Robot Based on Origami Principle, Its Control Method, Controller and Storage Medium

Abstract

An embodiment of the present application provides a robot based on the origami principle, its control method, a controller and a storage medium, belonging to the technical field of origami robots. The motion control method of the robot includes: driving a connecting element through a folding and unfolding motor to control the robot to enter a rotor form or a roller form, where the rotor form means that the fan-shaped panels at each end are in a paired overlapping state, and the roller form means that the fan-shaped panels at each end are in a paired unfolded state; in the rotor form, through a motion control system, controlling the robot to enter a flight mode in the rotor form; in the roller form, through a motion control system, controlling the robot to enter a rolling mode in the roller form. The robot of the present invention realizes a complete switch between the rotor form and the roller form based on a single-degree-of-freedom origami structure, and can fly in the rotor form and roll in the roller form.

Description

Technical Field

[0001] The present application relates to the technical field of origami robots, and particularly to a robot based on the origami principle, its control method, a controller, and a storage medium. Background Art

[0002] With the rapid development of technology, robot technology has been applied to various life scenarios, bringing great convenience to people's lives. Currently, wheeled robots and rotor robots are used more frequently. Wheeled robots can well adapt to flat terrains and have the ability of stable movement and high-speed movement; rotor robots can adapt to the state of flying in the air and have functions such as aerial surveying.

[0003] Therefore, in order to enable robots to adapt to more application scenarios and give full play to the advantages of both, it is very necessary to combine wheeled robots and rotor robots to achieve the free switching of the motion modes of the two types of robots and multifunctionality. In related technologies, the motion function structures of wheeled robots and rotor robots are simply combined by adding passive wheels to rotor robots. Such a practice not only increases the volume of the robots but also affects the flight stability and cannot give full play to the advantages of existing wheeled robots and rotor robots; or the method of introducing multiple degrees of freedom is used to increase the robot motion modes, and the method of introducing multiple degrees of freedom control increases the complexity of the control algorithm. Neither of the two methods can achieve the complete switching between the roller form and the rotor form of the robot, nor can the motion modes in the corresponding forms be independent of each other. Summary of the Invention

[0004] The main purpose of the embodiments of the present application is to propose a robot based on the origami principle, its control method, a controller, and a storage medium.

[0005] To achieve the above object, a first aspect of the embodiments of the present application proposes a robot based on the origami principle, where the robot includes:

[0006] Link members, a central panel, and a plurality of sector panels;

[0007] Both ends of the link members are connected to the same number of the sector panels, and every two adjacent sector panels in each position are connected by a connecting element;

[0008] The central panel is located in the middle of the link members, and the central panel is used to place a control component, and the control component includes a folding and unfolding motor and a motion control system;

[0009] The folding and unfolding motor is used to drive the connecting element to control the robot to enter the rotor form or the roller form, wherein the rotor form means that the fan-shaped panels at each end are in a paired overlapping state, and the roller form means that the fan-shaped panels at each end are in a paired unfolded state;

[0010] The motion control system is used to control the robot to enter the flight mode in the rotor form or control the robot to enter the rolling mode in the roller form.

[0011] The robot provided by the first aspect of the embodiment of the present invention has at least the following beneficial effects: The robot designed based on the single-degree-of-freedom origami structure can realize the complete switching between the rotor form and the rolling form of the robot through the folding and unfolding movements in a single degree of freedom, and enter the flight mode in the rotor form of the robot and enter the roller mode in the roller form of the robot, and the two motion modes are independent of each other.

[0012] In some embodiments, each fan-shaped panel is provided with through holes, and a rotor component including a rotor motor and a blade is installed in the through holes of at least one fan-shaped panel at each end. In the flight mode, the rotor motor drives the blade to rotate.

[0013] In some embodiments, a rotor component is installed in the through hole of one of every two adjacent fan-shaped panels at each position.

[0014] In some embodiments, an arc-shaped support component is installed on the side of the fan-shaped panel away from the central panel.

[0015] In some embodiments, empty slots are mirror-opened on two adjacent fan-shaped panels for each connecting element, and in the paired overlapping state, the empty slots are used to place the mirror-image connecting elements.

[0016] To achieve the above object, a second aspect of the embodiments of the present application proposes a motion control method for a robot, and the motion control method includes:

[0017] Drive the connecting element through the folding and unfolding motor to control the robot to enter the rotor form or the roller form, wherein the rotor form means that the fan-shaped panels at each end are in a paired overlapping state, and the roller form means that the fan-shaped panels at each end are in a paired unfolded state;

[0018] In the rotor form, control the robot to enter the flight mode in the rotor form through the motion control system;

[0019] In the roller form, control the robot to enter the rolling mode in the roller form through the motion control system.

[0020] According to the second aspect of the embodiments of the present invention, the motion control method of the robot has at least the following beneficial effects: a dynamic model is established to realize the switching between the rotor form and the roller form of the robot through folding and unfolding movements. The folding and unfolding of the robot are driven by folding and unfolding motors to achieve the complete switching between the rotor form and the roller form, and the motion control system controls the robot to fly or roll.

[0021] In some embodiments, controlling the robot to enter the flight mode in the rotor form through the motion control system includes:

[0022] Obtaining remote controller control information and ground station control information, and obtaining the state monitoring information of the robot;

[0023] Calculating the flight motion information of the robot based on the remote controller control information, the ground station control information, and the state monitoring information;

[0024] Transmitting the flight motion information to the rotor motor, and driving the robot to fly based on the flight motion information by the rotor motor.

[0025] In some embodiments, controlling the robot to enter the rolling mode in the roller form through the motion control system includes:

[0026] Obtaining remote controller control information and ground station control information, and obtaining the state monitoring information of the robot;

[0027] Calculating the rolling motion information of the robot based on the remote controller control information, the ground station control information, and the state monitoring information;

[0028] Transmitting the rolling motion information to the rotor motor, and driving the robot to roll based on the rolling motion information by the rotor motor.

[0029] To achieve the above object, a third aspect of the embodiments of the present application proposes a controller, which includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the motion control method described in the second aspect above is implemented.

[0030] To achieve the above object, a fourth aspect of the embodiments of the present application proposes a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the motion control method described in the second aspect above is implemented.

[0031] Other features and advantages of the present invention will be set forth in the following description, and in part will be obvious from the description, or may be learned by practice of the present invention. The objectives and other advantages of the present invention may be realized and attained by the structure particularly pointed out in the specification, the claims as well as the drawings. Description of the Drawings

[0032] Figure 1 is a schematic diagram of an origami unit provided by an embodiment of the present application;

[0033] Figure 2 is a schematic diagram of an origami link frame provided by an embodiment of the present application;

[0034] Figure 3 is a schematic diagram of an origami thick plate provided by an embodiment of the present application;

[0035] Figure 4 is a schematic diagram of the overall structure of a robot provided by an embodiment of the present application;

[0036] Figure 5 is a schematic diagram of the rotor form of a robot provided by an embodiment of the present application;

[0037] Figure 6 is a flowchart of a motion control method provided by an embodiment of the present application;

[0038] Figure 7 is a schematic diagram of a robot motion control system provided by an embodiment of the present application;

[0039] Figure 8 is a structural diagram of a flight control module provided by an embodiment of the present application;

[0040] Figure 9 is a structural diagram of a rolling control module provided by an embodiment of the present application;

[0041] Figure 10 is provided by an embodiment of the present application Figure 6 Flowchart of step 602 in

[0042] Figure 11 is provided by an embodiment of the present application Figure 6 Flowchart of step 603 in

[0043] Figure 12 is a schematic diagram of a controller for executing the motion control method of a robot provided by an embodiment of the present application.

[0044] Reference Numerals in the Drawings:

[0045] Robot 100, link component 110, central panel 111, connecting rod 112, sector panel 130, empty slot 131, support component 132, connecting element 140, rotor component 150, rotor motor 151, blade 152, through hole 160, folding motor 170, power supply 180, rotating shaft 190. Detailed implementation

[0046] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] It should be noted that although functional module division is carried out in the device schematic diagram and the logical sequence is shown in the flowchart, in some cases, the steps shown or described can be executed in a different module division in the device or a different sequence in the flowchart. Terms such as "first" and "second" in the specification, claims and the above drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0049] Traditional wheeled robots have the ability to move stably and at high speed, and have good adaptability on flat terrains, and can be applied to scenarios such as industrial facility inspection, construction site patrol, and serving meals in restaurants. However, when wheeled robots encounter complex terrains or obstacles, such as irregular terrains or narrow spaces, it is difficult to perform precise and effective obstacle avoidance and navigation, which limits the application of wheeled robots in certain specific scenarios.

[0050] Unmanned Aerial Vehicles (UAVs) have the ability to fly freely in the air, have a high degree of flexibility, and can be applied to scenarios such as aerial survey and agricultural irrigation. However, the flight planning of UAVs is restricted in narrow spaces and there are limitations in some application scenarios.

[0051] Therefore, it is very necessary to combine the two types of robots to give full play to their functions and adapt to more application scenarios.

[0052] Currently, some research is attempting to add passive wheels and rotor structures to a robot's multiple rotors, thereby controlling the robot to roll on the ground using the thrust of the rotors. However, this simple structural combination presents many problems. For example, during rotor flight, the passive wheels increase the robot's size, affecting flight stability and making obstacle avoidance difficult. Furthermore, the robot's control algorithm becomes more complex, failing to fully leverage the advantages of existing wheeled and rotor robots. Furthermore, related technologies have also increased the robot's motion modes by increasing the robot's body's degrees of freedom and the freedom of rotor steering. However, introducing too many degrees of freedom increases the complexity of the robot's control algorithm and also affects the stability of the control process.

[0053] Based on the above situation, an embodiment of the present application provides a robot based on the principle of origami, and its control method, controller and storage medium.

[0054] First, the design principle of the robot provided in the embodiment of the present application is described. Figure 1 As shown, Figure 1 This is a schematic diagram of an origami unit provided in an embodiment of the present application. Figure 1 The main folds and angle relationships of chiral origami are shown in the figure. When the origami structure has a single degree of freedom (θ1 = θ2), the structure is in its unfolded state. Based on the folds on its outer contour, the basic linkage framework for the robot in its roller configuration can be designed. When θ1 = 0 and θ2 = π, the structure is in its folded state. Based on the folds on the outer contour, the basic linkage framework for the robot in its rotor configuration can be designed. A chiral origami unit can be abstracted as two coupled spherical four-bar linkages. Each fold junction is abstracted as a revolute joint. For a total of four folds, or four revolute joints, the axes of each revolute joint intersect at the center of the sphere.

[0055] Further, if Figure 2 As shown, Figure 2 This is a schematic diagram of an origami link frame provided in an embodiment of the present application. An origami link frame based on the origami unit is designed through an origami unit. The origami link frame is a spherical four-bar structure with two couplings. Based on this, the requirements of the chiral origami unit as a roller or rotor can be met. When the origami link frame is fully extended, the robot can achieve a roller shape, and when the origami link frame is fully folded, the robot can achieve a rotor shape. Furthermore, after determining the basic link frame, the present application confirms a thick plate model based on the above-mentioned origami structure. Figure 3 As shown, Figure 3 Schematic diagram of an origami thick plate provided in an embodiment of the present application. The origami thick plate structure includes a central panel and fan-shaped panels, and the origami thick plate structure is used to construct the body of the robot.

[0056] ReferenceFigure 4 , based on the above description of the chiral origami unit, the present application designs a robot 100 based on the origami principle. The structure of the robot 100 provided in the embodiments of the present invention will be described below. In some embodiments, the overall structure of the robot 100 includes a link component 110, a central panel 111, and a plurality of sector panels 130. Both ends of the link component 110 are connected to the same number of sector panels 130, and each adjacent pair of sector panels 130 is connected by a connecting element 140; the central panel 111 is located in the middle of the link component 110, and the central panel 111 is used to place a control component, and the control component includes a folding and unfolding motor 170 and a motion control system; the folding and unfolding motor 170 is used to drive the connecting element 140 to control the robot 100 to enter a rotor form or a roller form. The roller form of the robot 100 means that the sector panels 130 at each end are in a pairwise overlapping state, and the rotor form means that the sector edges at each end are in a pairwise unfolded state; the motion control system is used to control the robot 100 to enter a flight mode in the rotor form, or control the robot 100 to enter a rolling mode in the roller form.

[0057] It can be understood that the central panel 111 can be a circular thick plate that can rotate around the center of the robot 100, so as to ensure the relative stability of the robot 100 during folding, unfolding, and movement. The number of central panels 111 is an even number, which can be used to connect the sector panels 130 at the relative positions at both ends of the robot 100, and power supplies 180, sensors (not shown in the figure), motors (not shown in the figure), electronic speed controllers (not shown in the figure), etc. can also be placed on the central panel 111. A plurality of central panels 111 overlap each other and are arranged in the middle of the link component 110. The materials of the sector panels 130 and the central panel 111 can be selected according to actual situations, and no restrictions are made here.

[0058] Furthermore, both ends of the robot 100 include an equal number of sector panels 130, and the number of sector panels 130 at each end is an even number, such as six, eight, etc., to ensure that the sector panels 130 at both ends of the robot 100 can overlap in pairs when in the rotor form. The link member 110 may include a plurality of connecting rods 112, and the connecting rods 112 can be rotationally adjusted accordingly according to the folding and unfolding of the sector panels 130. The central panel 111 also belongs to a part of the link member 110. The number of link members 110 can be set according to the number of sector panels 130 at both ends. The link member 110 is used to connect the sector panels 130 at relative positions, and every two link members 110 overlap with each other relatively. For every two adjacent sector panels 130, they are connected by a connecting element 140 at the boundary shared by the two. The connecting element 140 is arranged at the radius of two relatively close sector panels 130, and the connecting element can be a hinge or a hinge. The connecting element 140 is connected to the folding and unfolding motor 170 through a rotating shaft (not marked in the figure), and the folding and unfolding motor 170 controls the opening and closing of the connecting element 140 through the rotating shaft, so as to control the folding and unfolding of the sector panels 130 through the opening and closing of the connecting element 140.

[0059] It can be understood that the folding and unfolding motor 170 can be motors of different brands, and no restrictions are made here. The folding and unfolding motor 170 can drive the robot 100 into the rotor form or the roller form by driving the connecting element 140 (which can be a hinge or a hinge), or can drive other parts of the robot 100 through other driving methods to realize the form switching of the robot 100 in a single degree of freedom. Furthermore, the rotor form of the robot 100 is that the sector panels 130 at each end overlap in pairs, and the roller form is that the sector panels 130 at each end are unfolded in pairs. After the robot 100 enters the rotor state, the motion control system controls the robot 100 to enter the flight mode; after the robot 100 enters the roller state, the motion control system controls the robot 100 to enter the roller mode.

[0060] Specifically, the motion control system is used to control the robot 100 to fly or roll. The flight mode and the rolling mode use the same motion control system. The motion control system can be a flight control chip, and the flight control chip includes a plurality of sensors. The brand of the flight control chip can be selected according to actual needs, and no restrictions are made here.

[0061] This embodiment provides a deformable multi - amphibious robot 100 based on the principle of chiral origami. The robot 100 can be driven by a folding - unfolding motor 170. Based on the origami structure unit, the robot 100 can achieve folding or unfolding in a single degree of freedom, realizing a complete switch between the rotor form and the roller form, and the two forms do not interfere with each other. The motion control system controls the robot 100 to enter the flight mode in the rotor form and the rolling mode in the roller form. The two motion modes are carried out in the corresponding forms and do not interfere with each other. This embodiment can solve the technical problems in the related art that the simple superposition of the rotor and roller structures leads to an increase in the overall volume of the robot 100, resulting in limited partial functions and the inability to fully utilize the advantages of both; at the same time, it also solves the technical problems that the complexity of the control algorithm increases and the implementation difficulty is large due to the way of increasing the degree of freedom or rotor control.

[0062] In some embodiments, referring to Figure 4 , the overall structure of the robot 100 may include two central panels 111, and each end of the robot 100 includes four sector panels 130. The four sector panels 130 at each end ensure that after the robot 100 is folded, it forms an X - shaped quad - rotor form, and the robot 100 can perform stable flight motion in the X - shaped quad - rotor form. Further, in this embodiment, only by adjusting the rotational speeds of the four rotors can the omnidirectional control of the flight attitude be realized, the control method is simple, and the manufacturing material cost of the robot 100 is reduced. In addition, when the robot 100 switches to the roller form, the four sector panels 130 at each end are unfolded in pairs to form a standard quadrangular prism structure, similar to a pyramid structure, providing a structural basis for the subsequent rolling of the robot 100.

[0063] Specifically, the link component 110 includes two connecting rods 112. The two connecting rods 112 overlap each other. One end of one connecting rod 112 is connected to a sector panel 130 at one end of the robot 100, and the other connecting rod 112 is connected to the sector panel 130 at the opposite position at the other end of the robot 100. Figure 4 The robot 100 in

[0064] Further, every two adjacent sector panels 130 at each end are connected by hinges or hinges, and there are four hinges or hinges at each end of the robot 100. The folding and unfolding motor 170 is connected to the hinge or hinge through the rotating shaft 190, and one hinge or hinge is connected to each end. Driven by the folding and unfolding motor 170, the hinge or hinge drives the sector panel 130 to fold or unfold. Further, please refer to Figure 5 , Figure 5 is a schematic diagram of the rotor form of the robot 100 provided by the embodiment of the present application. Specifically, in the rotor form, the sector panels 130 at each end overlap in pairs to form an X-shaped quadcopter. The two central panels 111 overlap each other and are on the same horizontal plane as the paired sector panels 130 at both ends. Still referring to Figure 4 , Figure 4 also shows the roller form of the robot 100. In the roller state, the four sector panels 130 at each end unfold in pairs, presenting a pyramid structure. When the robot 100 switches to the corresponding form, the motion control system controls the motion mode of the robot 100. In the rotor form, the motion control system controls the robot 100 to fly smoothly and perform tasks such as aerial survey. The structure of the robot 100 is designed to be simple and compact, with high flexibility, and can penetrate into some narrow spaces for survey. In the roller form, the robot 100 can move smoothly and at high speed, adapting to some inspection tasks on land. Therefore, the robot 100 provided by the embodiment of the present application can give full play to the advantages of the rotor robot 100 and the wheeled robot 100, and has a broader application scenario.

[0065] In some embodiments, the robot 100 provided by the present application provides the power for flying and rolling for the entire robot 100 through the rotor component 150. When the robot 100 is flying, the rotation of the blades 152 of the rotor component 150 can provide lift and propulsion for the robot 100, and can also control the flight attitude of the robot 100 by tilting and rotating the blades 152. When the robot 100 is rolling, the rotor component 150 can provide thrust for the robot 100 to achieve two-wheel rolling. It can be understood that through holes 160 are provided on each sector panel 130, and the shape of the through holes 160 can be selected according to the actual situation. Refer to Figure 4, it is a better choice to set the circular through-hole 160. The circular through-hole 160 can ensure that the rotor component 150 is uniformly stressed in all directions, reducing vibrations caused by eccentricity or imbalance, which is crucial for maintaining the stability of the robot 100 during flight. The opening radius of the through-hole 160 needs to be adjusted according to the radius of the blade 152. To provide sufficient power for the robot 100 to move, at least one rotor component 150 needs to be installed in the through-hole 160 of each sector panel 130 at each end. The number of installed rotor components 150 can be selected according to the actual weight of the robot 100 and the required power. The rotor component 150 includes a rotor motor 151 and a blade 152, and also includes a rotor base, a rotor top, and a threaded rotating shaft (not marked in the figure) for fixing and rotating the blade 152. When the robot 100 is in flight mode, the rotor motor 151 can drive the blade 152 to rotate, providing power for the flight of the robot 100. In some embodiments, see Figure 4 , if each end of the robot 100 has four sector panels 130, a total of four through-holes 160 are provided at each end, and rotor components 150 are installed in two through-holes 160 at each end.

[0066] In the embodiment of the present application, by opening a through-hole 160 on the sector panel 130 and installing a rotor component 150 in the through-hole 160, power is provided for the flight or rolling of the robot 100, and the stability of the robot 100 during movement is ensured.

[0067] In some embodiments, the installation position of the rotor component 150 needs to be adjusted according to the number of rotor components 150 and the number of sector panels 130. Specifically, if the number of sector panels 130 at each end is four and one rotor component 150 is installed at each end, the rotor component 150 can be installed in any one of the through-holes 160. When the robot 100 is in the rotor form, the sector panels 130 overlap in pairs, and the rotor component 150 can be embedded in the through-hole 160 at the relative position during folding, so that a placement space is reserved for the rotor component 150 when the two sector panels 130 are fitted. To ensure the stability of the movement process of the robot 100, rotor components 150 need to be installed in the through-holes 160 at the relative positions at the other end. Further, two rotor components 150 can also be installed at each end, see Figure 4 , at this time, rotor components 150 need to be installed in two non-adjacent through-holes 160 to ensure that enough space is reserved for placing two rotor components 150 when the robot 100 is fully folded. Similarly, to ensure that the two ends of the robot 100 can provide equal power during the movement of the robot 100 and ensure the stability of the movement of the robot 100, two rotor components 150 need to be installed in the through-holes 160 at the relative positions at the other end.

[0068] Further, if the number of the sector panels 130 is six, eight or more, a rotor component 150 needs to be installed in one through hole 160 of every two adjacent sector panels 130. Specifically, if there are six sector panels 130 at each end and two rotor components 150 are installed at each end, only the through holes 160 need to be reserved for these two rotor components 150. If three rotor components 150 need to be installed at each end, a rotor component 150 needs to be installed in one through hole 160 of every two adjacent sector panels 130 to ensure that there is a placement space reserved for each rotor component 150 when the robot 100 is folded into the rotor form. At the same time, three rotor components 150 need to be installed at the other end in the same way.

[0069] In the embodiment of the present application, by installing the rotor component 150 in one through hole 160 of every two adjacent sector panels 130, a fitting space can be reserved for each rotor component 150 when the robot 100 is in the rotor state, so that the sector panels 130 can be overlapped in pairs and fit completely. In addition, by installing an equal number of rotor components 150 in the through holes 160 at each end, equal power can be provided for both ends of the robot 100, ensuring the stability of the robot 100 during rolling and flying.

[0070] In some embodiments, a support structure needs to be set for the robot 100. To fit the shape of the sector panel 130, refer to Figure 4 , and an arc-shaped support member 132 is provided. The arc-shaped support member 132 is installed on the side of the sector panel 130 away from the central panel 111, that is, it needs to be installed at one end opposite to the circle of the sector panel 130, and an arc-shaped support member 132 needs to be installed on each sector panel 130. The material of the support member 132 can be selected according to actual needs and is not limited here. In this embodiment, by providing the arc-shaped support member 132, the structure of the sector panel 130 can be adapted. When the robot 100 lands during flight, the support member 132 can serve as a landing buffer to reduce the impact force when the robot 100 lands, thereby reducing the damage degree to the internal devices of the robot 100 and ensuring the stability of the posture of the robot 100 when landing. In addition, when the robot 100 is in the roller form, the arc-shaped support member 132 can act as a roller to assist the robot 100 in rolling.

[0071] In the foregoing structure, every two adjacent sector panels 130 of the robot 100 are connected by a connecting element 140. Taking a hinge as an example, the two leaf plates of the hinge are respectively connected to the two sector panels 130 being connected. The connection method is not limited herein, and the two leaf plates are connected by a rotating shaft 190. Driven by the folding and unfolding motor 170, the hinge opens and closes around the hinge rotation axis to drive the sector panel 130 to fold or unfold, realizing the switching between the rotor form and the roller form of the robot 100. Further, an empty groove 131 needs to be mirror-opened at the panel boundary where two adjacent sector panels 130 in position contact each other for each connecting element 140. Refer to Figure 4 , Figure 4 which shows the position where the empty groove 131 is set. The size of the empty groove 131 needs to match the size of the hinge at the mirror position. By setting the empty groove 131 in the foregoing manner in the embodiment of the present application, a placement space for the hinge is reserved for the robot 100 in the rotor form, so that the paired overlapping sector panels 130 can be completely attached.

[0072] Further, the control component of the robot 100 provided in the embodiment of the present application may further include an electronic speed controller, a power supply 180, and multiple sensors and actuators. Different sensors are set. For example, the sensors can help the robot 100 obtain external environment information, construct a cognitive model of the environment, and collect relevant information for the control system of the robot 100 to achieve the control of the robot 100. In addition, the internal sensors of the robot 100 can monitor its own state, such as joint position, speed, current, voltage, etc., to ensure that the robot 100 operates within a safe and expected parameter range. By setting different actuators, the robot 100 can complete different actions, such as grasping, releasing, etc. Those skilled in the art can install them on the central panel 111 according to actual needs, and no limitation is made herein.

[0073] The robot 100 designed based on the chiral origami principle provided in the embodiment of the present application can drive the connecting element 140 through the folding and unfolding motor 170 to drive the corresponding sector panel 130 to fold or unfold. The sector panels 130 at each end of the robot 100 are paired and overlapped or paired and unfolded, realizing the switching between the single-degree-of-freedom rotor mode and the roller mode. The robot 100 can enter the flight mode in the rotor form and enter the rolling mode in the roller form, realizing the complete switching between the two forms. The two motion modes do not interfere with each other, giving full play to the advantages of the rotor robot 100 and the roller robot 100, and being able to adapt to more application scenarios.

[0074] For the robot 100 designed based on the origami principle described above, the embodiment of the present application further provides a motion control method for the robot 100. The motion control method for the robot 100 will be introduced in detail below.

[0075] Refer toFigure 6 , in some embodiments, the motion control method of the robot 100 includes but is not limited to the following steps 601 to 603:

[0076] Step 601, drive the connecting element 140 through the folding motor 170 to control the robot 100 to enter the rotor form or the roller form;

[0077] Step 602, in the rotor form, control the robot 100 to enter the flight mode in the rotor form through the motion control system;

[0078] Step 603, in the roller form, control the robot 100 to enter the rolling mode in the roller form through the motion control system.

[0079] Specifically, in order to achieve the control of the form of the robot 100, the embodiments of the present application construct the dynamic equations of the robot 100, including the dynamic equations in the rolling form and the dynamic equations in the rotor form. The dynamic equations describe the relationship between the joint forces and torques of the robot 100 and its motion states (position, velocity, acceleration), as well as the system response under the action of external forces.

[0080] In some embodiments, the flight control dynamic equations of the robot 100 are as follows:

[0081]

[0082] Specifically, taking the Figure 4 robot 100 as an example, the flight control dynamic equations provided by the embodiments of the present application. Wherein, ω1 represents the angular velocity of the first rotor motor 151, ω2 represents the angular velocity of the second rotor motor 151, ω3 represents the angular velocity of the third rotor motor 151, and ω4 represents the angular velocity of the fourth rotor motor 151. K represents the lift coefficient of the rotor motor 151, and Kd represents the torque coefficient of the rotor motor 151. represents the acceleration of the robot 100 in the x direction in the ground coordinate system, represents the acceleration of the robot 100 in the y direction in the ground coordinate system, represents the acceleration of the robot 100 in the z direction in the ground coordinate system, where x, y, and z represent the three coordinate axis directions in the space rectangular coordinate system, and are used to describe the position of the robot 100 in the three-dimensional space. represents the yaw angle in the ground coordinate system, θ represents the pitch angle in the ground coordinate system, ψ represents the roll angle in the ground coordinate system, and g represents the acceleration due to gravity. I x 、I y and I zThey respectively represent the moments of inertia of the fuselage rotating around the x, y, and z axes of the body coordinate system. The flight control dynamic equation of the embodiment of the present application describes the accelerations in various directions of the robot 100 in the ground coordinate system, as well as the relationships between the attitude angles, forces, torques, and angular velocities of the rotor motors 151, and establishes a flight control dynamic model of the robot 100. The equation reveals how state parameters such as flight attitude (such as yaw, pitch, and roll), position, velocity, and acceleration are affected by external forces (such as gravity, lift, and drag) and torques (generated by aerodynamic forces, engine thrust, gravity, etc.), so as to realize the control of the flight form of the robot 100.

[0083] In some embodiments, the rolling control dynamic equation of the robot 100 is as follows:

[0084]

[0085] Specifically, p, q, and r represent the angular velocity components of the robot 100 rotating around three orthogonal axes of its local coordinate system (i.e., the body coordinate system). p corresponds to the angular velocity component of the robot 100 in the x-axis direction in the robot 100 coordinate system, q corresponds to the angular velocity component of the robot 100 in the y-axis direction in the robot 100 coordinate system, and r represents the angular velocity component of the robot 100 in the z direction in the robot 100 coordinate system.

[0086] Further, ω1 represents the angular velocity of the first rotor motor 151, ω2 represents the angular velocity of the second rotor motor 151, ω3 represents the angular velocity of the third rotor motor 151, and ω4 represents the angular velocity of the fourth rotor motor 151. K represents the lift coefficient of the rotor motor 151, Kd represents the torque coefficient of the rotor motor 151, γ represents the angle formed by the axes of two sets of opposite hinges, I x 、I y and I z respectively represent the moments of inertia of the fuselage rotating around the x, y, and z axes of the body coordinate system. The dynamic equation of the rolling control provided by the embodiment of the present application is mainly used to describe and analyze the motion characteristics and control strategies of the robot 100 when performing actions in the rolling form, and reveals how the force conditions, moments of inertia, forces, etc. of its various parts (including wheels, joints, fuselage, etc.) act together to affect the rolling behavior of the robot 100 during the rolling process.

[0087] In the embodiment of the present application, a robot 100 model for flight control and rolling control of the robot 100 is constructed, and a corresponding control system is arranged on the robot 100 to control the flight, rolling and folding of the robot 100. The hinge and folding motor 170 are used to drive the origami thick plate structure of the robot 100, and the complete switching between the rotor form and the roller form of the robot 100 is realized through folding and unfolding movements. In the embodiment of the present application, only one folding motor 170 can realize the switching and control of the two forms of the robot 100.

[0088] In some embodiments, after the robot 100 switches to the roller form or the rotor form, the motion control system controls the motion of the robot 100 in different forms. Refer to Figure 7 , Figure 7 which is a schematic diagram of the motion control system of the robot 100 provided by the embodiment of the present application. Figure 7 The driver module of the motion control system in Figure 4 includes four rotor motors 151. Taking the robot 100 shown in Figure 4 as an example, two rotor motors 151 are installed at each end of the robot 100 in Figure 7 . The motion control system is arranged according to the analysis of the dynamic modeling equation. As shown in

[0089] Further, the remote control information and the ground station control signal obtained at the input end are input to the control end for processing. The control end includes a control algorithm module for controlling the flight, rolling, and folding of the robot 100, and a sensor module. The sensor module includes a Global Positioning System (GPS), a gyroscope, and an electronic compass. The GPS is used to obtain geographical location information and provide three-dimensional coordinates (latitude, longitude, altitude) for precise positioning; the gyroscope is used to measure the angular velocity of the robot 100, that is, the speed and direction of the object rotating in space, and is used to deduce the attitude and motion trajectory of the robot 100; the electronic compass is used to obtain direction information. The control algorithm module receives the remote control information and the ground station control information from the input end, as well as the GPS information, gyroscope information, and electronic compass information collected by the sensor module. Through preset control strategies and control algorithms, it infers the self-state of the robot 100 based on various sensor information, and calculates and outputs the pulse width modulation signals of each motor according to the self-state of the robot 100 and the control signal information. Among them, the pulse width modulation signals of each motor include the pulse width modulation signals of the rotor motor 151 and the folding and unfolding motor 170.

[0090] In some embodiments, the core of the control end is the internal flight control module, and the control algorithm determines various motion strategies of the robot 100. The function of the mixer is to convert the roll, pitch, and yaw moment commands output by the attitude control algorithm into specific output control signals for each motor. The mixer maps the attitude control commands to the motor speeds suitable for the robot 100, so as to drive the robot 100 to fly according to the desired attitude change.

[0091] The execution end consists of a driver and an electronic speed controller. The electronic speed controller precisely controls the speed of the motor by adjusting the magnitude and frequency of the current or voltage supplied to the motor. The driver includes the rotor motor 151 and the folding and unfolding motor 170. The pulse width modulation signal output by the mixer is input to the electronic speed controller at the execution end to obtain the corresponding motor speed to control the rotor motor 151 and the folding and unfolding motor 170. The motion control system provided by the embodiments of the present application can control the motion modes of the robot 100 in the rotor form and the roller form, and realizes the conversion between the two motion modes of flight and rolling through the folding motion of the robot in a single degree of freedom, and there is no interference between each motion mode.

[0092] In some embodiments, the position control part of the flight module and the rolling module provided by the present application adopts a Proportional-Integral-Derivative (PID) control algorithm to obtain the acceleration required by the robot 100 in the flight mode and the rolling mode according to the input position information. See Figure 8, Figure 8 It is the structural diagram of the flight control module provided by the embodiment of the present application. The flight control module includes position loop control and attitude loop control, as well as functions for converting acceleration and yaw angle to attitude angle, and a mixer. The position loop control includes position control and speed control, and the attitude loop control includes angle control and angular acceleration control. The preset desired position and actual position information are input into the position loop control, and the desired speed is obtained through calculation by the position control algorithm. The desired speed is then processed by the speed control algorithm to obtain the desired acceleration. The desired acceleration and the actual attitude angle are processed by the function for converting acceleration and yaw angle to attitude angle to obtain the attitude angle and throttle lift. The attitude angle result, the actual yaw angle, and the actual attitude angle are input into the attitude loop control algorithm, and the angular velocity is obtained through the angle control module. The angular velocity is then processed by the angular acceleration control algorithm to output the angular acceleration. The throttle lift and the angular acceleration are input into the mixer and then to the execution end of the motion control system.

[0093] The flight control module provided by the embodiment of the present application mainly includes position loop control and attitude loop control. These modules achieve precise control of the position, flight speed, angular velocity, and flight attitude of the robot 100 through a feedback control system.

[0094] In some embodiments, refer to Figure 9 , Figure 9 It is the structural diagram of the rolling control module provided by the embodiment of the present application. The rolling control module includes a position loop control module, a rolling control module, a module for converting acceleration and roll angle to rolling direction, and a mixer. The preset desired position coordinates and the actual position information of the robot 100 are input into the position loop control module, and the desired speed is obtained through calculation by the position control algorithm. The desired speed is then processed by the speed control algorithm to calculate the desired acceleration. On the other hand, the actual attitude angle is converted through the deformed centroid coordinate system to obtain the actual roll angle. The actual roll angle and the desired acceleration output by the position loop control module are input into the module for converting acceleration and roll angle to rolling direction, and then the roll angle and the rolling direction angle are output. The roll angle is input into the rolling control module, and after being processed by the angle control algorithm, the roll angular velocity is obtained. The roll angular velocity is then processed by the acceleration control algorithm to calculate the roll angular acceleration, that is, the output of the rolling control module is the roll angular acceleration. Finally, the information of the rolling direction angle and the roll angular acceleration is input into the mixer to obtain the pulse width modulation signals of each motor, and the pulse width modulation signals are input into the execution end of the motion control system to control the rolling mode of the robot 100 in the roller form.

[0095] The rolling control module provided by the embodiment of the present application mainly includes position loop control and rolling control. These modules achieve precise control of the rolling direction, rolling speed, and rolling attitude of the robot 100 through a feedback control system.

[0096] Through the flight control module and the rolling control module provided in the foregoing steps, the calculated flight motion control information or rolling motion control information is input to the execution end, so as to realize the switching of three motion modes of the folding and unfolding motion, flight motion and rolling motion of the robot 100 through the rotor motor 151 and the folding and unfolding motor 170, so that the robot 100 can adapt to more application scenarios.

[0097] In some embodiments, refer to Figure 10 , Figure 10 is the flowchart of step 602 provided by the embodiments of the present application. Step 602 includes but is not limited to the following steps: Figure 6 Step 1010, obtain the remote control information and the ground station control information, and obtain the status monitoring information of the robot;

[0098] Step 1020, calculate the flight motion information of the robot based on the remote control information, the ground station control information and the status monitoring information;

[0099] Step 1030, transmit the flight motion information to the rotor motor, and the rotor motor drives the robot to fly based on the flight motion information.

[0100] Specifically, the remote control information is the control information generated by the remote control. The remote control information may include control instructions sent to sensors or actuators carried on the remote sensing platform. The ground station control information may include flight or rolling plans, current position, flight altitude, speed, heading, track, flight status (such as ascending, descending, cruising), and preset motion routes, etc. The ground station control information may also include mission planning information, such as flight path planning, observation area setting, time series, etc. These information are used to guide how the remote sensing platform executes the predetermined remote sensing mission. These information help the ground station to monitor and guide the motion state of the robot in real time. The status monitoring information is obtained through sensors, and the status monitoring information may include whether the device is working properly, battery power, sensor status, storage capacity, etc.

[0101] Furthermore, the flight module in the control end of the motion control system processes the acquired data, and outputs the flight motion information from the mixer to the execution port of the motion control system. The flight motion information may include drive instructions or motor control signals for the rotor motor. These drive instructions usually may include the desired speed, torque or pulse width modulation (PWM) signals of the motor, so as to control the motor to output appropriate thrust or torque to achieve the desired flight motion mode. After the motor drive instructions or the motor control signals are input to the mixer, they will be further processed and distributed by the mixer, so as to be docked with the specific actuators and drivers of the robot at the execution end to realize the flight of the robot.

[0102] ​

[0103] In some embodiments, see Figure 11 , Figure 11 This embodiment of the present application provides Figure 6 Flowchart of step 603 in FIG. 6 , step 603 includes but is not limited to the following steps:

[0104] Step 1110, obtaining remote control information and ground station control information, as well as obtaining robot status monitoring information;

[0105] Step 1120, calculating the rolling motion information of the robot based on the remote control information, the ground station control information, and the status monitoring information;

[0106] Step 1130 : Transmit the rolling motion information to the rotor motor, and the rotor motor drives the robot to roll based on the rolling motion information.

[0107] Specifically, the remote control information and the ground station control information have been explained in the previous steps and will not be repeated here. After obtaining the remote control information and the ground station control information, the data is processed by the rolling module in the control algorithm module, and the processed data is output through the mixer to obtain rolling motion information. Since the rolling and flying of the robot are both achieved by the rotor motor providing lift or thrust, the rolling motion information output by the control end of the motion control system also corresponds to the drive instruction or control signal of the rotor motor. After receiving the rolling motion information output by the control end, the execution end calls the corresponding actuator and driver to perform rolling motion.

[0108] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and the like. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, and the like that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments in which tasks are performed by remote processing devices connected via a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media, including storage devices.

[0109] An embodiment of the present invention provides a controller, see Figure 12 , Figure 12It is a schematic diagram of a controller for implementing a motion control method of a robot provided by an embodiment of the present application. The controller includes: a processor, a memory, and a computer program stored on the memory and executable on the processor.

[0110] The controller 1200 according to an embodiment of the present invention includes one or more processors 1201 and a memory 1202. Figure 12 Taking one processor 1201 and one memory 1202 as an example.

[0111] The processor 1201 and the memory 1202 can be connected through a bus or other means. Figure 12 Taking connection through a bus as an example.

[0112] The memory 1202, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory 1202 can include high-speed random access memory, and can also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices.

[0113] Those skilled in the art can understand that Figure 12 the device structure shown does not limit the controller 1200, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0114] In Figure 12 the shown controller 1200, the processor 1201 can be used to call the motion control program of the robot stored in the memory 1202, so as to implement the motion control method of the robot.

[0115] An embodiment of the present application also provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the above-mentioned motion control method of the robot is implemented.

[0116] The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory can include high-speed random access memory, and can also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory optionally includes a memory remotely set relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above-mentioned network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0117] It should be noted that the controller in this embodiment may include, for example, Figure 12The processor and the memory in the illustrated embodiments belong to the same inventive concept, so they have the same implementation principles and beneficial effects, which will not be elaborated here.

[0118] To implement the motion control method of the robot based on the origami principle in the above embodiments, the required non-transitory software programs and instructions are stored in the memory. When executed by the processor, the motion control method of the robot based on the origami principle in the above embodiments is executed.

[0119] The embodiments of the present invention also provide a computer-readable storage medium, which stores computer-executable instructions for executing the above-mentioned motion control method of the robot based on the origami principle. For example, when executed by Figure 12 one of the processors 1201, it can cause the above one or more processors to execute the motion control method in the above method embodiments. For example, execute the Figure 6 method steps 601 to step 603 described above, Figure 10 method steps 1010 to step 1030 described above, Figure 11 method steps 1101 to step 1103 described above.

[0120] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0121] Those of ordinary skill in the art can understand that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices can be implemented as software, firmware, hardware, and their appropriate combinations.

[0122] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of this application and the above-mentioned drawings are used to distinguish similar objects and do not have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order different from those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0123] It should be understood that in this application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after. "At least one (item) of the following" or its similar expression refers to any combination of these items, including any combination of single item (item) or plural items (items). For example, at least one (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0124] In several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the above division of units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of devices or units can be in electrical, mechanical or other forms.

[0125] The units described above as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place, or can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0126] In addition, each functional unit in various embodiments of this application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0127] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes multiple instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present application. The foregoing storage medium includes: various media that can store programs, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs.

[0128] The preferred embodiments of the embodiments of the present application have been described above with reference to the accompanying drawings, and thus do not limit the scope of the rights of the embodiments of the present application. Any modifications, equivalent replacements, and improvements made by those skilled in the art without departing from the scope and essence of the embodiments of the present application shall be within the scope of the rights of the embodiments of the present application.

Claims

1. A robot based on the origami principle, characterized in that, The robot includes: a link component, a central panel, and a plurality of sector panels; Both ends of the link component are connected to the same number of the sector panels, and two adjacent sector panels at each position are connected by a connecting element; The central panel is located in the middle of the link component, and the central panel is used to place a control component, and the control component includes a folding motor and a motion control system; The folding motor is used to drive the connecting element to control the robot to enter a rotor form or a roller form. Wherein, the rotor form means that the sector panels at each end are in a paired overlapping state, and the roller form means that the sector panels at each end are in a paired unfolded state; The motion control system is used to control the robot to enter a flight mode in the rotor form or control the robot to enter a rolling mode in the roller form.

2. The robot according to claim 1, wherein, Each sector panel is provided with a through hole, and a rotor component is installed in the through hole of at least one sector panel at each end. The rotor component includes a rotor motor and a blade. In the flight mode, the rotor motor drives the blade to rotate.

3. The robot according to claim 2, characterized in that, A rotor component is installed in the through hole of one of the two adjacent sector panels at each position.

4. The robot according to any one of claims 1 to 3, characterized in that An arc-shaped support component is installed on the side of the sector panel away from the central panel.

5. The robot according to any one of claims 1 to 3, characterized in that, Empty slots are mirror-opened on two adjacent sector panels for each connecting element, and in the paired overlapping state, the empty slots are used to place the connecting elements in a mirror image.

6. A motion control method, characterized in that: Applied to the robot based on the origami principle according to any one of claims 1 to 5, the motion control method includes: Drive the connecting element through the folding motor to control the robot to enter a rotor form or a roller form. Wherein, the rotor form means that the sector panels at each end are in a paired overlapping state, and the roller form means that the sector panels at each end are in a paired unfolded state; In the rotor form, control the robot to enter a flight mode in the rotor form through the motion control system; In the roller form, control the robot to enter a rolling mode in the roller form through the motion control system.

7. The motion control method according to claim 6, wherein Each sector panel is provided with a through hole, and a rotor component is installed in the through hole of at least one sector panel at each end. The rotor component includes a rotor motor. The control of the robot to enter a flight mode in the rotor form through the motion control system includes: Obtain remote control information and ground station control information of the remote controller, and obtain the state monitoring information of the robot; Calculate the flight motion information of the robot based on the remote control information, ground station control information, and the state monitoring information; Transmit the flight motion information to the rotor motor, and the rotor motor drives the robot to fly based on the flight motion information.

8. The motion control method according to claim 6, characterized in that, Each of the sector-shaped panels is provided with a through hole, and a rotor component is installed in the through hole of at least one of the sector-shaped panels at each end. The rotor component includes a rotor motor. By means of the motion control system, controlling the robot to enter a rolling mode in the roller form includes: Obtaining remote control information and ground station control information, and obtaining the status monitoring information of the robot; Calculating the rolling motion information of the robot based on the remote control information, ground station control information, and the status monitoring information; Transmitting the rolling motion information to the rotor motor, and driving the robot to roll based on the rolling motion information by the rotor motor.

9. A controller, characterized in that, It includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements the motion control method according to any one of claims 6 to 8.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the motion control method according to any one of claims 6 to 8.

Images