Control Method, Device, Equipment and Storage Medium of Mobile Robot

Abstract

The present application discloses a control method, device, equipment and storage medium of a mobile robot, and relates to the field of robots. The mobile robot comprises a first swing leg group (10) and a second swing leg group (20); at least one of the first swing leg group (10) and the second swing leg group (20) comprises a plurality of swing legs; the first swing leg group (10) and the second swing leg group (20) are arranged side by side, and the rotation axis of the first swing leg group (10) and the rotation axis of the second swing leg group (20) are located in the same vertical plane. The control method comprises: controlling the mobile robot to be in an initial standing state; controlling the mobile robot to transform from the initial standing state to a folded state, and the folded state at least comprises a state in which the first swing leg group and the second swing leg group are horizontally close together. The above provides a folding method for a mobile robot, which can reduce the volume of the robot in a non-working state.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to a control method, device, equipment and storage medium for a mobile robot. Background Art

[0002] In order to ensure that robots have stronger working capabilities, robots are often equipped with more mechanical components, such as mechanical legs, mechanical arms, torso structures, etc. Usually, robots equipped with more mechanical components tend to be larger in size, and how to reduce the size of the robot in a non-working state has become a technical problem that needs to be solved urgently. Summary of the invention

[0003] The embodiments of the present application provide a control method, device, equipment and storage medium for a mobile robot, which can reduce the volume of the robot in a non-working state. The technical solution includes at least the following solutions:

[0004] According to one aspect of the present application, a control method for a mobile robot is provided, wherein the mobile robot comprises a first swing leg group and a second swing leg group; at least one of the first swing leg group and the second swing leg group comprises a plurality of swing legs; the first swing leg group and the second swing leg group are arranged side by side, and the rotation axes of the first swing leg group and the second swing leg group are located in the same vertical plane; the method comprises:

[0005] Controlling the mobile robot to be in an initial standing state;

[0006] The mobile robot is controlled to transform from the initial standing state to a folded state, wherein the folded state at least includes a state where the first swing leg group and the second swing leg group are horizontally close together.

[0007] According to one aspect of the present application, a control method for a mobile robot is provided, wherein the mobile robot comprises a first swing leg group and a second swing leg group; at least one of the first swing leg group and the second swing leg group comprises a plurality of swing legs; the first swing leg group and the second swing leg group are arranged side by side, and the rotation axes of the first swing leg group and the second swing leg group are located in the same vertical plane; the method comprises:

[0008] Controlling the mobile robot to be in a folded state; the folded state at least includes a state where the first swing leg group and the second swing leg group are horizontally close together;

[0009] The mobile robot is controlled to transform from the folded state to a target standing state.

[0010] According to one aspect of the present application, a control device for a mobile robot is provided, wherein the mobile robot comprises a first swing leg group and a second swing leg group; at least one of the first swing leg group and the second swing leg group comprises a plurality of swing legs; the first swing leg group and the second swing leg group are arranged side by side, and the rotation axes of the first swing leg group and the second swing leg group are located in the same vertical plane; the device comprises:

[0011] A control module, used for controlling the mobile robot to be in an initial standing state;

[0012] The control module is also used to control the mobile robot to transform from the initial standing state to a folded state, and the folded state at least includes a state where the first swing leg group and the second swing leg group are horizontally close together.

[0013] According to one aspect of the present application, a control device for a mobile robot is provided, wherein the mobile robot comprises a first swing leg group and a second swing leg group; at least one of the first swing leg group and the second swing leg group comprises a plurality of swing legs; the plurality of first swing legs and the plurality of second swing legs are arranged side by side, and the rotation axes of the first swing leg group and the second swing leg group are located in the same vertical plane; the device comprises:

[0014] A control module, used for controlling the mobile robot to be in a folded state; the folded state at least includes a state where the first swing leg group and the second swing leg group are horizontally close together;

[0015] The control module is also used to control the mobile robot to transform from the folded state to a target standing state.

[0016] According to one aspect of the present application, a computer device is provided, which includes a memory and a processor; at least one program code is stored in the memory, and the program code is loaded and executed by the processor to implement the control method of the mobile robot as described above.

[0017] According to one aspect of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is used to be executed by a processor to implement the control method of the mobile robot as described above.

[0018] According to one aspect of the present application, a chip is provided, which includes a programmable logic circuit and / or program instructions, and when an electronic device equipped with the chip is running, it is used to implement the control method of the mobile robot as described above.

[0019] According to one aspect of the present application, there is provided a computer program product, which includes computer instructions stored in a computer-readable storage medium. The processor reads and executes the computer instructions from the computer-readable storage medium to implement the control method of the mobile robot as described above.

[0020] The beneficial effects brought by the technical solutions provided in the embodiments of the present application at least include:

[0021] During the working state, the first swinging leg group and the second swinging leg group of the mobile robot are arranged side by side and the rotation axes are located in the same vertical plane. In the non-working state, by horizontally closing the first swinging leg group and the second swinging leg group of the mobile robot, the volume of the mobile robot in the non-working state can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0023] Figure 1 is a side view of a mobile robot provided by an exemplary embodiment of the present application;

[0024] Figure 2 is a side view of a mobile robot provided by an exemplary embodiment of the present application;

[0025] Figure 3 is a flowchart of a control method of a mobile robot provided by an exemplary embodiment of the present application;

[0026] Figure 4 is a schematic diagram of a control method of a mobile robot provided by an exemplary embodiment of the present application;

[0027] Figure 5 is a flowchart of a control method of a mobile robot provided by an exemplary embodiment of the present application;

[0028] Figure 6 is a schematic diagram of a control method of a mobile robot provided by an exemplary embodiment of the present application;

[0029] Figure 7 is a flowchart of a control method of a mobile robot provided by an exemplary embodiment of the present application;

[0030] Figure 8 is a schematic diagram of a control method of a mobile robot provided by an exemplary embodiment of the present application;

[0031] Figure 9 It is a schematic diagram of the side-swing state provided by an exemplary embodiment of the present application;

[0032] Figure 10 It is a schematic diagram of the side-swing state and the leaning-forward state provided by an exemplary embodiment of the present application;

[0033] Figure 11 It is a schematic diagram of the torso structure in the side-swing state and the leaning-forward state, and at the same time, the operating arm is in the first extended state provided by an exemplary embodiment of the present application;

[0034] Figure 12 It is a flowchart of the control method of the mobile robot provided by an exemplary embodiment of the present application;

[0035] Figure 13 It is a schematic diagram of the control method of the mobile robot provided by an exemplary embodiment of the present application;

[0036] Figure 14 It is a flowchart of the control method of the mobile robot provided by an exemplary embodiment of the present application;

[0037] Figure 15 It is a schematic diagram of the control method of the mobile robot provided by an exemplary embodiment of the present application;

[0038] Figure 16 It is a flowchart of the control method of the mobile robot provided by an exemplary embodiment of the present application;

[0039] Figure 17 It is a schematic diagram of the control method of the mobile robot provided by an exemplary embodiment of the present application;

[0040] Figure 18 It is a flowchart of the control method of the mobile robot provided by an exemplary embodiment of the present application;

[0041] Figure 19 It is a schematic diagram of the control method of the mobile robot provided by an exemplary embodiment of the present application;

[0042] Figure 20 It is a flowchart of the control method of the mobile robot provided by an exemplary embodiment of the present application;

[0043] Figure 21 It is a schematic diagram of the control method of the mobile robot provided by an exemplary embodiment of the present application;

[0044] Figure 22 It is a flowchart of the control method of the mobile robot provided by an exemplary embodiment of the present application;

[0045] Figure 23Schematic diagram of a control method for a mobile robot provided by an exemplary embodiment of the present application;

[0046] Figure 24 Flowchart of a control method for a mobile robot provided by an exemplary embodiment of the present application;

[0047] Figure 25 Flowchart of a control method for a mobile robot provided by an exemplary embodiment of the present application;

[0048] Figure 26 Schematic diagram of a control method for a mobile robot provided by an exemplary embodiment of the present application;

[0049] Figure 27 Flowchart of a control method for a mobile robot provided by an exemplary embodiment of the present application;

[0050] Figure 28 Schematic diagram of a control method for a mobile robot provided by an exemplary embodiment of the present application;

[0051] Figure 29 Schematic diagram of a control device for a mobile robot provided by an exemplary embodiment of the present application;

[0052] Figure 30 Schematic diagram of a control device for a mobile robot provided by an exemplary embodiment of the present application;

[0053] Figure 31 Block diagram of a mobile robot provided by an exemplary embodiment of the present application. Detailed implementation manners

[0054] Unless otherwise defined, all technical terms used in the embodiments of the present application have the same meaning as commonly understood by those skilled in the art.

[0055] In the embodiments of the present application, the "front" and "rear" involved are based on the front and rear shown in the drawings. The "first end" and "second end" are opposite ends.

[0056] To make the objectives, technical solutions, and advantages of the present application clearer, the following will further describe the embodiments of the present application in detail with reference to the accompanying drawings.

[0057] First, introduce the structure of the mobile robot involved in the present application.

[0058] With reference to Figure 1 and Figure 2, it can be observed that the mobile robot provided by this application includes at least three swinging legs, and the at least three swinging legs are arranged side by side with the rotation axes located in the same vertical plane. Arranged side by side means that the projections of at least three swinging legs of the mobile robot along the first direction do not overlap. The rotation axes being located in the same vertical plane means that the projections of at least three swinging legs of the mobile robot along the second direction do not overlap. The first direction refers to the front or back orientation of the mobile robot. The second direction refers to the side orientation of the mobile robot. Optionally, at least two of the at least three swinging legs have coaxial rotation axes. Optionally, the rotation axes of the at least three swinging legs are not coaxial.

[0059] In one embodiment, the at least three swinging legs are divided into a first swinging leg group and a second swinging leg group. Optionally, the first swinging leg group includes a plurality of first swinging legs, the second swinging leg group includes one second swinging leg, and at least two of the plurality of first swinging legs are located on both sides of the central axis of the mobile robot, and the second swinging leg is located on the central axis of the mobile robot. Optionally, the first swinging leg group includes one first swinging leg, the second swinging leg group includes a plurality of second swinging legs, and at least two of the plurality of second swinging legs are located on both sides of the central axis of the mobile robot, and the first swinging leg is located on the central axis of the mobile robot.

[0060] In one embodiment, the at least three swinging legs include being divided into a first swinging leg group and a second swinging leg group. Optionally, the first swinging leg group includes a plurality of first swinging legs, the second swinging leg group includes a plurality of second swinging legs, and "a plurality of" refers to a situation where it is greater than or equal to two.

[0061] Combined with reference to Figure 1 and Figure 2 , Figure 1 and Figure 2 show a side view of a mobile robot provided by this application. The mobile robot includes a first swinging leg group 10 and a second swinging leg group 20. The first swinging leg group 10 includes a plurality of first swinging legs 11, the second swinging leg group 20 includes a plurality of second swinging legs 21, and at least two of the plurality of first swinging legs 11 are respectively located on both sides of the central axis of the mobile robot, and at least two of the plurality of second swinging legs 21 are respectively located on both sides of the central axis of the mobile robot; the plurality of first swinging legs 11 and the plurality of second swinging legs 21 are arranged side by side. Under the condition of meeting the above distribution conditions, further optionally, the plurality of first swinging legs 11 and the plurality of second swinging legs 21 are staggered one by one. Optionally, the plurality of first swinging legs 11 are distributed on both sides of the plurality of second swinging legs 21.

[0062] Schematically, taking the first swing leg group 10 as the group A legs and the second swing leg group 20 as the group B legs as an example, the side-by-side distribution of multiple first swing legs 11 and multiple second swing legs 21 may be A1, B1, B2, A2 (distribution case 1); A1, B1, A2, B2 (distribution case 2). A1, A2, B1, A3, B2, B3 (distribution case 3); A1, A2, B1, B2, B3, A3 (distribution case 4), etc. Similarly, for a larger or smaller number of swing legs, a similar side-by-side distribution method can be used for setting.

[0063] With reference to Figure 1 and Figure 2 , Figure 1 and Figure 2 shows that the first swing leg group 10 includes two first swing legs (outer legs) 11, and the second swing leg group 20 includes two second swing legs (inner legs) 21. The two first swing legs 11 are symmetrically distributed along the central axis of the mobile robot, the two second swing legs 21 are symmetrically distributed along the central axis of the mobile robot, and the distance between the first swing leg 11 and the central axis is greater than the distance between the second swing leg 21 and the central axis.

[0064] During the movement of the mobile robot, the first swing leg group 10 and the second swing leg group 20 support a cross gait, that is, the first swing leg group 10 and the second swing leg group 20 alternately move forward as the front and rear leg groups. In an exemplary movement process, taking the first swing leg group 10 as the support leg, swing the second swing leg group 20 to the first landing point, and then take the second swing leg group 20 as the support leg, and swing the first swing leg group 10 to the second landing point.

[0065] Specifically, in the initial posture, multiple first swing legs 11 contact the ground as the front legs, and multiple second swing legs 21 contact the ground as the rear legs. At this time, the projection of the robot's center of gravity is located between the geometric figures formed by the contact points of the front and rear legs with the ground. Taking multiple first swing legs 11 as the support legs, swing multiple second swing legs 21 to the first landing point, and at the same time control the forward movement of the robot's center of gravity. When multiple second swing legs 21 swing to the first landing point, control the center of gravity of the robot to be located between the geometric figures formed by the contact points of the front and rear legs with the ground again. Taking multiple second swing legs 21 as the support legs, swing multiple first swing legs 11 to the second landing point, and at the same time control the forward movement of the robot's center of gravity. When multiple second swing legs 21 swing to the second landing point, control the center of gravity of the robot to be located between the geometric figures formed by the contact points of the front and rear legs with the ground again.

[0066] When the swing leg of the above-mentioned robot swings, the swing leg will be controlled to extend and retract. Schematically, when the center of gravity of the swing leg is behind the center of gravity of the mobile robot, the swing leg is controlled to shorten; when the center of gravity of the swing leg is in front of the center of gravity of the mobile robot, the swing leg is controlled to extend.

[0067] For the above-mentioned mobile robot, by setting a first swing leg group and a second swing leg group, the first swing leg group includes a plurality of first swing legs, the second swing leg group includes a plurality of second swing legs, at least two of the plurality of first swing legs are respectively located on both sides of the central axis of the mobile robot, at least two of the plurality of second swing legs are respectively located on both sides of the central axis of the mobile robot, and the plurality of first swing legs and the plurality of second swing legs are arranged side by side, so that the static stability of the mobile robot in the standing posture can be achieved without dynamically adjusting the center of gravity position of the mobile robot. Moreover, the above-mentioned mobile robot supports walking in a cross gait. During the walking process, the mobile robot does not need to consider the balance problem in the rolling direction, and the rolling direction is the direction perpendicular to the walking direction.

[0068] In one embodiment, a plurality of first swing legs 11 are rotatably connected to a first swing rotation axis, and the first swing rotation axis is perpendicular to the traveling direction of the mobile robot. Optionally, the first swing rotation axis is located at positions such as the hip, waist, and top of the head of the mobile robot. In one embodiment, a plurality of second swing legs 21 are rotatably connected to a second swing rotation axis, and the second swing rotation axis is perpendicular to the traveling direction of the mobile robot. Optionally, the second swing rotation axis is located at positions such as the hip, waist, and top of the head of the mobile robot.

[0069] In one embodiment, the first swing rotation axis is located at the hip of the mobile robot. Referring to Figure 2 At this time, the first swing rotation axis is the first hip rotation axis 1. When the mobile robot stands on a horizontal reference plane, the first hip rotation axis 1 extends horizontally. A plurality of first swing legs 11 are rotatably connected to the first hip rotation axis 1, and any two of the plurality of first swing legs 11 are parallel.

[0070] In one embodiment, the second swing rotation axis is located at the hip of the mobile robot. Referring to Figure 2 At this time, the second swing rotation axis is the second hip rotation axis 2. When the mobile robot stands on a horizontal reference plane, the second hip rotation axis 2 extends horizontally. A plurality of second swing legs 21 are rotatably connected to the second hip rotation axis 2, and any two of the plurality of second swing legs 21 are parallel.

[0071] Optionally, the first hip rotation axis 1 and the second hip rotation axis 2 are coaxial. Figure 1 and Figure 2 show the case where the first hip rotation axis 1 and the second hip rotation axis 2 are coaxial and located in the same vertical plane.

[0072] In one embodiment, the mobile robot also includes a first rotary motor and a second rotary motor; the first rotary motor is used to drive the first swing leg group 10 to rotate in conjunction with the first hip rotation axis 1; the second rotary motor is used to drive the second swing leg group 20 to rotate in conjunction with the second hip rotation axis 2.

[0073] In one embodiment, the mobile robot further includes a third rotary motor corresponding to the first swing leg 11 and a fourth rotary motor corresponding to the second swing leg 21; the third rotary motor is used to drive the first swing leg 11 to rotate around the first hip rotation axis 1; the fourth rotary motor is used to drive the second swing leg 21 to rotate around the second hip rotation axis 2. Optionally, the plurality of third rotary motors corresponding to the plurality of first swing legs 11 respectively support the control of the plurality of first swing legs 11 to rotate in conjunction or independently. Optionally, the plurality of fourth rotary motors corresponding to the plurality of second swing legs 21 respectively support the control of the plurality of first swing legs 21 to rotate in conjunction or independently.

[0074] Combined with reference Figure 1 and Figure 2 The first swing leg 11 includes a first mechanical thigh 111 and a first mechanical shank 112, and the first mechanical thigh 111 and the first mechanical shank 112 are connected by a sleeve connection. Optionally, when in the sleeve connection state, the first mechanical thigh 111 is nested inside the first mechanical shank 112, and during the extension and retraction process, the first mechanical thigh 111 will be extended and retracted along the sleeve connection direction. Optionally, when in the sleeve connection state, the first mechanical shank 112 is nested inside the first mechanical thigh 111, and during the extension and retraction process, the first mechanical shank 112 will be extended and retracted along the sleeve connection direction ( Figure 1 and Figure 2 Optionally, when in the sleeved state, the first mechanical thigh 111 and the first mechanical shank 112 are nested inside the middle piece, and during the extension and retraction process, the first mechanical thigh 111 and the first mechanical shank 112 are extended and retracted along the sleeved direction.

[0075] The second swing leg 21 includes a second mechanical thigh 211 and a second mechanical shank 212, and the second mechanical thigh 211 and the second mechanical shank 212 are connected by a sleeve connection. Optionally, when in the sleeve connection state, the second mechanical thigh 211 is nested inside the second mechanical shank 212, and during the extension and retraction process, the second mechanical thigh 211 will be extended and retracted along the sleeve connection direction. Optionally, when in the sleeve connection state, the second mechanical shank 212 is nested inside the second mechanical thigh 211, and during the extension and retraction process, the second mechanical shank 212 will be extended and retracted along the sleeve connection direction ( Figure 1 and Figure 2The situation shown). Optionally, when in the socket state, the second mechanical thigh 211 and the second mechanical calf 212 are nested inside the middleware, and during the telescoping process, the second mechanical thigh 211 and the second mechanical calf 212 will be telescoped along the socket direction.

[0076] In one embodiment, the mobile robot further includes a first telescopic motor corresponding to the first swinging leg 11, and a second telescopic motor corresponding to the second swinging leg 21; the first telescopic motor is used to drive the first swinging leg 11 to telescope along the socket direction; the second telescopic motor is used to drive the second swinging leg 21 to telescope along the socket direction. Optionally, the first telescopic motor is a first linear motor; optionally, the first telescopic motor is a motor designed for linear transmission through a lead screw and nut. Optionally, the second telescopic motor is a second linear motor; optionally, the second telescopic motor is a motor designed for linear transmission through a lead screw and nut.

[0077] In one embodiment, the multiple first telescopic motors respectively corresponding to the multiple first swinging legs 11 support controlling the multiple first swinging legs 11 to perform linkage telescoping or independent telescoping. Optionally, the multiple second telescopic motors respectively corresponding to the multiple second swinging legs 21 support controlling the multiple second swinging legs 21 to perform linkage telescoping or independent telescoping.

[0078] In one embodiment, the first swinging leg 11 includes a first mechanical thigh 111 and a first mechanical calf 112, and the first mechanical thigh 111 and the first mechanical calf 112 are rotationally connected through a first knee joint rotation axis. The first knee joint rotation axis supports increasing or decreasing the angle between the first mechanical thigh 111 and the first mechanical calf 112. The second swinging leg 21 includes a second mechanical thigh 211 and a second mechanical calf 212, and the second mechanical thigh 211 and the second mechanical calf 212 are rotationally connected through a second knee joint rotation axis. The second knee joint rotation axis supports increasing or decreasing the angle between the second mechanical thigh 211 and the second mechanical calf 212.

[0079] In one embodiment, the first swinging leg group 10 includes multiple first swinging legs 11, and the first swinging leg 11 includes a first leg component and a first wheel 113 located at the end of the first leg component; the second swinging leg group 20 includes multiple second swinging legs 21, and the second swinging leg 21 includes a second leg component and a second wheel 213 located at the end of the second leg component. Optionally, the first wheel 113 is a wheel with multi-directional degrees of freedom, and the first wheel 113 supports rotating in any direction. Optionally, the second wheel 213 is a wheel with multi-directional degrees of freedom, and the second wheel 213 supports rotating in any direction. Referring jointly to Figure 1 and Figure 2, the above-mentioned first leg assembly includes a first mechanical thigh 111 and a first mechanical calf 112, and the above-mentioned second leg assembly includes a second mechanical thigh 211 and a second mechanical calf 212.

[0080] In one embodiment, the mobile robot further includes a first drive motor corresponding to the first wheel 113 and a second drive motor corresponding to the second wheel 213; the first drive motor is used to drive the first wheel 113 to rotate; the second drive motor is used to drive the second wheel 213 to rotate.

[0081] In one embodiment, a plurality of first drive motors respectively corresponding to the plurality of first swing legs 11 support controlling the plurality of first wheels 113 to rotate in a linkage manner or independently. Optionally, a plurality of second drive motors respectively corresponding to the plurality of second swing legs 21 support controlling the plurality of second wheels 213 to rotate in a linkage manner or independently.

[0082] In one embodiment, the mobile robot further includes a waist structure 30 and a torso structure 40; the waist structure 30 is used to connect the leg structure and the torso structure 40, and the leg structure includes a first swing leg group 10 and a second swing leg group 20.

[0083] In one embodiment, the waist structure 30 includes a pitch rotation axis 3; the pitch rotation axis 3 is parallel to the rotation axis of the first swing leg group 10, and / or the pitch rotation axis 3 is parallel to the rotation axis of the second swing leg group 20. Schematically, with reference to Figure 1 and Figure 2 , the pitch rotation axis 3 is parallel to the first hip rotation axis 1 (and the second hip rotation axis 2). The pitch rotation axis 3 is rotationally connected to the torso structure 40, and the pitch rotation axis 3 is used to support the torso structure 40 to perform a pitch operation.

[0084] In one embodiment, the waist structure 30 includes a roll rotation axis 4; the roll rotation axis 4 is perpendicular to the rotation axis of the first swing leg group 10, and / or the roll rotation axis 4 is perpendicular to the rotation axis of the second swing leg group 20. With reference to Figure 1 and Figure 2 , the roll rotation axis 4 is perpendicular to the first hip rotation axis 1 (and the second hip rotation axis 2). The roll rotation axis 4 is rotationally connected to the torso structure 40, and the roll rotation axis 4 is used to support the torso structure 40 to perform a roll operation.

[0085] In one embodiment, the waist structure 30 includes a pitch rotation axis 3 and a roll rotation axis 4. The pitch rotation axis 3 is parallel to the rotation axis of the first swing leg group 10, and / or the pitch rotation axis 3 is parallel to the rotation axis of the second swing leg group 20. With reference to the figure and Figure 2, the pitch rotation axis 3 is parallel to the first hip rotation axis 1 (and the second hip rotation axis 2). The pitch rotation axis 3 is used to support the torso structure 40 to perform pitch operations. The yaw rotation axis 4 is perpendicular to the pitch rotation axis 3; the first end 41 of the yaw rotation axis 4 is connected to the center of the pitch rotation axis 3, and the second end 42 of the yaw rotation axis 4 is connected to the torso structure 40. The yaw rotation axis 4 is used to support the torso structure 40 to perform yaw operations.

[0086] In one embodiment, the mobile robot further has at least one operating arm 50. With reference to Figure 1 and Figure 2 , Figure 1 and Figure 2 show that the mobile robot has two operating arms 50, and the two operating arms 50 are symmetrically distributed along the central axis of the robot.

[0087] Optionally, the operating arm 50 is connected to the shoulder rotation axis 5 of the mobile robot. The shoulder rotation axis 5 is used to support the operating arm 50 to have multi-directional rotational degrees of freedom. Optionally, the shoulder rotation axis 5 supports the operating arm 50 to rotate within the rotation angle range allowed by the robot structure. In one embodiment, the mobile robot further includes a shoulder drive motor corresponding to the shoulder rotation axis 5; the shoulder drive motor is used to drive the operating arm 50 to rotate. In one embodiment, multiple shoulder drive motors corresponding to multiple shoulder rotation axes 5 respectively support controlling multiple operating arms 50 to perform linkage rotation or independent rotation.

[0088] Optionally, the operating arm 50 includes a mechanical upper arm 51 and a mechanical lower arm 52. The mechanical upper arm 51 and the mechanical lower arm 52 are connected by an elbow joint rotation axis 6. The elbow joint rotation axis 6 is used to support the mechanical lower arm 52 to have multi-directional rotational degrees of freedom. Optionally, the elbow joint rotation axis 6 supports the mechanical lower arm 52 to rotate within the rotation angle range allowed by the robot structure. In one embodiment, the mobile robot further includes an elbow joint drive motor corresponding to the elbow joint rotation axis 6; the elbow joint drive motor is used to drive the mechanical lower arm 52 to rotate. In one embodiment, multiple elbow joint drive motors corresponding to multiple elbow joint rotation axes 6 respectively support controlling multiple mechanical lower arms 52 to perform linkage rotation or independent rotation.

[0089] In one embodiment, a gripper is connected to the end of the mechanical lower arm 52. In one embodiment, the mobile robot further has a head 60, and the head 60 is located above the torso structure 40.

[0090] Figure 3 shows a flowchart of a control method for a mobile robot provided by an exemplary embodiment of the present application. Specifically, Figure 3 the shown control method is executed by the controller of the mobile robot. The controller of the mobile robot can be located inside the robot body or outside the robot. The method includes:

[0091] Step 320, controlling the mobile robot to be in an initial standing state.

[0092] In the present embodiment, the mobile robot includes a first swing leg group and a second swing leg group; the first swing leg group includes a plurality of first swing legs and / or the second swing leg group includes a plurality of second swing legs, the first swing leg group and the second swing leg group are arranged side by side, and the rotation axes of the first swing leg group and the second swing leg group are located in the same vertical plane. At least one of the first swing leg group and the second swing leg group includes a plurality of swing legs, optionally, the first swing leg group includes a plurality of first swing legs, and the second swing leg group includes a second swing leg; optionally, the first swing leg group includes a first swing leg, and the second swing leg group includes a plurality of second swing legs; optionally, the first swing leg group includes a plurality of first swing legs, and the second swing leg group includes a plurality of second swing legs, optionally, the plurality of first swing legs and the plurality of second swing legs are staggered one by one. Optionally, the plurality of first swing legs are distributed on both sides of the plurality of second swing legs.

[0093] Initial standing state, for mobile robot execution Figure 3 The folding action method shown is in the starting reference state. That is, before the mobile robot performs the subsequent folding action, it must first be in the initial standing state.

[0094] In one embodiment, the initial standing state includes a state in which the first swing leg group and the second swing leg group of the mobile robot are close together and jointly support the standing state. Specifically, the close together in the initial standing state means that the side surface of the first swing leg group and the side surface of the second swing leg group are in contact (or face to face) in the standing state, or the close together in the initial standing state means that there is no angle between the vertical axis of the first swing leg group and the vertical axis of the second swing leg group in the standing state.

[0095] In one embodiment, the initial standing state includes a state in which the first swing leg group and the second swing leg group of the mobile robot are close together and only one swing leg group supports the standing state. Optionally, the leg group supporting the standing state is the first swing leg group or the second swing leg group. Specifically, the close together in the initial standing state refers to the side of the first swing leg group and the side of the second swing leg group in the standing state being in contact (or facing each other), or, the close together in the initial standing state refers to the vertical axis of the first swing leg group and the vertical axis of the second swing leg group in the standing state. There is no angle between them.

[0096] In one embodiment, the initial standing state includes the first swing leg group and the second swing leg group of the mobile robot being in a cross standing state. Optionally, in the cross standing state, the first swing leg group is located before or after the second swing leg group.

[0097] Combined with reference Figure 4 ,Figure 4 Part (A) shows a schematic diagram of an initial standing state in which the first swing leg group 10 and the second swing leg group 20 of the mobile robot are close together and jointly support the standing state. Figure 4 The first swing leg group 10 is shown to be located outside the second swing leg group 20, and the first swing legs 11 of the first swing leg group 10 are symmetrically distributed along the central axis of the mobile robot, and the second swing legs 21 of the second swing leg group 20 are symmetrically distributed along the central axis of the mobile robot. The distance between any first swing leg 11 and the central axis of the mobile robot is greater than the distance between any second swing leg 21 and the central axis of the mobile robot. Figure 4 The mobile phone comprises two first swing legs 11 and two second swing legs 21 .

[0098] Step 340, controlling the mobile robot to transform from an initial standing state to a folded state, wherein the folded state at least includes a state where the first swing leg group and the second swing leg group are horizontally together.

[0099] The folded state refers to the state of the mobile robot in the non-working mode. The space volume occupied by the robot in the non-working mode is smaller than the space volume occupied by the robot in the working mode. The folded state is the state obtained by the robot performing the folding action in the initial standing state.

[0100] The folded state at least includes a state in which the first swing leg group and the second swing leg group are horizontally close together. Horizontally close together means that the extension direction of the first swing leg group and the second swing leg group is parallel to the horizontal reference plane, and the side surface of the first swing leg group is in contact with the side surface of the second swing leg group (or face to face). Alternatively, horizontally close together means that the extension direction of the first swing leg group and the second swing leg group is parallel to the horizontal reference plane, and there is no angle between the horizontal axis of the first swing leg group and the horizontal axis of the second swing leg group.

[0101] Optionally, the mobile robot further includes a trunk structure, and the folded state further includes a state where the trunk structure fits with the folded first swing leg group and / or the second swing leg group, and the front or back side of the trunk structure fits with the top side of the first swing leg group and / or the second swing leg group. Figure 4 , Figure 4 Part (B) shows the mobile robot in a folded state. Figure 4 Part (B) shows a state where the first swing leg group 10 and the second swing leg group 20 are horizontally brought together.

[0102] In summary, in the working state, the first swing leg group and the second swing leg group of the mobile robot are arranged side by side. In the non-working state, the volume of the mobile robot in the non-working state can be reduced by horizontally bringing the first swing leg group and the second swing leg group of the mobile robot together.

[0103] Figure 5 The flowchart of a control method of a mobile robot provided by an exemplary embodiment of the present application is shown. Specifically, Figure 5 The control method shown is performed by a controller of a mobile robot. The controller of the mobile robot may be located on the robot body or outside the robot. The method includes:

[0104] Step 520, controlling the mobile robot to be in an initial standing state.

[0105] Initial standing state, for mobile robot execution Figure 5 The folding action method shown is in the starting reference state. That is, the mobile robot must be in the initial standing state before performing the subsequent folding action.

[0106] In one embodiment, the initial standing state includes the state that the first swing leg group and the second swing leg group of the mobile robot are close together and support standing together. In one embodiment, the initial standing state includes the state that the first swing leg group and the second swing leg group of the mobile robot are close together and only one swing leg group supports standing. Optionally, the leg group supporting standing is the first swing leg group or the second swing leg group. In one embodiment, the initial standing state includes the first swing leg group and the second swing leg group of the mobile robot being in a cross standing state. Optionally, the first swing leg group is located before or after the second swing leg group in the cross standing state.

[0107] Combined with reference Figure 6 , Figure 6 Part (A) shows a schematic diagram of an initial standing state in which the first swing leg group 10 and the second swing leg group 20 of the mobile robot are close together and jointly support the standing state.

[0108] Step 540, controlling the mobile robot to transform from an initial standing state to a horizontally split state, wherein the horizontally split state includes a state in which the first swing leg group and the second swing leg group are horizontally split.

[0109] The horizontal split state refers to a state in which the extension direction of the first swing leg group is opposite to the extension direction of the second swing leg group. Specifically, in the horizontal split state, the direction in which the leg root points to the leg end of the first swing leg group forms an angle of 180 degrees with the direction in which the leg root points to the leg end of the second swing leg group.

[0110] Combined with reference Figure 6 , Figure 6 Part (B) shows that the first swing leg group 10 and the second swing leg group 20 are in a horizontally split state.

[0111] In one embodiment, in the initial standing state, the mobile robot is controlled to perform a straddling action until the mobile robot is in a horizontally straddled state. The straddling action refers to an action of gradually increasing the angle between the first swinging leg group and the second swinging leg group.

[0112] In one embodiment, the straddling action is an action of simultaneously controlling the first swinging leg group and the second swinging leg group to rotate in opposite directions. Optionally, the first swinging leg group is controlled to rotate clockwise along the hip rotation axis, and the second swinging leg group is controlled to rotate counterclockwise along the hip rotation axis. Optionally, the first swinging leg group is controlled to rotate counterclockwise along the hip rotation axis, and the second swinging leg group is controlled to rotate clockwise along the hip rotation axis.

[0113] In one embodiment, the straddling action is an action of only controlling one swinging leg group to rotate. Optionally, the first swinging leg group or the second swinging leg group is controlled to rotate clockwise along the hip rotation axis; optionally, the first swinging leg group or the second swinging leg group is controlled to rotate counterclockwise along the hip rotation axis.

[0114] Figure 6 Part (D) shows an intermediate state where the mobile robot performs the straddling action until it reaches the horizontally straddled state, at which time there is an angle between the first swinging leg group 10 and the second swinging leg group 20. Figure 6 The corresponding straddling action in part (D) is an action of simultaneously controlling the first swinging leg group 10 and the second swinging leg group 20 to rotate in opposite directions.

[0115] In one embodiment, the first swinging leg includes a first leg and a first wheel located at the end of the first leg, and the second swinging leg includes a second leg and a second wheel located at the end of the second leg; there is a first protrusion at the root of the first leg, and there is a second protrusion at the root of the second leg.

[0116] After step 540, it further includes: determining the multiple first wheels and multiple first protrusions corresponding to the multiple first swinging legs respectively, and the multiple second wheels and multiple second protrusions corresponding to the multiple second swinging legs respectively as the support parts of the mobile robot in the horizontally straddled state; controlling the mobile robot to be in the horizontally straddled state. Figure 6 Part (B) characterizes the position of the protrusion through a "triangle".

[0117] Step 560, controlling the mobile robot to change from the horizontally straddled state to the folded state, and the folded state at least includes a state where the first swinging leg group and the second swinging leg group are horizontally juxtaposed.

[0118] The folded state refers to the state of the mobile robot in the non-working mode. The space volume occupied by the robot in the non-working mode is smaller than the space volume occupied by the robot in the working mode. The folded state is a state obtained by the robot performing a folding action in the initial standing state.

[0119] In Figure 5 the method embodiment shown, the folded state at least includes a state where the first swing leg group and the second swing leg group are horizontally juxtaposed. Horizontally juxtaposed means that the extending directions of the first swing leg group and the second swing leg group are parallel to the horizontal reference plane, and the side surface of the first swing leg group is in contact with (or faces) the side surface of the second swing leg group. Or, horizontally juxtaposed means that the extending directions of the first swing leg group and the second swing leg group are parallel to the horizontal reference plane, and there is no included angle between the horizontal axis of the first swing leg group and the horizontal axis of the second swing leg group.

[0120] In one embodiment, control the first swing leg group or the second swing leg group of the mobile robot to perform a leg rotation action around the hip rotation axis until the first swing leg group and the second swing leg group are horizontally juxtaposed. Specifically, in the horizontally split state, with the second swing leg group as the support leg, control the first swing leg group to perform a leg rotation action around the hip rotation axis until the first swing leg group and the second swing leg group are horizontally juxtaposed. When performing the leg rotation action around the hip rotation axis, the height of the first swing leg group changes.

[0121] Or, in the horizontally split state, with the first swing leg group as the support leg, control the second swing leg group to perform a leg rotation action around the hip rotation axis until the first swing leg group and the second swing leg group are horizontally juxtaposed. When performing the leg rotation action around the hip rotation axis, the height of the second swing leg group changes.

[0122] Optionally, the mobile robot further includes a torso structure, and the folded state further includes a state where the front or back of the torso structure is in contact with the folded first swing leg group and / or the second swing leg group. At this time, the front or back of the torso structure faces perpendicular to the extending direction of the first swing leg group and / or the second swing leg group. With reference to Figure 6 , Figure 6 Part (C) of shows the mobile robot in the folded state. At this time, the first swing leg group 10 and the second swing leg group 20 are horizontally juxtaposed.

[0123] In summary, by controlling the mobile robot to change from the initial standing state to the horizontally split state, and then controlling the mobile robot to change from the horizontally split state to the horizontally juxtaposed state, a folding method is further provided. And, by performing the splitting action, the robot changes from the initial standing state to the horizontally split state, providing a self-folding method for the robot. The robot does not require external assistance, such as human force, during the complete folding operation process, and the robot is always in a stable state during the folding process.

[0124] Based on Figure 5In the optional embodiment shown, the mobile robot also includes a trunk structure, and the trunk structure needs to be folded. In addition to "controlling the first swing leg group or the second swing leg group of the mobile robot to perform a leg rotation action around the hip rotation axis until the first swing leg group and the second swing leg group are horizontally close together", step 560 also includes Figure 7 Steps shown. Figure 7 The step can be performed before the robot performs the leg rotation action, and can also be performed after the robot performs the leg rotation action. Figure 7 The method steps shown include:

[0125] Step 710, controlling the trunk structure to perform a leaning operation.

[0126] The torso structure is controlled to perform a leaning operation through the pitch rotation axis.

[0127] In one embodiment, before performing a folding operation of the trunk structure, the trunk structure needs to be controlled to be in an initial upright state. The initial upright state is the reference upright state of the trunk structure, and the trunk structure needs to be restored to the reference upright state before performing a folding operation. Optionally, in the initial upright state, the front direction of the trunk structure is parallel to the extension direction of the first swing leg group in the horizontal split state, and / or, the front direction of the trunk structure is parallel to the extension direction of the second swing leg group in the horizontal split state. Alternatively, in the initial upright state, the central axis of the trunk structure is parallel to the direction of gravity.

[0128] In one embodiment, before the folding operation of the trunk structure is performed, the trunk structure does not need to be controlled to be in a preset upright state, and the leaning operation is performed by detecting the leaning angle of the trunk structure. For example, before the folding operation is performed, the central axis of the trunk structure of the mobile robot has a certain angle with the gravity direction, and the leaning operation is directly performed based on the angle.

[0129] Step 720, controlling the front or back of the trunk structure to fit with the top surface of the first swing leg group; and / or controlling the front or back of the trunk structure to fit with the top surface of the second swing leg group;

[0130] Perform a leaning operation until the front or back of the trunk structure fits with the top surface of the first swing leg group, and determine that the trunk structure has completed the folding operation. At this time, the front or back of the trunk structure in the fitted state is perpendicular to the extension direction of the first swing leg group in the horizontal split state. And / or, perform a leaning operation until the front or back of the trunk structure fits with the top surface of the second swing leg group, and determine that the trunk structure has completed the folding operation, and at this time, the front or back of the trunk structure in the fitted state is perpendicular to the extension direction of the second swing leg group in the horizontal split state.

[0131] Combined with reference Figure 8 ,Figure 8 It shows the situation where the folding operation of the torso structure is performed before the mobile robot executes the leg rotation action. Figure 8 Part (A) of Figure 8 Part (B) of Figure 8 and Part (C) of Figure 6 respectively correspond to the Figure 6 Part (A) of Figure 6 Part (B) of Figure 6 and Part (C) of Figure 8 which are introduced above, and will not be elaborated here.

[0132] Based on Figure 7 the optional embodiment shown, Figure 7 the method of Figure 7 can be executed before the mobile robot executes the leg rotation action, or can be executed after the mobile robot executes the leg rotation action. When

[0133] the method of Figure 7 is located after the execution of the leg rotation action (that is, the situation where the mobile robot executes the folding operation of the torso structure after the legs execute the folding operation), before the execution of the folding operation of the legs, it further includes at least one of the following three steps:

[0133] S1: Control the torso structure to be in a side-swing state; the side-swing state means that there is a first included angle between the front-facing direction of the torso structure and the extension direction of the first swing leg group, and / or, the side-swing state means that there is a second included angle between the front-facing direction of the torso structure and the extension direction of the second swing leg group;

[0134] In one embodiment, the first swing leg group is the outer swing leg group, the second swing leg group is the inner swing leg group, and the distance between any swing leg in the outer swing leg group and the central axis of the mobile robot is greater than the distance between any swing leg in the inner swing leg group and the central axis of the mobile robot.

[0135] When using the inner swing leg group as the support leg and the outer swing leg group rotates around the hip rotation axis, before the execution of the leg rotation operation, the torso structure will be controlled to be in a side-swing state, and the side-swing angle of the side-swing state is associated with the structure of the mobile robot. Optionally, the side-swing angle means the second included angle between the front-facing direction of the torso structure and the extension direction of the inner swing leg group in the horizontal split state, and optionally, the side-swing angle means the first included angle between the front-facing direction of the torso structure and the extension direction of the outer swing leg group. With reference to Figure 9 Figure 9 it shows the first included angle θ between the front-facing direction of the torso structure 40 in the side-swing state and the extension direction of the first swing leg group 10 1 Figure 9The second included angle θ between the front orientation of the torso structure 40 in the side-sway state and the extending direction of the second swinging leg group 20 is also shown. 2 .

[0136] Optionally, the side-sway angle is 30 degrees. When the side-sway angle is 30 degrees, during the process of rotating the outer swinging leg group, there will be no mechanical structure interference, and the outer swinging leg group can smoothly rotate around the hip rotation axis to a state where it is horizontally juxtaposed with the inner swinging leg group. Optionally, the side-sway angle is 90 degrees, and 90 degrees is the preset maximum avoidance angle, which maximally ensures that there will be no interference between the rotating outer swinging leg group and the torso structure.

[0137] S2: Control the torso structure to be in a bent-forward state, where the bent-forward state means that there is a third included angle between the central axis of the torso structure and the direction of gravity.

[0138] In one embodiment, before performing the leg rotation operation, control the torso structure to be in a bent-forward state. The bent-forward angle of the bent-forward state is associated with the position of the center of gravity of the mobile robot. When performing the leg rotation operation, one swinging leg group will be lifted. By having the torso structure in a bent-forward state, during the process of performing the leg rotation operation, the center of gravity of the robot always falls within the contact surface between the supporting leg and the reference plane.

[0139] With reference to Figure 10 , Figure 10 a mobile robot in both the side-sway state and the bent-forward state is shown. Figure 10 The third included angle θ between the central axis of the torso structure 40 and the direction of gravity G in the bent-forward state is shown. 3 .

[0140] S3: Control the manipulator to be in a first extended state, where the first extended state means the state where the manipulator extends along the direction of the supporting leg, and the supporting leg includes the swinging leg group that contacts the reference plane when performing the leg rotation action.

[0141] In one embodiment, the mobile robot also has a torso structure and a manipulator located on the periphery of the torso structure. Before performing the leg rotation operation, control the manipulator to be in an extended state that extends along the direction of the supporting leg. The lifting height of the manipulator in the extended state is associated with the position of the center of gravity of the mobile robot. Since when performing the leg rotation operation, one swinging leg group will be lifted, by controlling the manipulator to extend along the direction of the supporting leg, during the process of performing the leg rotation operation, the center of gravity of the robot always falls within the contact surface between the supporting leg and the reference plane.

[0142] With reference to Figure 11 , Figure 11 a schematic diagram showing that the torso structure is in both the side-sway state and the bent-forward state, and the manipulator is in the first extended state is shown. Figure 11It also shows the lifting height h of the operating arm 50. At this time, the supporting leg is the second swing leg group 20, and the operating arm 50 extends in the direction of the second swing leg group 20.

[0143] It should be noted that the above-mentioned steps S1, S2 and S3 can be freely combined into a variety of situations. In one case, before executing the leg rotation action, only the trunk structure is controlled to be in the side swing state and the leaning state at the same time. In another case, before executing the leg rotation action, only the trunk structure is controlled to be in the side swing state and the operating arm is in the first extended state at the same time. Various situations that can be combined are not listed one by one here. Next, an embodiment of executing steps S1, S2 and S3 at the same time will be introduced.

[0144] Figure 12 A flow chart of a control method for a mobile robot provided by an exemplary embodiment of the present application is shown. Specifically, Figure 12 The control method shown is performed by a controller of a mobile robot. The controller of the mobile robot may be located on the robot body or outside the robot. The method includes:

[0145] Step 1201, control the mobile robot to be in an initial standing state.

[0146] Initial standing state, for mobile robot execution Figure 12 The folding action method shown is in the starting reference state. That is, the mobile robot must be in the initial standing state before performing the subsequent folding action.

[0147] In one embodiment, the initial standing state includes the state that the first swing leg group and the second swing leg group of the mobile robot are close together and support standing together. In one embodiment, the initial standing state includes the state that the first swing leg group and the second swing leg group of the mobile robot are close together and only one swing leg group supports standing. Optionally, the leg group supporting standing is the first swing leg group or the second swing leg group. In one embodiment, the initial standing state includes the first swing leg group and the second swing leg group of the mobile robot being in a cross standing state. Optionally, the first swing leg group is located before or after the second swing leg group in the cross standing state.

[0148] Combined with reference Figure 13 , Figure 13 Part (A) shows a schematic diagram of an initial standing state in which the first swing leg group 10 and the second swing leg group 20 of the mobile robot are close together and jointly support the standing state.

[0149] Step 1202, controlling the mobile robot to transform from an initial standing state to a horizontally split state, wherein the horizontally split state includes a state where the first swing leg group and the second swing leg group are horizontally split.

[0150] The horizontal split state refers to a state in which the extension direction of the first swing leg group is opposite to the extension direction of the second swing leg group. Specifically, in the horizontal split state, the direction in which the leg root points to the leg end of the first swing leg group forms an angle of 180 degrees with the direction in which the leg root points to the leg end of the second swing leg group.

[0151] Combined with reference Figure 13 , Figure 13 Part (B) shows that the first swing leg group 10 and the second swing leg group 20 are in a horizontally split state.

[0152] Step 1203, control the trunk structure to be in a side-swing state; the side-swing state means that there is a first angle between the front direction of the trunk structure and the extension direction of the first swing leg group, and / or, the side-swing state means that there is a second angle between the front direction of the trunk structure and the extension direction of the second swing leg group.

[0153] In one embodiment, the first swing leg group is an outer swing leg group, and the second swing leg group is an inner swing leg group, and the distance between any swing leg in the outer swing leg group and the central axis of the mobile robot is greater than the distance between any swing leg in the inner swing leg group and the central axis of the mobile robot.

[0154] When the inner swing leg group is used as the supporting leg and the outer swing leg group rotates around the hip rotation axis, before the leg rotation operation is performed, the trunk structure is controlled to be in a side swing state, and the side swing angle of the side swing state is associated with the structure of the mobile robot. Optionally, the side swing angle refers to the second angle between the front direction of the trunk structure and the extension direction of the inner swing leg group in the horizontal split state, and optionally, the side swing angle refers to the first angle between the front direction of the trunk structure and the extension direction of the outer swing leg group.

[0155] Optionally, the side swing angle is 30 degrees. When the side swing angle is 30 degrees, no mechanical structure interference occurs during the rotation of the outer swing leg group, and the outer swing leg group can smoothly rotate around the hip rotation axis to a state where it is horizontally close to the inner swing leg group. Optionally, the side swing angle is 90 degrees, which is the preset maximum avoidance angle, to maximize the guarantee that the outer swing leg group will not interfere with the trunk structure when rotating.

[0156] Combined with reference Figure 13 , Figure 13 Part (C) shows the trunk structure 40 in a side-swaying state.

[0157] Step 1204, controlling the trunk structure to be in a leaning state, wherein the leaning state refers to a third angle between the central axis of the trunk structure and the direction of gravity.

[0158] In one embodiment, before performing the leg rotation operation, the trunk structure is controlled to be in a prone state. The prone angle of the prone state is associated with the position of the center of gravity of the mobile robot. Since a swing leg group is raised when performing the leg rotation operation, the trunk structure is in a prone state, so that during the leg rotation operation, the center of gravity of the robot always falls within the contact surface between the supporting leg and the reference surface.

[0159] Combined with reference Figure 13 , Figure 13 Part (D) shows the mobile robot in which the trunk structure 40 is in a sideways state and a leaning state at the same time.

[0160] Step 1205, controlling the operating arm to be in a first extended state, the first extended state refers to a state in which the operating arm is extended in the direction of the supporting leg, and the supporting leg includes a swing leg group that contacts the reference plane when performing a leg rotation action.

[0161] In one embodiment, the mobile robot further has an operating arm located on the peripheral side of the trunk structure. Before performing the leg rotation operation, the operating arm is controlled to be in an extended state extending in the direction of the supporting leg. The lifting height of the operating arm in the extended state is associated with the position of the center of gravity of the mobile robot. Since a swing leg group will be lifted when performing the leg rotation operation, by controlling the operating arm to extend in the direction of the supporting leg, the center of gravity of the robot always falls within the contact surface between the supporting leg and the reference surface during the leg rotation operation.

[0162] Combined with reference Figure 13 , Figure 13 Part (E) shows the mobile robot with its trunk structure in both the side-swaying state and the leaning-over state, and the operating arm in the first extended state.

[0163] Step 1206, controlling the mobile robot to transform from a horizontally spread state to a folded state, wherein the folded state at least includes a state where the first swing leg group and the second swing leg group are horizontally closed together.

[0164] The folded state refers to the state of the mobile robot in the non-working mode. The space volume occupied by the robot in the non-working mode is smaller than the space volume occupied by the robot in the working mode. The folded state is the state obtained by the robot performing the folding action in the initial standing state.

[0165] The folded state at least includes a state in which the first swing leg group and the second swing leg group are horizontally close together. Horizontally close together means that the extension direction of the first swing leg group and the second swing leg group is parallel to the horizontal reference plane, and the side surface of the first swing leg group is in contact with the side surface of the second swing leg group (or face to face). Alternatively, horizontally close together means that the extension direction of the first swing leg group and the second swing leg group is parallel to the horizontal reference plane, and there is no angle between the horizontal axis of the first swing leg group and the horizontal axis of the second swing leg group.

[0166] In one embodiment, the first swing leg group or the second swing leg group of the mobile robot is controlled to perform a leg rotation action around the hip rotation axis until the first swing leg group and the second swing leg group are horizontally brought together. Specifically, in the horizontal split state, the second swing leg group is used as a supporting leg, and the first swing leg group is controlled to perform a leg rotation action around the hip rotation axis until the first swing leg group and the second swing leg group are horizontally brought together. Alternatively, in the horizontal split state, the first swing leg group is used as a supporting leg, and the second swing leg group is controlled to perform a leg rotation action around the hip rotation axis until the first swing leg group and the second swing leg group are horizontally brought together.

[0167] Combined with reference Figure 13 , Figure 13 Part (F) shows the mobile robot in a folded state.

[0168] In summary, before performing the leg rotation operation, by controlling the mobile robot to be in a sideways state, the structural interference with the robot during the leg rotation process can be avoided. Before performing the leg rotation operation, by controlling the mobile robot to be in a prone state and / or controlling the operating arm to be in a first extended state, the problem of robot instability caused by center of gravity shift during the leg rotation process can be solved.

[0169] Figure 14 The flowchart of a control method of a mobile robot provided by an exemplary embodiment of the present application is shown. Specifically, Figure 14 The control method shown is performed by a controller of a mobile robot. The controller of the mobile robot may be located on the robot body or outside the robot. The method includes:

[0170] Step 1401, control the mobile robot to be in an initial standing state.

[0171] Initial standing state, for mobile robot execution Figure 14 The folding action method shown is in the starting reference state. That is, the mobile robot must be in the initial standing state before performing the subsequent folding action.

[0172] In one embodiment, the initial standing state includes the state that the first swing leg group and the second swing leg group of the mobile robot are close together and support standing together. In one embodiment, the initial standing state includes the state that the first swing leg group and the second swing leg group of the mobile robot are close together and only one swing leg group supports standing. Optionally, the leg group supporting standing is the first swing leg group or the second swing leg group. In one embodiment, the initial standing state includes the first swing leg group and the second swing leg group of the mobile robot being in a cross standing state. Optionally, the first swing leg group is located before or after the second swing leg group in the cross standing state.

[0173] Combined with reference Figure 15 , Figure 15 Part (A) shows a schematic diagram of an initial standing state in which the first swing leg group 10 and the second swing leg group 20 of the mobile robot are close together and jointly support the standing state.

[0174] Step 1402, in the initial standing state, control the mobile robot to perform a split action until the mobile robot is in a first split state, and the first split state refers to a critical state in which the operating arm is supported on the reference plane.

[0175] During the fork-down process, the mobile robot will extend the operating arm along the gravity direction. The first fork-down state refers to the critical state in which the operating arm is supported on the reference surface. Before the critical state, the operating arm does not contact the reference surface.

[0176] Combined with reference Figure 15 , Figure 15 Part (B) shows a critical state in which the operating arm 50 is supported on the reference surface.

[0177] Step 1403, controlling the mobile robot to continue to perform the downspreading action until the mobile robot is in a horizontal split state.

[0178] In one embodiment, the mobile robot is controlled to continue to perform the down-forking action, and the operating arm of the mobile robot is controlled to be continuously shortened until the mobile robot is in a horizontally-split state.

[0179] Optionally, when the mobile robot continues to perform the fork-down action, the straight operating arm is bent into a curved operating arm to achieve the effect of continuously shortening the operating arm. Specifically, the operating arm is continuously shortened by bending the elbow joint of the operating arm. Figure 15 Part (C) shows a schematic diagram of the elbow joint of the operating arm 50 in a bent state. Figure 15 Part (C) shows the mobile robot in a horizontally split state.

[0180] Optionally, when the mobile robot continues to perform the down-fork action, the operating arm shortens the mechanical arm and / or the mechanical arm to achieve the effect of continuously shortening the operating arm. Specifically, the operating arm includes a mechanical arm and a mechanical arm, and the mechanical arm and the mechanical arm are connected by a sleeve connection. The mechanical arm and / or the mechanical arm are controlled to shorten along the sleeve connection direction to achieve the effect of continuously shortening the operating arm.

[0181] Step 1404, controlling the mobile robot to transform from a horizontally spread state to a folded state, wherein the folded state at least includes a state where the first swing leg group and the second swing leg group are horizontally closed together.

[0182] The folded state refers to the state of the mobile robot in the non-working mode. The space volume occupied by the robot in the non-working mode is smaller than the space volume occupied by the robot in the working mode. The folded state is the state obtained by the robot performing the folding action in the initial standing state.

[0183] The folded state at least includes a state in which the first swing leg group and the second swing leg group are horizontally close together. Horizontally close together means that the extension direction of the first swing leg group and the second swing leg group is parallel to the horizontal reference plane, and the side surface of the first swing leg group is in contact with the side surface of the second swing leg group (or face to face). Alternatively, horizontally close together means that the extension direction of the first swing leg group and the second swing leg group is parallel to the horizontal reference plane, and there is no angle between the horizontal axis of the first swing leg group and the horizontal axis of the second swing leg group.

[0184] Combined with reference Figure 15 , Figure 15 Part (D) shows the mobile robot in a folded state. At this time, the first swing leg group 10 and the second swing leg group 20 are in a horizontally closed state.

[0185] In summary, during the process of the mobile robot disembarking, the reference surface is supported by the operating arm, which can avoid controlling the mobile robot disembarking only by the hip joint, thereby reducing the force on the hip joint and improving the stability of the robot.

[0186] The above has introduced the detailed process of the mobile robot changing from the initial standing state to the folding state. The initial standing state is the preset starting state when the mobile robot performs the folding operation, so it is also necessary to control the mobile robot to change from any standing state to the initial standing state.

[0187] Figure 16 A flow chart of a control method for a mobile robot provided by an exemplary embodiment of the present application is shown. Specifically, Figure 16 The control method shown is performed by a controller of a mobile robot. The controller of the mobile robot may be located on the robot body or outside the robot. The method includes:

[0188] Step 1601, controlling the mobile robot to perform the action of retracting the first swing leg group upward in the first standing state, wherein the first standing state includes a state where the first swing leg group and the second swing leg group are close together and only the first swing leg group supports the standing state.

[0189] The first standing state is any standing state of the first mobile robot. In the first standing state, only the first swing leg group supports the standing state. The first swing leg group is the outer swing leg group. Figure 17 , Figure 17 Part (A1) shows a state in which the first swing leg group 10 and the second swing leg group 20 are brought together and only the first swing leg group 10 is supporting the standing.

[0190] By retracting the first swing leg group upward, the first swing leg group and the second swing leg group can achieve a state of supporting standing together. The first swing leg group includes a first mechanical thigh and a first mechanical shank, and the first mechanical thigh and the first mechanical shank are connected by a sleeve connection. The mobile robot is controlled to shorten the first mechanical thigh and / or the first mechanical shank along the sleeve connection direction to achieve the upward retraction of the first swing leg group.

[0191] Step 1602, controlling the mobile robot to perform the action of retracting the second swing leg group upward in the second standing state, wherein the second standing state includes a state where the first swing leg group and the second swing leg group are close together and only the second swing leg group supports the standing state.

[0192] The second standing state is any standing state that the second mobile robot is in. In the second standing state, only the second swing leg group supports the standing. The second swing leg group is the inner swing leg group.

[0193] By retracting the second swing leg group upward, the first swing leg group and the second swing leg group can be supported and stood together. The second swing leg group includes a second mechanical thigh and a second mechanical shank, which are connected by a sleeve connection. The second mechanical thigh and the second mechanical shank are controlled to shorten the second mechanical thigh and / or the second mechanical shank along the sleeve connection direction to retract the second swing leg group upward.

[0194] Step 1603, control the mobile robot to rotate the first swing leg group and / or the second swing leg group around the hip rotation axis in the third standing state, and the third standing state includes the first swing leg group and the second swing leg group being in a front-to-back crossed standing state.

[0195] The third standing state is any standing state of the third mobile robot. In the third standing state, the first swing leg group and the second swing leg group stand crosswise. Crosswise standing refers to the presence of an angle (not in a parallel state) between the extension direction of the first swing leg group and the extension direction of the second swing leg group in the standing state. Optionally, in the crosswise standing state, the first swing leg group is located before the second swing leg group, or the first swing leg group is located after the second swing leg group. Specifically, in the crosswise standing state, the foothold of the first swing leg group is located before the foothold of the second swing leg group, or the foothold of the first swing leg group is located after the foothold of the second swing leg group.

[0196] Combined with reference Figure 17 , Figure 17 Part (A2) shows the first swing leg group 10 and the second swing leg group 20 are in a state of crossing and standing forward and backward. At this time, the first swing leg group 10 is in front of the second swing leg group 20, the first swing leg group is the outer swing leg group, and the second swing leg group is the inner swing leg group.

[0197] By rotating the first swing leg group and / or the second swing leg group around the hip rotation axis, a state where the first swing leg group and the second swing leg group jointly support standing can be achieved.

[0198] Step 1604, control the mobile robot to be in an initial standing state; the initial standing state includes a state where the first swing leg group and the second swing leg group are close together and jointly support standing.

[0199] Initial standing state, for mobile robot execution Figure 16 The folding action method shown is in the starting reference state. That is, the mobile robot must be in the initial standing state before performing the subsequent folding action.

[0200] Combined with reference Figure 17 , Figure 17 Part (B) shows the mobile robot in an initial standing state. At this time, the first swing leg group 10 and the second swing leg group 20 are close together and jointly support the standing.

[0201] Step 1605, controlling the mobile robot to transform from an initial standing state to a folded state, wherein the folded state at least includes a state where the first swing leg group and the second swing leg group are horizontally together.

[0202] The folded state refers to the state of the mobile robot in the non-working mode. The space volume occupied by the robot in the non-working mode is smaller than the space volume occupied by the robot in the working mode. The folded state is the state obtained by the robot performing the folding action in the initial standing state.

[0203] The folded state at least includes the state where the first swing leg group and the second swing leg group are horizontally juxtaposed. Horizontally juxtaposed means that the extending directions of the first swing leg group and the second swing leg group are parallel to the horizontal reference plane, and the side surface of the first swing leg group is in contact with (or faces) the side surface of the second swing leg group. Or, horizontally juxtaposed means that the extending directions of the first swing leg group and the second swing leg group are parallel to the horizontal reference plane, and there is no included angle between the horizontal axis of the first swing leg group and the horizontal axis of the second swing leg group.

[0204] With reference to Figure 17 , Figure 17 , part (C) of which shows the mobile robot in the folded state. At this time, the first swing leg group 10 and the second swing leg group 20 are horizontally juxtaposed.

[0205] In summary, a method for transforming from various arbitrary standing states to the initial standing state is provided, and thus a complete folding process of the mobile robot is provided.

[0206] The above has introduced the relevant content of the robot performing the folding operation. Next, the relevant content of the robot performing the unfolding operation will be introduced.

[0207] Figure 18 The flowchart of the control method of the mobile robot provided by an exemplary embodiment of the present application is shown. Specifically, Figure 18 The shown control method is executed by the controller of the mobile robot. The controller of the mobile robot can be located inside the robot body or outside the robot. The method includes:

[0208] Step 1820, controlling the mobile robot to be in the folded state, where the folded state at least includes the state where the first swing leg group and the second swing leg group are horizontally juxtaposed;

[0209] In this embodiment, the mobile robot includes a first swing leg group and a second swing leg group; the first swing leg group includes a plurality of first swing legs and / or the second swing leg group includes a plurality of second swing legs. The first swing leg group and the second swing leg group are arranged side by side, and the rotation axes of the first swing leg group and the second swing leg group are located in the same vertical plane. At least one of the first swing leg group and the second swing leg group includes a plurality of swing legs; optionally, the first swing leg group includes a plurality of first swing legs and the second swing leg group includes one second swing leg; optionally, the first swing leg group includes one first swing leg and the second swing leg group includes a plurality of second swing legs; optionally, the first swing leg group includes a plurality of first swing legs and the second swing leg group includes a plurality of second swing legs. Optionally, the plurality of first swing legs and the plurality of second swing legs are staggered one by one. Optionally, the plurality of first swing legs are distributed on both sides of the plurality of second swing legs.

[0210] The folded state refers to the state of the mobile robot in the non - working mode. In the non - working mode, the space volume occupied by the robot is smaller than that in the working mode. The folded state is obtained by the robot performing a folding action in the target standing state.

[0211] The folded state at least includes the state where the first swinging leg group and the second swinging leg group are horizontally juxtaposed. Horizontally juxtaposed means that the extending directions of the first swinging leg group and the second swinging leg group are parallel to the horizontal reference plane, and the side surface of the first swinging leg group is in contact with (or faces) the side surface of the second swinging leg group. Or, horizontally juxtaposed means that the extending directions of the first swinging leg group and the second swinging leg group are parallel to the horizontal reference plane, and there is no included angle between the horizontal axis of the first swinging leg group and the horizontal axis of the second swinging leg group.

[0212] Optionally, the mobile robot further includes a torso structure. The folded state further includes the state where the front or back surface of the torso structure is in contact with the folded first swinging leg group and / or the second swinging leg group. At this time, the front or back surface of the torso structure faces perpendicular to the extending direction of the first swinging leg group and / or the second swinging leg group. Referring to Figure 19 , Figure 19 Part (A) of which shows the mobile robot in the folded state. At this time, the first swinging leg group 10 and the second swinging leg group 20 are horizontally juxtaposed.

[0213] Step 1840, control the mobile robot to transform from the folded state to the target standing state.

[0214] The target standing state is the reference unfolded state when the mobile robot performs the Figure 18 unfolding method shown. That is, when the mobile robot performs the unfolding action sequence, it needs to go through the target standing state.

[0215] In one embodiment, the target standing state includes the state where the first swinging leg group and the second swinging leg group of the mobile robot are juxtaposed and jointly support the standing. Specifically, the juxtaposition in the target standing state means that the side surface of the first swinging leg group is in contact with (or faces) the side surface of the second swinging leg group in the standing state, or the juxtaposition in the target standing state means that there is no included angle between the vertical axis of the first swinging leg group and the vertical axis of the second swinging leg group in the standing state.

[0216] In one embodiment, the target standing state includes a state in which the first swing leg group and the second swing leg group of the mobile robot are close together and only one swing leg group supports the standing state. Optionally, the leg group supporting the standing state is the first swing leg group or the second swing leg group. Specifically, the close together in the target standing state refers to the side of the first swing leg group and the side of the second swing leg group being in contact (or facing each other) in the standing state, or, the close together in the target standing state refers to the vertical axis of the first swing leg group and the vertical axis of the second swing leg group in the standing state without an angle.

[0217] In one embodiment, the target standing state includes the first swing leg group and the second swing leg group of the mobile robot being in a cross standing state. Optionally, in the cross standing state, the first swing leg group is located before or after the second swing leg group.

[0218] Combined with reference Figure 19 , Figure 19 Part (B) shows a schematic diagram of the target standing state, in which the first swing leg group 10 and the second swing leg group 20 of the mobile robot are close together and jointly support the standing state.

[0219] In summary, in the working state, the first swing leg group and the second swing leg group of the mobile robot are arranged side by side. In the non-working state, the volume of the mobile robot in the non-working state can be reduced by horizontally bringing the first swing leg group and the second swing leg group of the mobile robot together.

[0220] Figure 20 The flowchart of a control method of a mobile robot provided by an exemplary embodiment of the present application is shown. Specifically, Figure 20 The control method shown is performed by a controller of a mobile robot. The controller of the mobile robot may be located on the robot body or outside the robot. The method includes:

[0221] Step 2020, controlling the mobile robot to be in a folded state, the folded state at least including a state where the first swing leg group and the second swing leg group are horizontally closed together.

[0222] The folded state refers to the state of the mobile robot in the non-working mode. The space volume occupied by the robot in the non-working mode is smaller than the space volume occupied by the robot in the working mode. The folded state is the state obtained by the robot performing the folding action in the target standing state.

[0223] The folded state at least includes a state where the first swinging leg group and the second swinging leg group are horizontally juxtaposed. Horizontally juxtaposed means that the extending directions of the first swinging leg group and the second swinging leg group are parallel to the horizontal reference plane, and the side surface of the first swinging leg group is in contact with (or faces) the side surface of the second swinging leg group. Alternatively, horizontally juxtaposed means that the extending directions of the first swinging leg group and the second swinging leg group are parallel to the horizontal reference plane, and there is no included angle between the horizontal axis of the first swinging leg group and the horizontal axis of the second swinging leg group.

[0224] Optionally, the mobile robot further includes a torso structure, and the folded state further includes a state where the front or back surface of the torso structure is in contact with the folded first swinging leg group and / or the second swinging leg group. At this time, the front or back surface of the torso structure faces perpendicular to the extending direction of the first swinging leg group and / or the second swinging leg group. Referring to Figure 21 , Figure 21 Part (A) of shows the mobile robot in the folded state. At this time, the first swinging leg group 10 and the second swinging leg group 20 are horizontally juxtaposed.

[0225] Step 2040, control the mobile robot to change from the folded state to the horizontally split state. The horizontally split state includes a state where the first swinging leg group and the second swinging leg group are horizontally split.

[0226] The horizontally split state means a state where the extending directions of the first swinging leg group and the second swinging leg group are opposite. Specifically, in the horizontally split state, the direction from the leg root to the end of the leg of the first swinging leg group and the direction from the leg root to the end of the leg of the second swinging leg group form an included angle of 180 degrees.

[0227] Referring to Figure 21 , Figure 21 Part (B) of shows the mobile robot in the horizontally split state. At this time, the first swinging leg group 10 and the second swinging leg group 20 are horizontally split.

[0228] In one embodiment, control the first swinging leg group or the second swinging leg group of the mobile robot to perform a leg rotation action around the hip rotation axis until the first swinging leg group and the second swinging leg group are horizontally split. Specifically, in the horizontally juxtaposed state, with the second swinging leg group as the support leg, control the first swinging leg group to perform a leg rotation action around the hip rotation axis until the first swinging leg group and the second swinging leg group are horizontally split. When performing the leg rotation action around the hip rotation axis, the height of the first swinging leg group changes.

[0229] Alternatively, in the horizontally juxtaposed state, with the first swinging leg group as the support leg, control the second swinging leg group to perform a leg rotation action around the hip rotation axis until the first swinging leg group and the second swinging leg group are horizontally split. When performing the leg rotation action around the hip rotation axis, the height of the second swinging leg group changes.

[0230] In one embodiment, the first swing leg includes a first leg and a first wheel at the end of the first leg, and the second swing leg includes a second leg and a second wheel at the end of the second leg; there is a first protrusion at the root of the first leg, and there is a second protrusion at the root of the second leg.

[0231] Step 2040 also includes: determining the multiple first wheels and multiple first protrusions corresponding to the multiple first swing legs, and the multiple second wheels and multiple second protrusions corresponding to the multiple second swing legs as the supporting parts of the mobile robot in the horizontal split state; controlling the mobile robot to be in the horizontal split state. Figure 21 Part (B) shows the location of the protrusions by "triangles".

[0232] Step 2060, controlling the mobile robot to transform from the horizontal split state to the target standing state;

[0233] Target standing state, for mobile robot execution Figure 20 The deployment method shown is in the reference deployment state. That is, the mobile robot must pass through the target standing state when executing the deployment action sequence.

[0234] In one embodiment, the target standing state includes the state that the first swing leg group and the second swing leg group of the mobile robot are close together and support standing together. In one embodiment, the target standing state includes the state that the first swing leg group and the second swing leg group of the mobile robot are close together and only one swing leg group supports standing. Optionally, the leg group supporting standing is the first swing leg group or the second swing leg group. In one embodiment, the target standing state includes the first swing leg group and the second swing leg group of the mobile robot being in a cross standing state. Optionally, the first swing leg group is located before or after the second swing leg group in the cross standing state.

[0235] Combined with reference Figure 21 , Figure 21 Part (C) shows a schematic diagram of the target standing state, in which the first swing leg group 10 and the second swing leg group 20 of the mobile robot are close together and jointly support the standing state.

[0236] In one embodiment, in the horizontal split state, the mobile robot is controlled to perform a standing action until the mobile robot is in a target standing state. The standing action refers to a movement of gradually reducing the angle between the first swing leg group and the second swing leg group.

[0237] In one embodiment, the standing-up motion is an action of simultaneously controlling the first swinging leg group and the second swinging leg group to rotate in opposite directions. Optionally, control the first swinging leg group to rotate clockwise about the hip rotation axis, and control the second swinging leg group to rotate counterclockwise about the hip rotation axis. Optionally, control the first swinging leg group to rotate counterclockwise about the hip rotation axis, and control the second swinging leg group to rotate clockwise about the hip rotation axis.

[0238] In one embodiment, the standing-up motion is an action of only controlling one swinging leg group to rotate. Optionally, control the first swinging leg group or the second swinging leg group to rotate clockwise about the hip rotation axis; optionally, control the first swinging leg group or the second swinging leg group to rotate counterclockwise about the hip rotation axis.

[0239] Figure 21 Part (D) of shows an intermediate state when the mobile robot performs the standing-up motion until it reaches the target standing state. At this time, there is an included angle between the first swinging leg group 10 and the second swinging leg group 20. Figure 21 The corresponding standing-up motion in part (D) is an action of simultaneously controlling the first swinging leg group 10 and the second swinging leg group 20 to rotate in opposite directions.

[0240] In summary, by controlling the mobile robot to change from the horizontally closed state to the horizontally split state, and then controlling the mobile robot to change from the horizontally split state to the target standing state, a deployment method is further provided. Moreover, by means of the standing-up motion, the robot changes from the horizontally split state to the target standing state, providing a self-deployment method for the robot. The robot does not require external assistance, such as human force, during the entire deployment operation process, and the robot remains in a stable state during the deployment process.

[0241] Based on Figure 20 In the optional embodiment shown, if the mobile robot further includes a torso structure, an action of deploying the torso structure needs to be performed. In addition to "controlling the first swinging leg group or the second swinging leg group of the mobile robot to perform a leg rotation action about the hip rotation axis until the first swinging leg group and the second swinging leg group are horizontally split", step 2060 further includes Figure 22 the steps shown. Figure 22 The steps of can be performed before the robot performs the leg rotation action or after the robot performs the leg rotation action. Figure 22 The method steps shown include:

[0242] Step 2210, controlling the front or back surface of the torso structure to fit with the top surface of the first swinging leg group; and / or, controlling the front or back surface of the torso structure to fit with the top surface of the second swinging leg group.

[0243] In the folded state, the front of the torso structure is in contact with the top surface of the first swinging leg group. At this time, the orientation of the front of the torso structure in the contact state is perpendicular to the extending direction of the first swinging leg group in the horizontal split state. And / or, in the folded state, the front of the torso structure is in contact with the top surface of the second swinging leg group. At this time, in the contact state, the orientation of the front of the torso structure is perpendicular to the extending direction of the second swinging leg group in the horizontal split state.

[0244] With reference to Figure 23 , Figure 23 it shows the situation where the leg rotation action of the mobile robot is performed first, and then the unfolding operation of the torso structure is executed. Figure 23 The (A) part of Figure 23 the (B) part of Figure 23 and the (C) part of Figure 21 respectively correspond to the Figure 21 the (A) part of Figure 21 the (B) part of Figure 21 the (C) part of Figure 23 introduced above, which will not be elaborated here.

[0245] Step 2220, control the torso structure to perform a backward bending operation.

[0246] Control the torso structure to perform a backward bending operation through the pitch rotation axis.

[0247] In one embodiment, perform the backward bending operation until the torso structure is in the target upright state. The target upright state is the reference upright state of the torso structure. After the torso structure performs the unfolding operation, it needs to return to the reference upright state. Optionally, in the target upright state, the orientation of the front of the torso structure is parallel to the extending direction of the first swinging leg group in the horizontal split state, and / or, the orientation of the front of the torso structure is parallel to the extending direction of the second swinging leg group in the horizontal split state. Or, in the initial upright state, the central axis of the torso structure is parallel to the direction of gravity.

[0248] In one embodiment, perform the backward bending operation without controlling the torso structure to reach a preset upright state. Schematically, perform the backward bending operation so that the central axis of the torso structure of the mobile robot forms an arbitrary angle with the direction of gravity.

[0249] Based on Figure 22 the optional embodiment shown, Figure 22 the unfolding method can be performed after the mobile robot performs the leg rotation action, or can be performed before the mobile robot performs the leg rotation action. In Figure 22When the method is before performing the leg rotation action (that is, when the mobile robot performs the unfolding operation of the torso structure before the legs perform the unfolding operation), after performing the unfolding operation of the torso structure and before performing the leg unfolding operation, it further includes at least one of the following three steps:

[0250] S4: Control the torso structure to be in a side-swing state; the side-swing state means that there is a first included angle between the front orientation of the torso structure and the extension direction of the first swinging leg group, and / or, the side-swing state means that there is a second included angle between the front orientation of the torso structure and the extension direction of the second swinging leg group;

[0251] In one embodiment, the first swinging leg group is the outer swinging leg group, the second swinging leg group is the inner swinging leg group, and the distance between any swinging leg in the outer swinging leg group and the central axis of the mobile robot is greater than the distance between any swinging leg in the inner swinging leg group and the central axis of the mobile robot.

[0252] When using the inner swinging leg group as the support leg and the outer swinging leg group rotates around the hip rotation axis, before performing the leg rotation operation, the control torso structure will be in a side-swing state, and the side-swing angle of the side-swing state is associated with the structure of the mobile robot. Optionally, the side-swing angle refers to the second included angle between the front orientation of the torso structure and the extension direction of the inner swinging leg group in the horizontal split state. Optionally, the side-swing angle refers to the first included angle between the front orientation of the torso structure and the extension direction of the outer swinging leg group. Referring to Figure 9 , Figure 9 shows the first included angle θ in the side-swing state 1 and the second included angle θ 2 .

[0253] Optionally, the side-swing angle is 30 degrees. When the side-swing angle is 30 degrees, during the process of rotating the outer swinging leg group, there will be no mechanical structure interference, and the outer swinging leg group can smoothly rotate around the hip rotation axis to a state where it is horizontally parallel to the inner swinging leg group. Optionally, the side-swing angle is 90 degrees, and 90 degrees is the preset maximum avoidance angle, which maximally ensures that there will be no interference between the rotating outer swinging leg group and the torso structure.

[0254] S5: Control the torso structure to be in a forward-bending state, and the forward-bending state means that there is a third included angle between the central axis of the torso structure and the direction of gravity;

[0255] In one embodiment, before performing the leg rotation operation, control the torso structure to be in a forward-bending state. The forward-bending angle of the forward-bending state is associated with the position of the center of gravity of the mobile robot. When performing the leg rotation operation, lower a swinging leg group. By having the torso structure in a forward-bending state, during the process of performing the leg rotation operation, the center of gravity of the robot always falls within the contact surface between the support leg and the reference plane.

[0256] Combined with reference Figure 10 , Figure 10 The mobile robot is shown in a sideways state and in a leaning state at the same time. Figure 10 The third angle θ between the central axis of the trunk structure and the gravity direction in the leaning state is shown 3 .

[0257] S6: Controlling the operating arm to be in a first extended state, the first extended state refers to a state in which the operating arm is extended in the direction of the supporting leg, and the supporting leg includes a swing leg group that contacts the reference surface when performing a leg rotation action.

[0258] In one embodiment, the mobile robot further comprises a trunk structure and an operating arm located on the periphery of the trunk structure. Before performing the leg rotation operation, the operating arm is controlled to be in an extended state extending in the direction of the supporting leg. The lifting height of the operating arm in the extended state is associated with the position of the center of gravity of the mobile robot. Since a swing leg group will be lowered when performing the leg rotation operation, by controlling the operating arm to extend in the direction of the supporting leg, the center of gravity of the robot always falls within the contact surface between the supporting leg and the reference surface during the leg rotation operation.

[0259] Combined with reference Figure 11 , Figure 11 A schematic diagram showing that the trunk structure is in a sideways swing state and a leaning state at the same time, and the operating arm is in a first extended state. Figure 11 The lift height h of the manipulator arm is also shown.

[0260] It should be noted that the above-mentioned steps S4, S5 and S6 can be freely combined into a variety of situations. In one case, before executing the leg rotation action, only the trunk structure is controlled to be in the side swing state and the leaning state at the same time. In another case, before executing the leg rotation action, only the trunk structure is controlled to be in the side swing state and the operating arm is in the first extended state at the same time. Various situations that can be combined are not listed one by one here. Next, an embodiment of executing steps S4, S5 and S6 at the same time will be introduced.

[0261] Figure 24 A flow chart of a control method for a mobile robot provided by an exemplary embodiment of the present application is shown. Specifically, Figure 24 The control method shown is performed by a controller of a mobile robot. The controller of the mobile robot may be located on the robot body or outside the robot. The method includes:

[0262] Step 2401, control the mobile robot to be in a folded state, and the folded state at least includes a state where the first swing leg group and the second swing leg group are horizontally closed together.

[0263] The folded state refers to the state of the mobile robot in the non-working mode. The space volume occupied by the robot in the non-working mode is smaller than the space volume occupied by the robot in the working mode. The folded state is the state obtained by the robot performing the folding action in the target standing state.

[0264] The folded state at least includes a state in which the first swing leg group and the second swing leg group are horizontally close together. Horizontally close together means that the extension direction of the first swing leg group and the second swing leg group is parallel to the horizontal reference plane, and the side surface of the first swing leg group is in contact with the side surface of the second swing leg group (or face to face). Alternatively, horizontally close together means that the extension direction of the first swing leg group and the second swing leg group is parallel to the horizontal reference plane, and there is no angle between the horizontal axis of the first swing leg group and the horizontal axis of the second swing leg group.

[0265] Step 2402, control the trunk structure to be in a side-swing state; the side-swing state means that there is a first angle between the front direction of the trunk structure and the extension direction of the first swing leg group, and / or, the side-swing state means that there is a second angle between the front direction of the trunk structure and the extension direction of the second swing leg group.

[0266] In one embodiment, the first swing leg group is an outer swing leg group, and the second swing leg group is an inner swing leg group, and the distance between any swing leg in the outer swing leg group and the central axis of the mobile robot is greater than the distance between any swing leg in the inner swing leg group and the central axis of the mobile robot.

[0267] When the inner swing leg group is used as the supporting leg and the outer swing leg group rotates around the hip rotation axis, before the leg rotation operation is performed, the trunk structure is controlled to be in a side swing state, and the side swing angle of the side swing state is associated with the structure of the mobile robot. Optionally, the side swing angle refers to the second angle between the front direction of the trunk structure and the extension direction of the inner swing leg group in the horizontal split state, and optionally, the side swing angle refers to the first angle between the front direction of the trunk structure and the extension direction of the outer swing leg group.

[0268] Optionally, the side swing angle is 30 degrees. When the side swing angle is 30 degrees, no mechanical structure interference occurs during the rotation of the outer swing leg group, and the outer swing leg group can smoothly rotate around the hip rotation axis to a state where it is horizontally close to the inner swing leg group. Optionally, the side swing angle is 90 degrees, which is the preset maximum avoidance angle, to maximize the guarantee that the outer swing leg group will not interfere with the trunk structure when rotating.

[0269] Step 2403, controlling the trunk structure to be in a leaning state, wherein the leaning state means that a third angle exists between the central axis of the trunk structure and the direction of gravity.

[0270] In one embodiment, before performing the leg rotation operation, the trunk structure is controlled to be in a prone state. The prone angle of the prone state is associated with the position of the center of gravity of the mobile robot. Since a swing leg group is put down when performing the leg rotation operation, the trunk structure is in a prone state, so that during the leg rotation operation, the center of gravity of the robot always falls within the contact surface between the supporting leg and the reference surface.

[0271] Step 2404, controlling the operating arm to be in a first extended state, the first extended state refers to a state in which the operating arm is extended along the direction of the supporting leg, and the supporting leg includes a swing leg group that contacts the reference plane when performing a leg rotation action.

[0272] In one embodiment, the mobile robot further has an operating arm located on the peripheral side of the trunk structure. Before performing the leg rotation operation, the operating arm is controlled to be in an extended state extending in the direction of the supporting leg. The lifting height of the operating arm in the extended state is associated with the position of the center of gravity of the mobile robot. Since a swing leg group will be lowered when performing the leg rotation operation, by controlling the operating arm to extend in the direction of the supporting leg, the center of gravity of the robot always falls within the contact surface between the supporting leg and the reference surface during the leg rotation operation.

[0273] Step 2405, controlling the mobile robot to transform from a folded state to a horizontally split state, wherein the horizontally split state includes a state where the first swing leg group and the second swing leg group are horizontally split.

[0274] The horizontal split state refers to a state in which the extension direction of the first swing leg group is opposite to the extension direction of the second swing leg group. Specifically, in the horizontal split state, the direction in which the leg root points to the leg end of the first swing leg group forms an angle of 180 degrees with the direction in which the leg root points to the leg end of the second swing leg group.

[0275] Control the first swing leg group or the second swing leg group of the mobile robot to perform a leg rotation action around the hip rotation axis until the first swing leg group and the second swing leg group are horizontally split. Specifically, in the folded state, the second swing leg group is used as a supporting leg, and the first swing leg group is controlled to perform a leg rotation action around the hip rotation axis until the first swing leg group and the second swing leg group are horizontally split. Alternatively, in the horizontally closed state, the first swing leg group is used as a supporting leg, and the second swing leg group is controlled to perform a leg rotation action around the hip rotation axis until the first swing leg group and the second swing leg group are horizontally split.

[0276] Step 2406, controlling the mobile robot to transform from the horizontal split state to the target standing state.

[0277] Target standing state, for mobile robot execution Figure 24 The deployment method shown is in the reference deployment state. That is, the mobile robot must pass through the target standing state when executing the deployment action sequence.

[0278] In one embodiment, the target standing state includes the state that the first swing leg group and the second swing leg group of the mobile robot are close together and support standing together. In one embodiment, the target standing state includes the state that the first swing leg group and the second swing leg group of the mobile robot are close together and only one swing leg group supports standing. Optionally, the leg group supporting standing is the first swing leg group or the second swing leg group. In one embodiment, the target standing state includes the first swing leg group and the second swing leg group of the mobile robot being in a cross standing state. Optionally, the first swing leg group is located before or after the second swing leg group in the cross standing state.

[0279] In summary, before performing the leg rotation operation, by controlling the mobile robot to be in a sideways state, the structural interference with the robot during the leg rotation process can be avoided. Before performing the leg rotation operation, by controlling the mobile robot to be in a prone state and / or controlling the operating arm to be in a first extended state, the problem of robot instability caused by center of gravity shift during the leg rotation process can be solved.

[0280] Figure 25 The flowchart of a control method of a mobile robot provided by an exemplary embodiment of the present application is shown. Specifically, Figure 25 The control method shown is performed by a controller of a mobile robot. The controller of the mobile robot may be located on the robot body or outside the robot. The method includes:

[0281] Step 2501, control the mobile robot to be in a folded state, and the folded state at least includes a state where the first swing leg group and the second swing leg group are horizontally closed together.

[0282] The folded state refers to the state of the mobile robot in the non-working mode. The space volume occupied by the robot in the non-working mode is smaller than the space volume occupied by the robot in the working mode. The folded state is the state obtained by the robot performing the folding action in the target standing state.

[0283] The folded state at least includes a state in which the first swing leg group and the second swing leg group are horizontally close together. Horizontally close together means that the extension direction of the first swing leg group and the second swing leg group is parallel to the horizontal reference plane, and the side surface of the first swing leg group is in contact with the side surface of the second swing leg group (or face to face). Alternatively, horizontally close together means that the extension direction of the first swing leg group and the second swing leg group is parallel to the horizontal reference plane, and there is no angle between the horizontal axis of the first swing leg group and the horizontal axis of the second swing leg group.

[0284] Combined with reference Figure 26 , Figure 26Part (A) shows the mobile robot in a folded state. At this time, the first swinging leg group 10 and the second swinging leg group 20 are horizontally juxtaposed.

[0285] Step 2502, control the mobile robot to transform from the folded state to a horizontally split state, where the horizontally split state includes the state where the first swinging leg group and the second swinging leg group are horizontally split.

[0286] The horizontally split state refers to the state where the extending directions of the first swinging leg group and the second swinging leg group are opposite. Specifically, in the horizontally split state, the direction from the leg root to the end of the leg of the first swinging leg group and the direction from the leg root to the end of the leg of the second swinging leg group form an angle of 180 degrees.

[0287] Combined with reference Figure 26 , Figure 26 Part (B) shows the mobile robot in a horizontally split state. At this time, the first swinging leg group 10 and the second swinging leg group 20 are horizontally split.

[0288] Step 2503, in the horizontally split state, control the mobile robot to perform a standing-up action until the mobile robot is in the first split state, where the first split state refers to the critical state where the operating arm supports on the reference plane.

[0289] During the standing-up process of the mobile robot, the operating arm will extend along the direction of gravity. The first split state refers to the critical state where the operating arm supports on the reference plane. After the critical state, the operating arm is not in contact with the reference plane.

[0290] Optionally, during the standing-up action of the mobile robot, the curved operating arm is straightened into a straight bar-shaped operating arm to achieve the effect of continuously extending the operating arm. Specifically, by straightening the elbow joint of the operating arm, the operating arm is continuously extended. Schematically, Figure 26 Part (B) shows a schematic diagram of the elbow joint of the operating arm 50 in a bent state. Figure 26 The mobile robot shown in part (B) is in a horizontally split state.

[0291] Optionally, during the standing-up action of the mobile robot, the operating arm extends the mechanical upper arm and / or the mechanical lower arm to achieve the effect of continuously extending the operating arm. Specifically, the operating arm includes a mechanical upper arm and a mechanical lower arm, and the mechanical upper arm and the mechanical lower arm are connected by a socketing method. Control the mechanical upper arm and / or the mechanical lower arm to extend along the socketing direction to achieve the effect of continuously extending the operating arm.

[0292] Combined with reference Figure 26 , Figure 26 Part (C) shows the critical state where the operating arm 50 supports on the reference plane. Figure 26Part (C) shows the operating arm in a straightened state.

[0293] Step 2504, controlling the mobile robot to continue to perform the standing up action until the mobile robot is in the target standing state.

[0294] In one embodiment, the mobile robot is controlled to continue to perform the standing-up action, and the operating arm of the mobile robot is controlled to continuously extend until the mobile robot is in the target standing state.

[0295] Target standing state, for mobile robot execution Figure 25 The deployment method shown is in the reference deployment state. That is, the mobile robot must pass through the target standing state when executing the deployment action sequence.

[0296] Combined with reference Figure 26 , Figure 26 Part (D) shows a schematic diagram of the target standing state, in which the first swing leg group 10 and the second swing leg group 20 of the mobile robot are close together and jointly support the standing state.

[0297] In summary, when the mobile robot is standing up, the operating arm supports the reference surface, which can avoid controlling the mobile robot to stand up only by the hip joint, thereby reducing the force on the hip joint and improving the stability of the robot.

[0298] The above has introduced the detailed process of the mobile robot changing from the folded state to the target standing state. The target standing state is the preset end state of the mobile robot performing the unfolding operation, so it is also necessary to control the mobile robot to change from the target standing state to any standing state.

[0299] Figure 27 A flow chart of a control method for a mobile robot provided by an exemplary embodiment of the present application is shown. Specifically, Figure 27 The control method shown is performed by a controller of a mobile robot. The controller of the mobile robot may be located on the robot body or outside the robot. The method includes:

[0300] Step 2701, control the mobile robot to be in a folded state, and the folded state at least includes a state where the first swing leg group and the second swing leg group are horizontally closed together.

[0301] The folded state refers to the state of the mobile robot in the non-working mode. The space volume occupied by the robot in the non-working mode is smaller than the space volume occupied by the robot in the working mode. The folded state is the state obtained by the robot performing the folding action in the target standing state.

[0302] The folded state at least includes the state where the first swing leg group and the second swing leg group are horizontally juxtaposed. Horizontally juxtaposed means that the extending directions of the first swing leg group and the second swing leg group are parallel to the horizontal reference plane, and the side surface of the first swing leg group is in contact with (or faces) the side surface of the second swing leg group. Or, horizontally juxtaposed means that the extending directions of the first swing leg group and the second swing leg group are parallel to the horizontal reference plane, and there is no included angle between the horizontal axis of the first swing leg group and the horizontal axis of the second swing leg group.

[0303] With reference to Figure 28 , Figure 28 , part (A) of which shows the mobile robot in the folded state. At this time, the first swing leg group 10 and the second swing leg group 20 are horizontally juxtaposed.

[0304] Step 2702, control the mobile robot to transform from the folded state to the target standing state, where the target standing state includes the state where the first swing leg group and the second swing leg group are juxtaposed and jointly support the standing.

[0305] The target standing state is the reference unfolded state when the mobile robot executes the Figure 27 shown unfolding method. That is, when the mobile robot executes the unfolding action sequence, it must pass through the target standing state.

[0306] With reference to Figure 28 , Figure 28 , part (B) of which shows the mobile robot in the target standing state. At this time, the first swing leg group 10 and the second swing leg group 20 are juxtaposed and jointly support the standing state.

[0307] Step 2703, control the mobile robot to extend the first swing leg group downward in the target standing state.

[0308] The first swing leg group is the outer swing leg group. With reference to Figure 28 , Figure 28 , part (C1) of which shows the state where the first swing leg group 10 is extended downward, and the first swing leg group 10 and the second swing leg group 20 are juxtaposed and only the first swing leg group 10 supports the standing.

[0309] By extending the first swing leg group downward, the state where only the first swing leg group supports the standing can be achieved. The first swing leg group includes a first mechanical thigh and a first mechanical calf, and the first mechanical thigh and the first mechanical calf are connected by a socketing method. Controlling the mobile robot to extend the first mechanical thigh and / or the first mechanical calf along the socketing direction can achieve extending the first swing leg group downward.

[0310] Step 2704, control the mobile robot to extend the second swing leg group downward in the target standing state.

[0311] The second swinging leg group is the inner swinging leg group. By extending the second swinging leg group downward, a state where only the second swinging leg group supports standing can be achieved. The second swinging leg group includes a second mechanical thigh and a second mechanical calf, and the second mechanical thigh and the second mechanical calf are connected by a socketing method. Controlling the mobile robot to extend the second mechanical thigh and / or the second mechanical calf in the socketing direction can achieve extending the second swinging leg group downward.

[0312] Step 2705: Control the mobile robot to rotate the first swinging leg group and / or the second swinging leg group around the hip rotation axis in the target standing state until the first swinging leg group and the second swinging leg group are in a state of standing with front-back crossing.

[0313] Standing with front-back crossing means that there is an angle (not in a parallel state) between the extension directions of the first swinging leg group and the second swinging leg group in the standing state. Optionally, in the state of standing with front-back crossing, the first swinging leg group is in front of the second swinging leg group, or the first swinging leg group is behind the second swinging leg group. Specifically, in the state of standing with front-back crossing, the landing point of the first swinging leg group is in front of the landing point of the second swinging leg group, or the landing point of the first swinging leg group is behind the landing point of the second swinging leg group.

[0314] Combined with reference Figure 28 , Figure 28 Part (C2) of shows a state where the first swinging leg group 10 and the second swinging leg group 20 are in a state of standing with front-back crossing. At this time, the first swinging leg group 10 is in front of the second swinging leg group 20, the first swinging leg group 10 is the outer swinging leg group, and the second swinging leg group 20 is the inner swinging leg group.

[0315] By rotating the first swinging leg group and / or the second swinging leg group around the hip rotation axis, a state where the first swinging leg group and the second swinging leg group cross-stand can be achieved.

[0316] In summary, a method for transforming from a target standing state to various arbitrary standing states is provided, and thus a complete deployment process of a mobile robot is provided.

[0317] The following is an apparatus embodiment of the present application. For details not described in detail in the apparatus embodiment, reference can be made to the corresponding records in the above method embodiment, which will not be elaborated herein.

[0318] Figure 29 shows a structural block diagram of a control device of a mobile robot provided by an exemplary embodiment of the present application. The mobile robot includes a first swinging leg group and a second swinging leg group; at least one of the first swinging leg group and the second swinging leg group includes a plurality of swinging legs; the first swinging leg group and the second swinging leg group are arranged side by side, and the rotation axes of the first swinging leg group and the second swinging leg group are located in the same vertical plane. The device includes:

[0319] The control module 2901 is used to control the mobile robot to be in the initial standing state;

[0320] The control module 2901 is further used to control the mobile robot to transform from the initial standing state to the folded state, and the folded state at least includes the state where the first swinging leg group and the second swinging leg group are horizontally juxtaposed.

[0321] In an optional embodiment, the control module 2901 is further used to control the mobile robot to transform from the initial standing state to the horizontally split state, and the horizontally split state includes the state where the first swinging leg group and the second swinging leg group are horizontally split; and to control the mobile robot to transform from the horizontally split state to the folded state.

[0322] In an optional embodiment, the control module 2901 is further used to control the mobile robot to perform a splitting action in the initial standing state until the mobile robot is in the horizontally split state.

[0323] In an optional embodiment, the control module 2901 is further used to control the first swinging leg group or the second swinging leg group of the mobile robot to perform a leg rotation action around the hip rotation axis until the first swinging leg group and the second swinging leg group are horizontally juxtaposed.

[0324] In an optional embodiment, the robot further has a torso structure; the control module 2901 is further used to control the torso structure to be in a side-sway state; the side-sway state means that there is a first included angle between the front facing direction of the torso structure and the extending direction of the first swinging leg group, and / or, the side-sway state means that there is a second included angle between the front facing direction of the torso structure and the extending direction of the second swinging leg group.

[0325] In an optional embodiment, the robot further has a torso structure; the control module 2901 is further used to control the torso structure to be in a leaning-forward state, and the leaning-forward state means that there is a third included angle between the central axis of the torso structure and the direction of gravity.

[0326] In an optional embodiment, the mobile robot further has a torso structure and operating arms located on the periphery of the torso structure; the control module 2901 is further used to control the operating arms to be in a first extended state, and the first extended state means the state where the operating arms extend along the direction of the support legs, and the support legs include the swinging leg group that contacts the reference plane when performing the leg rotation action.

[0327] In an optional embodiment, the mobile robot further has a torso structure and operating arms located on the periphery of the torso structure; the control module 2901 is further used to control the mobile robot to perform a splitting action in the initial standing state until the mobile robot is in a first split state, and the first split state refers to the critical state where the operating arms support on the reference plane; and to control the mobile robot to continue to perform the splitting action until the mobile robot is in the horizontally split state.

[0328] In an optional embodiment, the control module 2901 is also used to control the mobile robot to continue to perform the down-forking action, and to control the operating arm of the mobile robot to be continuously shortened until the mobile robot is in a horizontal fork state.

[0329] In an optional embodiment, the first swing leg includes a first leg and a first wheel at the end of the first leg, and the second swing leg includes a second leg and a second wheel at the end of the second leg; there is a first protrusion at the root of the first leg, and there is a second protrusion at the root of the second leg. The control module 2901 is also used to determine the multiple first wheels and multiple first protrusions corresponding to the multiple first swing legs, and the multiple second wheels and multiple second protrusions corresponding to the multiple second swing legs as the support parts of the mobile robot in the horizontal split state; control the mobile robot to be in the horizontal split state.

[0330] In an optional embodiment, the mobile robot also includes a torso structure, and the control module 2901 is also used to control the torso structure to perform a leaning operation; control the front or back of the torso structure to fit with the top surface of the first swing leg group; and / or control the front or back of the torso structure to fit with the top surface of the second swing leg group.

[0331] In an optional embodiment, the initial standing state includes a state where the first swing leg group and the second swing leg group are close together and jointly support the standing state. The control module 2901 is also used to control the mobile robot to perform an action of upwardly retracting the first swing leg group in the first standing state, and the first standing state includes a state where the first swing leg group and the second swing leg group are close together and only the first swing leg group supports the standing state.

[0332] In an optional embodiment, the initial standing state includes a state where the first swing leg group and the second swing leg group are close together and jointly support the standing state. The control module 2901 is also used to control the mobile robot to perform an action of upwardly retracting the second swing leg group in the second standing state, and the second standing state includes a state where the first swing leg group and the second swing leg group are close together and only the second swing leg group supports the standing state.

[0333] In an optional embodiment, the initial standing state includes a state where the first swing leg group and the second swing leg group are close together and jointly support the standing state. The control module 2901 is also used to control the mobile robot to rotate the first swing leg group and / or the second swing leg group around the hip rotation axis in the third standing state, and the third standing state includes a state where the first swing leg group and the second swing leg group are in a front-to-back cross-standing state.

[0334] In summary, in the working state, the first swinging leg group and the second swinging leg group of the mobile robot are arranged side by side. In the non-working state, by horizontally closing the first swinging leg group and the second swinging leg group of the mobile robot, the volume of the mobile robot in the non-working state can be reduced.

[0335] Figure 30 The block diagram of the control device of the mobile robot provided by an exemplary embodiment of the present application is shown. The mobile robot includes a first swinging leg group and a second swinging leg group; at least one of the first swinging leg group and the second swinging leg group includes a plurality of swinging legs; the first swinging leg group and the second swinging leg group are arranged side by side, and the rotation axes of the first swinging leg group and the second swinging leg group are located in the same vertical plane. The device includes:

[0336] A control module 3001, configured to control the mobile robot to be in a folded state; the folded state at least includes a state where the first swinging leg group and the second swinging leg group are horizontally closed;

[0337] The control module 3001 is further configured to control the mobile robot to change from the folded state to a target standing state.

[0338] In an alternative embodiment, the control module 3001 is further configured to control the mobile robot to change from the folded state to a horizontally split state, and the horizontally split state includes a state where the first swinging leg group and the second swinging leg group are horizontally split; control the mobile robot to change from the horizontally split state to a target standing state.

[0339] In an alternative embodiment, the control module 3001 is further configured to control the first swinging leg group or the second swinging leg group of the mobile robot to perform a leg rotation action around the hip rotation axis until the first swinging leg group and the second swinging leg group are horizontally split.

[0340] In an alternative embodiment, the mobile robot further has a torso structure; the control module 3001 is further configured to control the torso structure to be in a side-swing state; the side-swing state means that there is a first angle between the front facing direction of the torso structure and the extending direction of the first swinging leg group, and / or the side-swing state means that there is a second angle between the front facing direction of the torso structure and the extending direction of the second swinging leg group.

[0341] In an alternative embodiment, the mobile robot further has a torso structure; the control module 3001 is further configured to control the torso structure to be in a leaning-forward state, and the leaning-forward state means that there is a third angle between the central axis of the torso structure and the direction of gravity.

[0342] In an optional embodiment, the mobile robot also has a trunk structure and an operating arm control module 3001 located on the periphery of the trunk structure, and is also used to control the operating arm to be in a first extended state, wherein the first extended state refers to a state in which the operating arm is extended along the direction of the supporting leg, and the supporting leg includes a swinging leg group that contacts the reference plane when performing a leg rotation action.

[0343] In an optional embodiment, the control module 3001 is also used to control the mobile robot to perform a standing action in the horizontal split state until the mobile robot is in the target standing state.

[0344] In an optional embodiment, the mobile robot also has a trunk structure and an operating arm located on the periphery of the trunk structure; the control module 3001 is also used to control the operating arm to be supported on the reference plane in the horizontal split state, and to control the mobile robot to perform a standing action until the mobile robot is in a first split state, and the first split state refers to a critical state in which the operating arm is supported on the reference plane; control the mobile robot to continue to perform the standing action until the mobile robot is in the target standing state.

[0345] In an optional embodiment, the control module 3001 is also used to control the operating arm to be supported on the reference plane in the horizontal split state, control the operating arm to continuously extend, and control the mobile robot to perform a standing action until the mobile robot is in the first split state.

[0346] In an optional embodiment, the first swing leg includes a first leg and a first wheel at the end of the first leg, and the second swing leg includes a second leg and a second wheel at the end of the second leg; there is a first protrusion at the root of the first leg, and there is a second protrusion at the root of the second leg. The control module 3001 is also used to determine the multiple first wheels and multiple first protrusions corresponding to the multiple first swing legs, and the multiple second wheels and multiple second protrusions corresponding to the multiple second swing legs as the support parts of the mobile robot in the horizontal split state; control the mobile robot to be in the horizontal split state.

[0347] In an optional embodiment, the mobile robot also includes a torso structure, and the control module 3001 is also used to control the front or back of the torso structure to fit with the top surface of the first swing leg group; and / or control the front or back of the torso structure to fit with the top surface of the second swing leg group; and control the torso structure to perform a supine operation.

[0348] In an optional embodiment, the target standing state includes a state in which the first swing leg group and the second swing leg group are close together and jointly support standing; the control module 3001 is also used to control the mobile robot to extend the first swing leg group downward in the target standing state; or, control the mobile robot to extend the second swing leg group downward in the target standing state.

[0349] In an optional embodiment, the target standing state includes a state in which the first swing leg group and the second swing leg group are close together and jointly support standing; the control module 3001 is also used to control the mobile robot to rotate the first swing leg group and / or the second swing leg group around the hip rotation axis in the target standing state until the first swing leg group and the second swing leg group are in a front and back crossed standing state.

[0350] In summary, in the working state, the first swing leg group and the second swing leg group of the mobile robot are arranged side by side. In the non-working state, the volume of the mobile robot in the non-working state can be reduced by horizontally bringing the first swing leg group and the second swing leg group of the mobile robot together.

[0351] Figure 31 The structure block diagram of a mobile robot provided by an exemplary embodiment of the present application is shown. The mobile robot includes a controller 3101 and a memory 3102 .

[0352] The controller 3101 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The controller 3101 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The controller 3101 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 3101 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the controller 3101 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0353] The memory 3102 may include one or more computer-readable storage media, which may be non-transitory. The memory 3102 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash storage devices. In some embodiments, the non-transitory computer-readable storage media in the controller 3102 is used to store at least one instruction for being executed by the controller 3101 to implement the motion control method of the mobile robot provided in the method embodiments of the present application.

[0354] In some embodiments, the mobile robot may optionally further include at least one motor 3103 and at least one sensor 3104. The at least one motor 3103 is configured to receive control instructions sent by the controller 3101 and drive the mobile robot to perform actions. The at least one motor 3103 drives each joint of the mobile robot to perform actions such as rotation / extension / fixation. The at least one sensor 3104 is configured to obtain the state information of the mobile robot, and the state information includes the internal state of the mobile robot and / or the external state (environmental information) of the mobile robot. The at least one sensor 3104 sends the state information of the mobile robot to the controller 3101 to control the mobile robot to perform related actions.

[0355] Those skilled in the art can understand that Figure 31 the structure shown in

[0356] does not constitute a limitation on the mobile robot, and may include more or fewer components than shown in the figure, or combine certain components, or adopt different component arrangements.

[0357] The embodiments of the present application further provide a computer device, which includes a memory and a processor; at least one program code is stored in the memory, and the program code is loaded and executed by the processor to implement the control method of the mobile robot as described above.

[0358] The embodiments of the present application further provide a chip, which includes programmable logic circuits and / or program instructions, and is configured to implement the control method of the mobile robot as described above when the chip runs.

[0359] The embodiments of the present application further provide a computer program product or a computer program, which includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor reads and executes the computer instructions from the computer-readable storage medium to implement the control method of the mobile robot as described above.

[0360] In this application, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features.

[0361] Any combination of the above optional technical solutions can be adopted to form an optional embodiment of this application, which will not be elaborated herein one by one.

[0362] The above are only the optional embodiments of this application and are not intended to limit this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims

1. A control method for a mobile robot, It is characterized in that The mobile robot comprises a first swing leg group and a second swing leg group; at least one of the first swing leg group and the second swing leg group comprises a plurality of swing legs; the first swing leg group and the second swing leg group are arranged side by side, and the rotation axes of the first swing leg group and the second swing leg group are located in the same vertical plane; the method comprises: Controlling the mobile robot to be in an initial standing state; Controlling the mobile robot to transform from the initial standing state to a horizontal split state, wherein the horizontal split state includes a state where the first swing leg group and the second swing leg group are horizontally split; Controlling the mobile robot to transform from the horizontally spread state to a folded state, wherein the folded state at least includes a state where the first swing leg group and the second swing leg group are horizontally closed together; The horizontal juxtaposition means that the extension directions of the first swing leg group and the second swing leg group are parallel to the horizontal reference plane, and there is no angle between the horizontal axis of the first swing leg group and the horizontal axis of the second swing leg group.

2. The method according to claim 1, It is characterized in that The controlling the mobile robot to transform from the initial standing state to the horizontally split state comprises: In the initial standing state, the mobile robot is controlled to perform a split-leg action until the mobile robot is in the horizontal split-leg state.

3. The method according to claim 2, It is characterized in that The mobile robot also has a trunk structure and an operating arm located on the periphery of the trunk structure; in the initial standing state, controlling the mobile robot to perform a split action until the mobile robot is in the horizontal split state includes: In the initial standing state, controlling the mobile robot to perform a split action until the mobile robot is in a first split state, wherein the first split state refers to a critical state in which the operating arm is supported on a reference plane; The mobile robot is controlled to continue to perform the down-split action until the mobile robot is in the horizontal split state.

4. The method according to claim 3, It is characterized in that The controlling the mobile robot to continue to perform the split-down action until the mobile robot is in the horizontal split-down state includes: The mobile robot is controlled to continue to perform the down-forking action, and the operating arm of the mobile robot is controlled to be continuously shortened until the mobile robot is in the horizontally-forked state.

5. The method according to claim 1, It is characterized in that The controlling the mobile robot to transform from the horizontally opened state to the folded state comprises: The first swing leg group or the second swing leg group of the mobile robot is controlled to perform a leg rotation action around a hip rotation axis until the first swing leg group and the second swing leg group are horizontally brought together.

6. The method according to claim 5, It is characterized in that The mobile robot also has a trunk structure; the method further comprises: Control the trunk structure to be in a side-swing state; the side-swing state means that the front direction of the trunk structure has a first angle with the extension direction of the first swing leg group, or the side-swing state means that the front direction of the trunk structure has a second angle with the extension direction of the second swing leg group, or the side-swing state means that the front direction of the trunk structure has a first angle with the extension direction of the first swing leg group and a second angle with the extension direction of the second swing leg group.

7. The method according to claim 5, It is characterized in that The mobile robot also has a trunk structure; the method further comprises: The trunk structure is controlled to be in a leaning state, wherein the leaning state refers to a third angle between the central axis of the trunk structure and the direction of gravity.

8. The method according to claim 5, It is characterized in that The mobile robot also has a trunk structure and an operating arm located around the trunk structure; the method further includes: The operating arm is controlled to be in a first extended state, wherein the first extended state refers to a state in which the operating arm is extended in a direction of a supporting leg, and the supporting leg includes a swinging leg group that contacts a reference surface when performing the leg rotation action.

9. The method according to any one of claims 5 to 8, It is characterized in that The mobile robot also has a trunk structure, and the method further comprises: Controlling the trunk structure to perform a leaning operation; Control the front or back side of the trunk structure to fit with the top surface of the first swing leg group; or control the front or back side of the trunk structure to fit with the top surface of the second swing leg group; or control the front or back side of the trunk structure to fit with both the top surface of the first swing leg group and the top surface of the second swing leg group.

10. A control method for a mobile robot, It is characterized in that The mobile robot comprises a first swing leg group and a second swing leg group; at least one of the first swing leg group and the second swing leg group comprises a plurality of swing legs; the first swing leg group and the second swing leg group are arranged side by side, and the rotation axes of the first swing leg group and the second swing leg group are located in the same vertical plane; the method comprises: Controlling the mobile robot to be in a folded state; the folded state at least includes a state where the first swing leg group and the second swing leg group are horizontally close together; Controlling the mobile robot to transform from the folded state to a horizontally split state, wherein the horizontally split state includes a state in which the first swing leg group and the second swing leg group are horizontally split; Controlling the mobile robot to transform from the horizontal split state to a target standing state; The horizontal juxtaposition means that the extension directions of the first swing leg group and the second swing leg group are parallel to the horizontal reference plane, and there is no angle between the horizontal axis of the first swing leg group and the horizontal axis of the second swing leg group.

11. The method according to claim 10, It is characterized in that The controlling the mobile robot to transform from the folded state to the horizontally opened state comprises: Controlling the first swinging leg group or the second swinging leg group of the mobile robot to perform a leg rotation action around the hip rotation axis until the first swinging leg group and the second swinging leg group are horizontally split.

12. The method according to claim 11, wherein, the mobile robot further has a torso structure; the method further includes: controlling the torso structure to be in a side-swing state; the side-swing state means that there is a first included angle between the front-facing direction of the torso structure and the extending direction of the first swinging leg group, or the side-swing state means that there is a second included angle between the front-facing direction of the torso structure and the extending direction of the second swinging leg group, or the side-swing state means that there is a first included angle between the front-facing direction of the torso structure and the extending direction of the first swinging leg group and a second included angle between the front-facing direction of the torso structure and the extending direction of the second swinging leg group.

13. The method according to claim 11, wherein, the mobile robot further has a torso structure; the method further includes: controlling the torso structure to be in a leaning-forward state, and the leaning-forward state means that there is a third included angle between the central axis of the torso structure and the direction of gravity.

14. The method according to claim 11, wherein, the mobile robot further has a torso structure and an operating arm located on the periphery of the torso structure; the method further includes: controlling the operating arm to be in a first extended state, and the first extended state means a state in which the operating arm extends along the direction of the support leg, and the support leg includes the swinging leg group that contacts the reference plane when performing the leg rotation action.

15. The method according to claim 10, wherein, the controlling the mobile robot to transform from the horizontally split state to the target standing state includes: in the horizontally split state, controlling the mobile robot to perform a standing-up action until the mobile robot is in the target standing state.

16. The method according to claim 15, wherein, the mobile robot further has a torso structure and an operating arm located on the periphery of the torso structure; in the horizontally split state, controlling the mobile robot to perform a standing-up action until the mobile robot is in the target standing state includes: in the horizontally split state, controlling the operating arm to support on the reference plane, and controlling the mobile robot to perform a standing-up action until the mobile robot is in a first split state, and the first split state refers to a critical state in which the operating arm supports on the reference plane; controlling the mobile robot to continue to perform the standing-up action until the mobile robot is in the target standing state.

17. The method according to claim 16, wherein, in the horizontally split state, controlling the operating arm to support on the reference plane, and controlling the mobile robot to perform a standing-up action until the mobile robot is in a first split state includes: In the horizontal split state, the operating arm is controlled to be supported on the reference plane, the operating arm is controlled to be continuously extended, and the mobile robot is controlled to perform a standing action until the mobile robot is in the first split state.

18. The method according to any one of claims 10 to 11, It is characterized in that The mobile robot further comprises a trunk structure, and the method further comprises: Control the front or back side of the trunk structure to fit with the top side of the first swing leg group; or control the front or back side of the trunk structure to fit with the top side of the second swing leg group; or control the front or back side of the trunk structure to fit with both the top side of the first swing leg group and the top side of the second swing leg group; The trunk structure is controlled to perform supine operation.

19. A control device for a mobile robot, It is characterized in that The mobile robot comprises a first swing leg group and a second swing leg group; at least one of the first swing leg group and the second swing leg group comprises a plurality of swing legs; the first swing leg group and the second swing leg group are arranged side by side, and the rotation axes of the first swing leg group and the second swing leg group are located in the same vertical plane; the device comprises: A control module, used for controlling the mobile robot to be in an initial standing state; The control module is further used to control the mobile robot to transform from the initial standing state to a horizontally split state, wherein the horizontally split state includes a state where the first swing leg group and the second swing leg group are horizontally split; and is further used to control the mobile robot to transform from the horizontally split state to a folded state, wherein the folded state at least includes a state where the first swing leg group and the second swing leg group are horizontally together; The horizontal juxtaposition means that the extension directions of the first swing leg group and the second swing leg group are parallel to the horizontal reference plane, and there is no angle between the horizontal axis of the first swing leg group and the horizontal axis of the second swing leg group.

20. A control device for a mobile robot, It is characterized in that The mobile robot comprises a first swing leg group and a second swing leg group; at least one of the first swing leg group and the second swing leg group comprises a plurality of swing legs; the first swing leg group and the second swing leg group are arranged side by side, and the rotation axes of the first swing leg group and the second swing leg group are located in the same vertical plane; the device comprises: A control module, used for controlling the mobile robot to be in a folded state; the folded state at least includes a state where the first swing leg group and the second swing leg group are horizontally close together; The control module is further used to control the mobile robot to transform from the folded state to a horizontally split state, wherein the horizontally split state includes a state where the first swing leg group and the second swing leg group are horizontally split; and is further used to control the mobile robot to transform from the horizontally split state to a target standing state; Wherein, the horizontal juxtaposition means that the extension directions of the first swinging leg group and the second swinging leg group are parallel to the horizontal reference plane, and there is no included angle between the horizontal axis of the first swinging leg group and the horizontal axis of the second swinging leg group.

21. A computer device, characterized in that, the computer device includes a memory and a processor; at least one program code is stored in the memory, and the program code is loaded and executed by the processor to implement the control method of the mobile robot according to any one of claims 1 to 18.

22. A computer-readable storage medium, characterized in that, a computer program is stored in the storage medium, and the computer program is used to be executed by a processor to implement the control method of the mobile robot according to any one of claims 1 to 18.

23. A chip, characterized in that, the chip includes at least one of programmable logic circuits and program instructions, and is used to implement the control method of the mobile robot according to any one of claims 1 to 18 when the electronic device installed with the chip runs.

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