085]

[0086] When δ = 1.0, we can get Figure 6 The spatial range shown (regular hexagonal cylinder).

[0087] In the embodiment of the present application, the target coordinates are the position coordinates of the top of each telescopic device relative to the center of the spherical deformable robot.

[0088] Step S440: For any telescopic device, based on the target coordinates and the distance between the fixed plane where the telescopic device is located and the center of the spherical deformable robot, obtain the target telescopic length of the telescopic device; and generate control parameters of the telescopic device according to the target telescopic length.

[0089] In the embodiment of the present application, the target coordinates are the position coordinates of the top of each telescopic device relative to the center of the spherical deformable robot. Therefore, the target telescopic length of the telescopic device can be obtained by subtracting the distance between the fixed plane where the telescopic device is located and the center of the spherical deformable robot from the target coordinates. Figure 7 shown.

[0090] Step S450: Based on the control parameters of each telescopic device, each telescopic device is controlled to extend to a corresponding target telescopic length, so that the spherical deformable robot presents the same shape as the three-dimensional geometric body.

[0091] In the embodiment of the present application, controlling each telescopic device to extend to a corresponding target telescopic length includes:

[0092] Obtain a preset comparison table of target telescopic lengths and target rotation angles; match the target rotation angle corresponding to the target telescopic length from the comparison table; generate control parameters based on the target rotation angle; use the servo connected to the transmission mechanism connected to the telescopic device as a target actuator; and control the target actuator to rotate the target rotation angle based on the control parameters so that the telescopic device is extended to the target telescopic length.

[0093] In one embodiment of the present application, an Arduino Uno board is used as the main control board, a PCA9685 is used as the servo expansion board, the Adafruit library is called, and the rotation angle of the servo is controlled by using the control parameters generated by the target rotation angle; at the same time, wireless control of the single-chip microcomputer is realized through the CH340 and HC-05 Bluetooth modules, the effect of which is: given a specific trajectory, a corresponding trajectory body STL file is generated, the STL file is discretized into a convex geometric body, and the length data of 26 robotic arms are obtained. The data is converted into angles and input into the Arduino serial port. The telescopic device is controlled to rotate to the specified length through the hardware device, so that the outer contour of the robot presents a given shape, thereby achieving the effect of rolling along a specific path.

[0094] Corresponding to the above method, the embodiment of the present application also provides a control device for a spherical deformable robot, such as Figure 8 As shown, the control device of the spherical deformable robot includes:

[0095] An acquisition unit 810 is configured to acquire a three-dimensional geometric object of the spherical deformable robot at any position along a preset trajectory, and the distance between each fixed plane and the center of the spherical deformable robot. The spherical deformable robot is provided with multiple fixed planes; a telescopic device is fixed to each fixed plane; any two telescopic devices extend outward from the center of the spherical deformable robot in different directions; the three-dimensional geometric object is composed of multiple triangular facets; and the three-dimensional geometric object of the spherical deformable robot is different at different positions.

[0096] An extraction unit 820 is configured to extract the coordinates of three vertices of any triangle facet;

[0097] Processing unit 830 is configured to remove duplicate coordinates from all vertex coordinates obtained to obtain deduplicated vertex coordinates; define the direction in which each telescopic device extends outward from the center of the spherical deformable robot as a target direction; and compress the deduplicated vertex coordinates according to the target direction to obtain target coordinates corresponding to each target direction; wherein the target coordinates are the positions of the tops of the telescopic devices relative to the center of the spherical deformable robot;

[0098] a calculation unit 840 for obtaining, for any telescopic device, a target telescopic length of the telescopic device based on the target coordinates and the distance between the fixed plane where the telescopic device is located and the center of the spherical deformable robot;

[0099] A generating unit 850 is configured to generate control parameters of the telescopic device according to the target telescopic length;

[0100] The control unit 860 is used to control each telescopic device to extend to a corresponding target telescopic length based on the control parameters of each telescopic device, so that the spherical deformable robot presents the same shape as the three-dimensional geometric body.

[0101] The functions of the various functional units of the control device of the spherical deformable robot provided in the above embodiments of the present application can be achieved through the above method steps. Therefore, the specific working process and beneficial effects of the various units in the control device of the spherical deformable robot provided in the embodiments of the present application will not be repeated here.

[0102] The present application also provides an electronic device, such as Figure 9 As shown, it includes a processor 910 , a communication interface 920 , a memory 930 and a communication bus 940 , wherein the processor 910 , the communication interface 920 , and the memory 930 communicate with each other via the communication bus 940 .

[0103] Memory 930, for storing computer programs;

[0104] The processor 910 is configured to execute the program stored in the memory 930 by performing the following steps:

[0105] Obtain a three-dimensional geometric body of the spherical deformable robot at any position along a preset trajectory, and the distances between each fixed plane and the center of the spherical deformable robot; wherein the spherical deformable robot is provided with multiple fixed planes; a telescopic device is fixed to each fixed plane; any two telescopic devices extend outward from the center of the spherical deformable robot in different directions; the three-dimensional geometric body is composed of multiple triangular facets; and the three-dimensional geometric body of the spherical deformable robot is different at different positions;

[0106] For any triangle, extract the coordinates of the three vertices of the triangle;

[0107] Deduplicated vertex coordinates are obtained from all vertex coordinates to obtain deduplicated vertex coordinates; the direction in which each telescopic device extends outward from the center of the spherical deformable robot is used as the target direction; the deduplicated vertex coordinates are compressed according to the target direction to obtain target coordinates corresponding to each target direction; wherein the target coordinates are the position of the top of each telescopic device relative to the center of the spherical deformable robot;

[0108] For any telescopic device, the target telescopic length of the telescopic device is obtained based on the target coordinates and the distance between the fixed plane where the telescopic device is located and the center of the spherical deformable robot;

[0109] Generate control parameters of the telescopic device according to the target telescopic length;

[0110] Based on the control parameters of each telescopic device, each telescopic device is controlled to extend to a corresponding target telescopic length, so that the spherical deformable robot presents the same shape as the three-dimensional geometric body.

[0111] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0112] The communication interface is used for communication between the above electronic device and other devices.

[0113] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk memory. Alternatively, the memory may be at least one storage device located away from the processor.

[0114] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0115] The implementation methods and beneficial effects of the various components of the electronic device in the above embodiments to solve the problems can be found in Figure 4 The various steps in the embodiment shown are implemented, therefore, the specific working process and beneficial effects of the electronic device provided by the embodiment of the present application are not repeated here.

[0116] In another embodiment provided in the present application, a computer-readable storage medium is also provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the control method of the spherical deformable robot in any of the above embodiments.

[0117] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute the control method of the spherical deformable robot according to any one of the above embodiments.

[0118] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the embodiments of the present application can be implemented in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the embodiments of the present application can be implemented in the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0119] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0120] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0121] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0122] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0123] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present application without departing from the spirit and scope of the embodiments of the present application. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims and their equivalents, the embodiments of the present application are also intended to include these modifications and variations.

Claims

1. A control method for a spherical deformable robot, characterized in that: The method is applied to a controller for controlling a spherical deformable robot, wherein the spherical deformable robot is provided with multiple fixed planes; a telescopic device is fixed on each fixed plane; and any two telescopic devices extend outward from the center of the spherical deformable robot in different directions; and the method comprises: Obtaining a three-dimensional geometric body of the spherical deformable robot at any position on a preset trajectory, and distances between each fixed plane and the center of the spherical deformable robot; wherein the three-dimensional geometric body is composed of a plurality of triangular facets; and the three-dimensional geometric body of the spherical deformable robot at different positions is different; For any triangular face, extract the coordinates of the three vertices of the triangular face; De-duplicate the coordinates of all vertices obtained to obtain de-duplicate vertex coordinates; The direction in which each telescopic device extends outward from the center of the spherical deformable robot is used as the target direction; Compressing the deduplicated vertex coordinates according to the target direction to obtain target coordinates corresponding to each target direction; wherein the target coordinates are the positions of the tops of the telescopic devices relative to the center of the spherical deformable robot; For any telescopic device, obtaining a target telescopic length of the telescopic device based on the target coordinates and the distance between the fixed plane where the telescopic device is located and the center of the spherical deformable robot; generating control parameters of the telescopic device according to the target telescopic length; Based on the control parameters of each telescopic device, each telescopic device is controlled to extend to a corresponding target telescopic length, so that the spherical deformable robot presents the same shape as the three-dimensional geometric body.

2. The method according to claim 1, wherein After setting the direction in which each telescopic device extends outward from the center of the spherical deformable robot as the target direction, the method further includes: Get the preset coordinate range parameters and the direction coordinates corresponding to each target direction.

3. The method according to claim 2, wherein Compress the deduplicated vertex coordinates according to the target direction to obtain the target coordinates corresponding to each target direction, including: For any target direction, based on the direction coordinate corresponding to the target direction and the coordinate range parameter, obtain the direction coordinate interval corresponding to the target direction; If any vertex coordinate after duplicate removal satisfies the direction coordinate interval corresponding to the target direction, the vertex coordinate after duplicate removal is used as the coordinate of the target direction; The obtained coordinates of all the target directions are averaged to obtain the target coordinates of the target direction.

4. The method according to claim 1, wherein A servo housing is fixed on any fixed plane; A steering gear is provided in the steering gear housing; the steering gear is provided with a steering gear; the steering gear is connected to a transmission mechanism; The transmission mechanism is connected to the telescopic device.

5. The method according to claim 4, wherein The spherical deformable robot is further provided with a controller; The controller is connected to each steering gear and is used to control each steering gear to rotate to a target rotation angle so that the telescopic device connected to the steering gear through the transmission mechanism is extended to a target telescopic length.

6. The method according to claim 5, wherein Controlling each telescopic device to extend to the corresponding target telescopic length separately includes: Obtain a preset comparison table of target telescopic length and target rotation angle; Matching the target rotation angle corresponding to the target telescopic length from the target telescopic length and target rotation angle comparison table; generating a control parameter according to the target rotation angle; The steering gear connected to the transmission mechanism connected to the telescopic device is used as a target actuator; Based on the control parameter, the target actuator is controlled to rotate by the target rotation angle so that the telescopic device is extended to a target telescopic length.

7. A control device for a spherical deformable robot, characterized in that: The device comprises: an acquisition unit, configured to acquire a three-dimensional geometric body of the spherical deformable robot at any position on a preset trajectory, and a distance between each fixed plane and the center of the spherical deformable robot; wherein the spherical deformable robot is provided with a plurality of fixed planes; a telescopic device is fixed to each fixed plane; any two telescopic devices extend outward from the center of the spherical deformable robot in different directions; the three-dimensional geometric body is composed of a plurality of triangular facets; and the three-dimensional geometric body of the spherical deformable robot is different at different positions; An extraction unit, configured to extract the coordinates of three vertices of any triangular facet; a processing unit configured to remove duplicate coordinates from all vertex coordinates obtained to obtain duplicated vertex coordinates; use the direction in which each telescopic device extends outward from the center of the spherical deformable robot as a target direction; and compress the duplicated vertex coordinates according to the target direction to obtain target coordinates corresponding to each target direction; wherein the target coordinates are the positions of the tops of the telescopic devices relative to the center of the spherical deformable robot; a calculation unit, configured to obtain, for any telescopic device, a target telescopic length of the telescopic device based on the target coordinates and a distance between a fixed plane where the telescopic device is located and the center of the spherical deformable robot; a generating unit, configured to generate control parameters of the telescopic device according to the target telescopic length; The control unit is used to control each telescopic device to extend to a corresponding target telescopic length based on the control parameters of each telescopic device, so that the spherical deformable robot presents the same shape as the three-dimensional geometric body.

8. An electronic device, characterized in that: The electronic device includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory for storing computer programs; A processor, configured to implement the method according to any one of claims 1 to 6 when executing a program stored in a memory.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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