Mobile robot and control method thereof

Abstract

The present application discloses a mobile robot and a control method thereof, relating to the field of robots. The mobile robot includes at least three swinging legs, the at least three swinging legs are arranged side by side, and the rotation axes of the at least three swinging legs are located in the same vertical plane. The above-mentioned mobile robot can not only maintain static stability in a standing posture, but also adapt to various environmental terrains through different motion modes.

Description

Technical Field

[0001] This application relates to the field of robots, and particularly to a mobile robot and a control method for a mobile robot. Background Art

[0002] Related technologies provide bipedal humanoid robots. There is an inherent defect in bipedal humanoid robots. Whether the robot is powered on or powered off, it needs to dynamically adjust the position of its center of gravity to achieve balance and not fall. The bipedal humanoid robots in related technologies cannot achieve static stability. Summary of the Invention

[0003] Embodiments of this application provide a mobile robot and a control method for a mobile robot. The mobile robot can not only maintain static stability in a standing posture, but also adapt to various environmental terrains (such as going up and down stairs) through different motion modes. The technical solution at least includes the following aspects:

[0004] According to one aspect of this application, a mobile robot is provided. The mobile robot includes at least three swinging legs, the at least three swinging legs are arranged side by side, and the rotation axes of the at least three swinging legs are located in the same vertical plane.

[0005] According to one aspect of this application, a control method for a mobile robot is provided. The mobile robot includes at least three swinging legs, the at least three swinging legs are arranged side by side, and the rotation axes of the at least three swinging legs are located in the same vertical plane. The method includes:

[0006] Controlling the at least three swinging legs to perform leg actions on a reference plane.

[0007] According to one aspect of this application, a control device for a mobile robot is provided. The mobile robot includes at least three swinging legs, the at least three swinging legs are arranged side by side, and the rotation axes of the at least three swinging legs are located in the same vertical plane. The control device includes:

[0008] A control module for controlling the at least three swinging legs to perform leg actions on a reference plane.

[0009] According to one aspect of this application, a computer device is provided. 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 for the mobile robot as described above.

[0010] According to one aspect of this application, a computer-readable storage medium is provided. 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 for the mobile robot as described above.

[0011] 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.

[0012] According to one aspect of the present application, a computer program product is provided, which includes computer instructions stored in a computer-readable storage medium. A 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.

[0013] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0014] By setting at least three swing legs, which are distributed side by side and the rotation axes are located in the same vertical plane, the static stability of the mobile robot in a standing posture can be achieved without dynamically adjusting the center of gravity of the mobile robot, and different motion modes can be used to adapt to various environmental terrains (such as going up and down stairs). BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 is a structural schematic diagram of a mobile robot provided by an exemplary embodiment of the present application;

[0017] Figure 2 is a structural schematic diagram of a mobile robot provided by an exemplary embodiment of the present application;

[0018] Figure 3 is a flow chart of a control method for a mobile robot provided by an exemplary embodiment of the present application;

[0019] Figure 4 is a schematic diagram of mobile robots standing together provided by an exemplary embodiment of the present application;

[0020] Figure 5 is a schematic diagram of a folded mobile robot provided by an exemplary embodiment of the present application;

[0021] Figure 6 is a schematic diagram of a mobile robot performing a task provided by an exemplary embodiment of the present application;

[0022] Figure 7It is a flowchart of a control method for a mobile robot provided by an exemplary embodiment of the present application;

[0023] Figure 8 It is a schematic diagram of a mobile robot provided by an exemplary embodiment of the present application crossing an obstacle;

[0024] Figure 9 It is a schematic diagram of a mobile robot provided by an exemplary embodiment of the present application crossing an obstacle;

[0025] Figure 10 It is a schematic diagram of a mobile robot provided by an exemplary embodiment of the present application going up / down stairs;

[0026] Figure 11 It is a schematic diagram of a control method for a mobile robot provided by an exemplary embodiment of the present application;

[0027] Figure 12 It is a schematic diagram of a control device for a mobile robot provided by an exemplary embodiment of the present application;

[0028] Figure 13 It is a block diagram of a mobile robot provided by an exemplary embodiment of the present application. Detailed implementation manners

[0029] 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.

[0030] In the embodiments of the present application, "front" and "rear" are based on the front and rear shown in the drawings. "The first end" and "the second end" are opposite ends.

[0031] 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 drawings.

[0032] To solve the problem that a bipedal humanoid robot cannot achieve static stability in the related art, the present application provides a mobile robot.

[0033] 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. The at least three swinging legs are arranged side by side, and the rotation axes of the at least three swinging legs are located in the same vertical plane. Arranged side by side means that the projections of at least three swinging legs of the mobile robot in 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 in 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.

[0034] 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 second swinging leg group includes a plurality of second swinging legs, the first swinging leg group includes one first swinging leg, 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.

[0035] 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" refers to a case of being greater than or equal to two.

[0036] 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. 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 distributed alternately one by one. Optionally, the plurality of first swinging legs 11 are distributed on both sides of the plurality of second swinging legs 21.

[0037] Schematically, taking the first swing leg group 10 as the A-group legs and the second swing leg group 20 as the B-group 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.

[0038] Combined with reference 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.

[0039] During the movement of the mobile robot, the first swing leg group 10 and the second swing leg group 20 support walking in a cross gait, that is, the first swing leg group 10 and the second swing leg group 20 alternately walk as the front and rear leg groups. In an exemplary movement process, taking the first swing leg group 10 as the supporting leg, swing the second swing leg group 20 to the first landing point, and then take the second swing leg group 20 as the supporting leg, and swing the first swing leg group 10 to the second landing point.

[0040] Specifically, in the initial posture, multiple first swing legs 11 are in contact with the ground as the front legs, and multiple second swing legs 21 are in contact with 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 supporting legs, swing multiple second swing legs 21 to the first landing point, and at the same time control the center of gravity of the robot to move forward. 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 supporting legs, swing multiple first swing legs 11 to the second landing point, and at the same time control the center of gravity of the robot to move forward. 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.

[0041] When the swinging leg of the above-mentioned robot swings, the swinging leg will be controlled to extend and retract. Schematically, when the center of gravity of the swinging leg is behind the center of gravity of the mobile robot, the swinging leg is controlled to shorten; when the center of gravity of the swinging leg is in front of the center of gravity of the mobile robot, the swinging leg is controlled to extend.

[0042] The above-mentioned mobile robot, by setting a first swinging leg group and a second swinging leg group, the first swinging leg group includes a plurality of first swinging legs, the second swinging leg group includes a plurality of second swinging legs, at least two of the plurality of first swinging legs are respectively located on both sides of the central axis of the mobile robot, at least two of the plurality of second swinging legs are respectively located on both sides of the central axis of the mobile robot, and the plurality of first swinging legs and the plurality of second swinging legs are arranged side by side, which can achieve the static stability of the mobile robot in the standing posture without dynamically adjusting the position of the center of gravity 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.

[0043] In one embodiment, a plurality of first swinging legs 11 are rotatably connected to a first swinging rotation axis, and the first swinging rotation axis is perpendicular to the traveling direction of the mobile robot. Optionally, the first swinging 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 swinging legs 21 are rotatably connected to a second swinging rotation axis, and the second swinging rotation axis is perpendicular to the traveling direction of the mobile robot. Optionally, the second swinging rotation axis is located at positions such as the hip, waist, and top of the head of the mobile robot.

[0044] In one embodiment, the first swinging rotation axis is located at the hip of the mobile robot. Referring to Figure 2 At this time, the first swinging 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 swinging legs 11 are rotatably connected to the first hip rotation axis 1, and any two of the plurality of first swinging legs 11 are parallel.

[0045] In one embodiment, the second swinging rotation axis is located at the hip of the mobile robot. Referring to Figure 2 At this time, the second swinging 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 swinging legs 21 are rotatably connected to the second hip rotation axis 2, and any two of the plurality of second swinging legs 21 are parallel.

[0046] Optionally, the first hip rotation axis 1 and the second hip rotation axis 2 are coaxial; and / or, the first hip rotation axis 1 and the second hip rotation axis 2 are located in the same vertical plane. Figure 1 and Figure 2It shows a situation that the first hip rotation axis 1 and the second hip rotation axis 2 are coaxial and located in the same vertical plane.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] In one embodiment, the mobile robot further includes a first telescopic motor corresponding to the first swing leg 11, and a second telescopic motor corresponding to the second swing leg 21; the first telescopic motor is used to drive the first swing leg 11 to telescope along the socket direction; the second telescopic motor is used to drive the second swing 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 to achieve 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 to achieve linear transmission through a lead screw and nut.

[0052] In one embodiment, the multiple first telescopic motors respectively corresponding to the multiple first swing legs 11 support controlling the multiple first swing legs 11 to perform linkage telescoping or independent telescoping. Optionally, the multiple second telescopic motors respectively corresponding to the multiple second swing legs 21 support controlling the multiple second swing legs 21 to perform linkage telescoping or independent telescoping.

[0053] In one embodiment, the first swing 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 swing 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.

[0054] In one embodiment, the first swing leg group 10 includes multiple first swing legs 11, and the first swing leg 11 includes a first leg component and a first wheel 113 located at the end of the first leg component; the second swing leg group 20 includes multiple second swing legs 21, and the second swing 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. With reference to Figure 1 and Figure 2, the first leg assembly includes a first mechanical thigh 111 and a first mechanical calf 112, and the second leg assembly includes a second mechanical thigh 211 and a second mechanical calf 212.

[0055] 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 configured to drive the first wheel 113 to rotate; the second drive motor is configured to drive the second wheel 213 to rotate.

[0056] 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.

[0057] In one embodiment, the mobile robot further includes a waist structure 30 and a torso structure 40; the waist structure 30 is configured 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.

[0058] 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 rotatably connected to the torso structure 40, and the pitch rotation axis 3 is configured to support the torso structure 40 to perform a pitch operation.

[0059] In one embodiment, the waist structure 30 includes a yaw rotation axis 4; the yaw rotation axis 4 is perpendicular to the rotation axis of the first swing leg group 10, and / or, the yaw 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 yaw rotation axis 4 is perpendicular to the first hip rotation axis 1 (and the second hip rotation axis 2). The yaw rotation axis 4 is rotatably connected to the torso structure 40, and the yaw rotation axis 4 is configured to support the torso structure 40 to perform a yaw operation.

[0060] In one embodiment, the waist structure 30 includes a pitch rotation axis 3 and a yaw 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.

[0061] In one embodiment, the mobile robot further has at least one operating arm 50. Referring 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.

[0062] 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.

[0063] Optionally, the operating arm 50 includes a mechanical upper arm 51 and a mechanical forearm 52. The mechanical upper arm 51 and the mechanical forearm 52 are connected by an elbow joint rotation axis 6. The elbow joint rotation axis 6 is used to support the mechanical forearm 52 to have multi-directional rotational degrees of freedom. Optionally, the elbow joint rotation axis 6 supports the mechanical forearm 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 forearm 52 to rotate. In one embodiment, multiple elbow joint drive motors corresponding to multiple elbow joint rotation axes 6 respectively support controlling multiple mechanical forearms 52 to perform linkage rotation or independent rotation.

[0064] In one embodiment, a gripper is connected to the end of the mechanical forearm 52. In one embodiment, the mobile robot further has a head 60, and the head 60 is located above the torso structure 40.

[0065] The detailed structure of the mobile robot has been introduced above. Next, the control method of the robot will be introduced.

[0066] In one embodiment, at least three swing legs are controlled to perform leg movements on a reference plane. In this embodiment, the mobile robot comprises at least three swing legs, the at least three swing legs are arranged side by side, and the rotation axes of the at least three swing legs are located in the same vertical plane.

[0067] Optionally, at least three swing legs are controlled to stand together on the reference plane and support each other. Optionally, at least three swing legs are controlled to stand together on the reference plane and at least two swing legs support each other. Optionally, at least three swing legs are controlled to stand in a divergent manner, and at least three contact points of at least three swing legs on the reference plane form a geometric figure.

[0068] Optionally, at least one of the at least three swing legs is controlled to perform a stepping action.

[0069] Optionally, at least one of the at least three swing legs is controlled to perform a stepping action.

[0070] Optionally, at least one of the at least three swing legs is controlled to perform a split action.

[0071] Figure 3 A flow chart of a control method for a mobile robot provided by an exemplary embodiment of the present application is shown, and the method is illustrated by an example of being executed by a computer device. The method includes:

[0072] Step 310, controlling the first swing leg group and the second swing leg group to stand crosswise, with the first swing leg group being located in front of the second swing leg group.

[0073] In this embodiment, at least three swing legs of the mobile robot are divided into a first swing leg group and a second swing leg group; the first swing leg group includes multiple first swing legs, and there are at least two first swing legs among the multiple first swing legs, which are respectively located on both sides of the central axis of the mobile robot; the second swing leg group includes multiple second swing legs, and there are at least two second swing legs among the multiple second swing legs, which are respectively located on both sides of the central axis of the mobile robot.

[0074] In the initial posture of the cross-gait movement, the first swing leg group and the second swing leg group of the mobile robot will be controlled to stand crosswise; in this embodiment, the situation where the first swing leg group is located in front of the second swing leg group will be introduced. By the same token, it can be deduced that the second swing leg group is located in front of the first swing leg group.

[0075] Step 320, using the first swing leg group as a supporting leg, controlling the second swing leg group to rotate to the first landing point.

[0076] The first landing point refers to the first landing point of the mobile robot during the moving process compared to the position of the mobile robot in the initial cross-stance posture.

[0077] In one embodiment, using the first swinging leg group as the support leg, control the second swinging leg group to rotate around the second hip rotation axis until the second swinging leg group rotates to the first landing point.

[0078] In one embodiment, determine the first swinging leg group as the support leg; send a second rotation instruction to the second rotation motor; based on the second rotation instruction, control the second rotation motor to drive the second swinging leg group to rotate around the second hip rotation axis until the second swinging leg group rotates to the first landing point. Optionally, the second rotation instruction includes a rotation angle instruction, a rotation speed instruction, and a rotation torque instruction. Schematically, the forward swinging leg is the positive direction and the backward swinging leg is the negative direction, so the rotation angle instruction is 90°.

[0079] In one embodiment, using the first swinging leg group as the support leg; send a plurality of fourth rotation instructions to a plurality of fourth rotation motors respectively corresponding to the plurality of second swinging legs; based on the plurality of fourth rotation instructions, control the plurality of fourth rotation motors to drive the plurality of second swinging legs to rotate around the second hip rotation axis until the plurality of second swinging legs rotate to the first landing point. Optionally, the fourth rotation instruction includes a rotation angle instruction, a rotation speed instruction, and a rotation torque instruction. Schematically, the forward swinging leg is the positive direction and the backward swinging leg is the negative direction, so the rotation angle instruction is 90°.

[0080] Step 330, using the second swinging leg group as the support leg, control the first swinging leg group to rotate to the second landing point.

[0081] The second landing point refers to the second landing point of the mobile robot during the traveling process compared to the position of the mobile robot in the initial cross-standing posture.

[0082] In one embodiment, using the second swinging leg group as the support leg, control the first swinging leg group to rotate around the first hip rotation axis until the first swinging leg group rotates to the second landing point.

[0083] In one embodiment, determine the second swinging leg group as the support leg; send a first rotation instruction to the first rotation motor; based on the first rotation instruction, control the first rotation motor to drive the first swinging leg group to rotate around the first hip rotation axis until the first swinging leg group rotates to the second landing point. Optionally, the first rotation instruction includes a rotation angle instruction, a rotation speed instruction, and a rotation torque instruction. Schematically, the forward swinging leg is the positive direction and the backward swinging leg is the negative direction, so the rotation angle instruction is 90°.

[0084] In one embodiment, the second swing leg group is used as the support leg; multiple third rotation instructions are sent to multiple third rotation motors corresponding to the multiple first swing legs respectively; based on the multiple third rotation instructions, the multiple third rotation motors are controlled to drive the multiple first swing legs to rotate around the first hip rotation axis until the multiple first swing legs rotate to the second landing point. Optionally, the third rotation instruction includes a rotation angle instruction, a rotation speed instruction, and a rotation torque instruction. Schematically, the forward swing leg is the positive direction and the backward swing leg is the negative direction, and the rotation angle instruction is 90°.

[0085] Based on Figure 3 In the optional embodiment shown, the method further includes: controlling the first mechanical thigh and the first mechanical calf to extend and contract along the socket direction; and / or, controlling the second mechanical thigh and the second mechanical calf to extend and contract along the socket direction; wherein, the first swing leg of the mobile robot includes a first mechanical thigh and a first mechanical calf, and the first mechanical thigh and the first mechanical calf are connected by a socket method; the second swing leg of the mobile robot includes a second mechanical thigh and a second mechanical calf, and the second mechanical thigh and the second mechanical calf are connected by a socket method.

[0086] Optionally, a first extension instruction is sent to the first extension motor; based on the first extension instruction, the first extension motor is controlled to drive the first mechanical thigh and the first mechanical calf to extend and contract along the socket direction; optionally, the first extension motor is a first linear motor; optionally, the first extension motor is a motor designed for linear transmission through a lead screw and nut. Optionally, the first extension instruction includes a linear movement position instruction, a linear movement speed instruction, and a driving force instruction.

[0087] Optionally, a second extension instruction is sent to the second extension motor; based on the second extension instruction, the second extension motor is controlled to drive the second mechanical thigh and the second mechanical calf to extend and contract along the socket direction. Optionally, the second extension motor is a second linear motor; optionally, the second extension motor is a motor designed for linear transmission through a lead screw and nut. Optionally, the second extension instruction includes a linear movement position instruction, a linear movement speed instruction, and a driving force instruction.

[0088] Based on Figure 3 In the optional embodiment shown, the method further includes: controlling at least one first wheel corresponding to at least one first swing leg in the first swing leg group to rotate; and / or, controlling at least one second wheel corresponding to at least one second swing leg in the second swing leg group to rotate. Wherein, the first swing leg includes a first leg component and a first wheel located at the end of the first leg component, and the second swing leg includes a second leg component and a second wheel located at the end of the second leg component.

[0089] Optionally, send at least one first driving instruction to at least one first driving motor respectively corresponding to at least one first swinging leg in the first swinging leg group; based on the at least one first driving instruction, drive at least one first wheel to rotate through the at least one first driving motor. Optionally, send at least one second driving instruction to at least one second driving motor respectively corresponding to at least one second swinging leg in the second swinging leg group; based on the at least one second driving instruction, drive at least one second wheel to rotate through the at least one second driving motor. Optionally, the first driving instruction includes a rotation angle instruction, a rotation speed instruction, and a rotation torque instruction. Optionally, the second driving instruction includes a rotation angle instruction, a rotation speed instruction, and a rotation torque instruction.

[0090] Based on Figure 3 In the optional embodiment shown, the method further includes: controlling the torso structure to perform a pitching operation and / or a yawing operation through the waist structure. Wherein, the mobile robot further includes a waist structure and a torso structure; the waist structure is used to connect the leg structure and the torso structure, and the leg structure includes a first swinging leg group and a second swinging leg group.

[0091] Optionally, control the torso structure to perform a pitching operation by controlling the pitching rotation axis to rotate. Wherein, the waist structure includes a pitching rotation axis; the pitching rotation axis is parallel to the rotation axis of the first swinging leg group, and / or, the pitching rotation axis is parallel to the rotation axis of the second swinging leg group; the pitching rotation axis is rotationally connected to the torso structure.

[0092] Optionally, control the torso structure to perform a yawing operation by controlling the yawing rotation axis to rotate. Wherein, the waist structure includes a yawing rotation axis; the yawing rotation axis is perpendicular to the rotation axis of the first swinging leg group, and / or, the yawing rotation axis is perpendicular to the rotation axis of the second swinging leg group; the yawing rotation axis is rotationally connected to the torso structure.

[0093] Optionally, control the torso structure to perform a pitching operation by controlling the pitching rotation axis to rotate; and / or, control the torso structure to perform a yawing operation by controlling the yawing rotation axis to rotate. Wherein, the waist structure includes a pitching rotation axis and a yawing rotation axis; the pitching rotation axis is parallel to the rotation axis of the first swinging leg group, and / or, the pitching rotation axis is parallel to the rotation axis of the second swinging leg group; the yawing rotation axis is perpendicular to the pitching rotation axis; the first end of the yawing rotation axis is connected to the center of the pitching rotation axis, and the second end of the yawing rotation axis is connected to the torso structure.

[0094] Based on Figure 3 In the optional embodiment shown, the method further includes: controlling the manipulator to freely rotate in multiple directions by controlling the shoulder rotation axis to rotate. Wherein, the mobile robot further has at least one manipulator, and the manipulator is connected to the shoulder rotation axis of the mobile robot.

[0095] Optionally, the robotic arm includes a large robotic arm and a small robotic arm, which are connected by an elbow joint rotation axis. The method further includes: controlling the rotation of the elbow joint rotation axis to control the multi-directional free rotation of the small robotic arm.

[0096] Several control methods for mobile robots will be introduced below.

[0097] · Control the first swinging leg group and the second swinging leg group to stand side by side.

[0098] Combined with reference to Figure 4 , Figure 4 shows a standing mode in which the first swinging leg group 10 of the mobile robot is in contact with the horizontal reference plane. At this time, a plurality of first swinging legs 11 in the first swinging leg group 10 are in the extended state, and a plurality of second swinging legs 21 in the second swinging leg group 20 are in the contracted state.

[0099] In one embodiment, the second swinging leg group 20 of the mobile robot can also be in contact with the horizontal reference plane. At this time, a plurality of second swinging legs 21 in the second swinging leg group 20 are in the extended state, and a plurality of first swinging legs 11 in the first swinging leg group 10 are in the contracted state.

[0100] In one embodiment, both the first swinging leg group 10 and the second swinging leg group 20 of the mobile robot are in contact with the horizontal reference plane. At this time, a plurality of first swinging legs 11 and a plurality of second swinging legs 21 are both in the extended state, or a plurality of first swinging legs 11 and a plurality of second swinging legs 21 are both in the contracted state.

[0101] It can be understood that when the robot stands side by side, the floor area of the robot can be reduced, which is convenient for the robot to pass through narrow spaces. Based on the setting of the leg wheels, zero-radius turning of the robot can be achieved. When moving on a narrow flat ground, it can move by standing side by side and driving the wheels at the ends of the legs.

[0102] · Control the first swinging leg group and the second swinging leg group to stand crosswise.

[0103] Figure 1 and Figure 2The cross - standing mode in which both the first swinging leg group 10 and the second swinging leg group 20 of the mobile robot are in contact with the horizontal reference plane is shown. In one embodiment, in the cross - standing mode, the θ angle between the first swinging leg group 10 and the second swinging leg group 20 can be any angle (such as 40 degrees) restricted by the mechanical structure, and thus the horizontal operable range of the robot after it is fixed in position can be adjusted. By changing the θ angle between the first swinging leg group 10 and the second swinging leg group 20, the footprint area of the mobile robot can be changed, and thus the stability of the robot can be adjusted. In one embodiment, in the cross - standing mode, the first swinging leg group 10 and the second swinging leg group 20 can be extended or shortened, and thus the height operable range of the robot after it is fixed in position can be adjusted.

[0104] It can be understood that when the robot moves on a wide flat ground, it can move by using the cross - standing mode and driving the wheels of the double swinging leg groups.

[0105] · Control the first swinging leg group and the second swinging leg group to move in a cross - gait.

[0106] When the robot moves on non - flat ground, it can move in a cross - gait manner by using the double swinging leg groups, and the two swinging leg groups move alternately. When introducing the robot structure above, the detailed gait of the robot during cross - movement has been introduced, and it will not be elaborated here.

[0107] In one embodiment, the first swinging leg group 10 rotates around the first hip rotation axis 1. The first rotation motor drives the first swinging leg group 10 to rotate around the first hip rotation axis 1. The first rotation motor receives a rotation angle instruction, a rotation speed instruction, and a torque instruction. The underlying drive board of the first rotation motor will drive the first rotation motor to rotate according to the received instruction signal.

[0108] In one embodiment, the second swinging leg group 20 rotates around the second hip rotation axis 2. The second rotation motor drives the second swinging leg group 20 to rotate around the second hip rotation axis 2. The second rotation motor receives a rotation angle instruction, a rotation speed instruction, and a torque instruction. The underlying drive board of the second rotation motor will drive the second rotation motor to rotate according to the received instruction signal.

[0109] · Control the first swinging leg and / or the second swinging leg to extend and retract.

[0110] In one embodiment, the first swing leg group 10 includes a plurality of first swing legs 11. Each first swing leg includes a first mechanical thigh 111 and a first mechanical calf 112 connected by a socketing manner. A plurality of first swing legs 11 respectively correspond to a plurality of first telescopic motors, and the first telescopic motors are used to drive the first swing legs 11 to telescopically move along the socketing direction. The underlying drive board of the first telescopic motor receives linear movement position instructions, linear movement speed instructions, and driving force instructions, and the underlying drive board of the first telescopic motor drives the first telescopic motor to linearly move according to the received instruction signals. Optionally, the first telescopic motor is a first linear motor; optionally, the first telescopic motor is a motor that realizes linear transmission design through a lead screw and nut.

[0111] In one embodiment, the second swing leg group 10 includes a plurality of second swing legs 21. Each second swing leg includes a second mechanical thigh 211 and a second mechanical calf 212 connected by a socketing manner. A plurality of second swing legs 21 respectively correspond to a plurality of second telescopic motors, and the second telescopic motors are used to drive the second swing legs 21 to telescopically move along the socketing direction. The underlying drive board of the second telescopic motor receives linear movement position instructions, linear movement speed instructions, and driving force instructions, and the underlying drive board of the second telescopic motor will drive the second telescopic motor to linearly move according to the received instruction signals. Optionally, the second telescopic motor is a second linear motor; optionally, the second telescopic motor is a motor that realizes linear transmission design through a lead screw and nut.

[0112] · Control the first swing leg and / or the second swing leg to move forward by rotating the wheels at the ends of the legs.

[0113] In one embodiment, the first swing leg group 10 includes a plurality of first swing legs 11. The end of each first swing leg 11 includes a first wheel 113. A plurality of first swing legs 11 respectively correspond to a plurality of first drive motors, and the first drive motors are used to drive the first wheels 113 to rotate. The underlying drive board of the first drive motor receives rotation angle instructions, rotation speed instructions, and torque instructions, and the underlying drive board of the first drive motor will drive the first drive motor to rotate according to the received instruction signals.

[0114] In one embodiment, the second swing leg group 20 includes a plurality of second swing legs 21. The end of each second swing leg 21 includes a second wheel 213. A plurality of second swing legs 21 respectively correspond to a plurality of second drive motors, and the second drive motors are used to drive the second wheels 213 to rotate. The underlying drive board of the second drive motor receives rotation angle instructions, rotation speed instructions, and torque instructions, and the underlying drive board of the second drive motor will drive the second drive motor to rotate according to the received instruction signals.

[0115] · Control the mobile robot to perform pitching operations and / or yawing operations.

[0116] The mobile robot performs a pitching operation through a pitching rotation shaft 3, and the pitching rotation shaft 3 is rotationally connected to the torso structure of the mobile robot. The pitching rotation shaft 3 is driven by a pitching rotation motor. In one embodiment, the underlying drive board of the pitching rotation motor receives a rotation angle instruction, a rotation speed instruction, and a rotation torque instruction, and the underlying drive board of the pitching rotation motor drives the pitching rotation motor to rotate according to the received instruction signals.

[0117] The mobile robot performs a yawing operation through a yawing rotation shaft 4, and the yawing rotation shaft 4 is rotationally connected to the torso structure of the mobile robot. The yawing rotation shaft 4 is driven by a yawing rotation motor. In one embodiment, the underlying drive board of the yawing rotation motor receives a rotation angle instruction, a rotation speed instruction, and a rotation torque instruction, and the underlying drive board of the yawing rotation motor will drive the yawing rotation motor to rotate according to the received instruction signals.

[0118] · Control the rotating manipulator of the mobile robot.

[0119] The mobile robot includes at least one manipulator, and at least one manipulator corresponds to at least one shoulder rotation shaft one by one. In one embodiment, the mobile robot rotates the manipulator through a shoulder rotation shaft 5, and the shoulder rotation shaft 5 is rotationally connected to the manipulator of the mobile robot. The shoulder rotation shaft 5 is driven by a shoulder rotation motor. In one embodiment, the underlying drive board of the shoulder rotation motor receives a rotation angle instruction, a rotation speed instruction, and a rotation torque instruction, and the underlying drive board of the shoulder rotation motor will drive the shoulder rotation motor to rotate according to the received instruction signals.

[0120] · Control the rotating mechanical forearm of the mobile robot.

[0121] The manipulator includes a mechanical upper arm and a mechanical forearm. The mechanical upper arm and the mechanical forearm are connected by an elbow joint rotation shaft 6. The elbow joint rotation shaft 6 is driven by an elbow joint rotation motor. In one embodiment, the underlying drive board of the elbow joint rotation motor receives a rotation angle instruction, a rotation speed instruction, and a rotation torque instruction, and the underlying drive board of the elbow joint rotation motor will drive the elbow joint rotation motor to rotate according to the received instruction signals.

[0122] · Control the folding of the mobile robot.

[0123] Figure 5The figure shows a schematic diagram of the folded robot provided by an exemplary embodiment of the present application. After folding, the multiple first swing legs 11 included in the first swing leg group of the robot and the multiple second swing legs 21 included in the second swing leg group are horizontally juxtaposed. The front (or back) of the torso structure 40 of the robot is in contact with the top surface of the first swing leg group 11 (or the second swing leg group 21), and the manipulator 50 of the robot is closely attached to the torso structure 40. The mobile robot controls the rotation and / or movement of the joints through the control motors of each joint to control the mobile robot to fold into Figure 5 the state shown.

[0124] · Control the mobile robot to execute tasks.

[0125] Figure 6 The figure shows a schematic diagram of the robot when performing an operation task. Figure 6 The figure shows the cross-standing posture of the multiple first swing legs 11 and the multiple second swing legs 21 of the mobile robot, the pitching posture of the torso structure 40 of the robot after performing a pitching operation through the pitching rotation axis 3, and the robot holds the target object through two manipulators 50 (including a mechanical upper arm 51 and a mechanical lower arm 52).

[0126] In one embodiment, Figure 7 The figure shows a flowchart of the control method of the mobile robot when going up / down stairs. The method includes:

[0127] Step 701, control the first swing leg group and the second swing leg group to stand side by side on the first step.

[0128] The multiple first swing legs of the first swing leg group and the multiple second swing legs of the second swing leg group stand side by side. Optionally, both the first swing leg group and the second swing leg group are in contact with the first step. Optionally, the first swing leg group is in contact with the first step while the second swing leg group is not in contact with the first step. Optionally, the second swing leg group is in contact with the first step while the first swing leg group is not in contact with the first step.

[0129] In this embodiment, the first step is the lower step and the second step is the upper step. When controlling the mobile robot to go up the stairs, the first step is the lower step and the second step is the higher step; when controlling the mobile robot to go down the stairs, the first step is the higher step and the second step is the lower step.

[0130] Step 702, use the first swing leg group as the support leg and swing the second swing leg group to the second step.

[0131] When in step 701, only the first swing leg group is in contact with the first step, use the first swing leg group as the support leg and swing the second swing leg group to the second step. Figure 7The state of the mobile robot after swinging the second swinging leg group to the second step is shown. At this time, multiple first swinging legs 11 of the first swinging leg group 10 are located on the lower step (the first step), and multiple first swinging legs 21 of the second swinging leg group 20 are located on the upper step (the second step). Figure 7 The multiple first swinging legs 11 shown are in the extended state, and the multiple second swinging legs 12 are in the extended state.

[0132] Step 703: Control the center of gravity projection of the mobile robot to move from the contact line between the first swinging leg group and the first step to the contact line between the second swinging leg group and the second step.

[0133] The first swinging leg group includes multiple first swinging legs. By connecting in series multiple contact points between the first swinging legs and the first step, the contact line between the first swinging leg group and the first step is obtained. The second swinging leg group includes multiple second swinging legs. By connecting in series multiple contact points between the second swinging legs and the second step, the contact line between the second swinging leg group and the second step is obtained. Move the center of gravity projection of the robot from the contact line between the first swinging leg group and the first step to the contact line between the second swinging leg group and the second step.

[0134] Step 704: Use the second swinging leg group as the supporting leg and swing the first swinging leg group to the second step.

[0135] After the second swinging leg group swings to the second step, use the second swinging leg group as the supporting leg and swing the first swinging leg group to the second step.

[0136] Step 705: Use the second swinging leg group as the supporting leg and swing the first swinging leg group to the second step.

[0137] When in step 701, only the second swinging leg group touches the first step, use the second swinging leg group as the supporting leg and swing the first swinging leg group to the second step.

[0138] Step 706: Control the center of gravity projection of the mobile robot to move from the contact line between the second swinging leg group and the first step to the contact line between the first swinging leg group and the second step.

[0139] The second swinging leg group includes multiple second swinging legs. By connecting in series multiple contact points between the second swinging legs and the first step, the contact line between the second swinging leg group and the first step is obtained. The first swinging leg group includes multiple first swinging legs. By connecting in series multiple contact points between the first swinging legs and the second step, the contact line between the first swinging leg group and the second step is obtained. Move the center of gravity projection of the robot from the contact line between the second swinging leg group and the first step to the contact line between the first swinging leg group and the second step.

[0140] Step 707: Use the first swinging leg group as the supporting leg and swing the second swinging leg group to the second step.

[0141] After the first swinging leg group swings to the second step, the first swinging leg group will be used as the supporting leg, and the second swinging leg group will be swung to the second step.

[0142] In summary, an action sequence for a mobile robot to climb up / down stairs is provided. After moving the center of gravity of the mobile robot behind the contact line between the front leg and the second step, the hind leg is then swung to the second step, providing a method for moving the center of gravity of the robot and improving the stability of the robot when climbing up / down stairs.

[0143] The above Figure 7 The method embodiment shown mainly relates to the obstacle-crossing mode (climbing up / down stairs) of the robot. Next, according to Figure 9 and Figure 10 , the action sequence of the robot when crossing an obstacle will be further introduced in detail.

[0144] Since for the mobile robot provided in the present application, there are at least two first swinging legs among the multiple first swinging legs located on both sides of the central axis respectively; there are at least two second swinging legs among the multiple second swinging legs located on both sides of the central axis respectively, enabling the mobile robot to maintain balance in the rolling direction, which is the direction perpendicular to the traveling direction. Therefore, when the robot crosses an obstacle using a cross gait, the actions of the robot can be represented by a planar model.

[0145] Figure 9 The two swinging leg groups of the shown mobile robot completely overlap, Figure 9 and each leg therein represents a swinging leg group of the robot. Figure 9 The two wheels of represent the wheels of the first swinging leg group and the wheels of the second swinging leg group of the robot respectively. Next, the overlapping first swinging leg group and the overlapping second swinging leg group in the plane will be described.

[0146] The first swinging leg group and the second swinging leg group are different in terms of position and drive on the robot body, etc., but in the specific action of climbing up / down stairs, they can be not distinguished, and climbing up / down stairs belongs to periodic motion. Therefore, the specific corresponding relationship between the supporting leg, the swinging leg, the first swinging leg group, and the second swinging leg group will not be emphasized below. Since the number of contact points between the robot and the stairs will affect the specific form of the dynamic model, it is necessary to divide the stages of the robot's actions during the planning and control stages. Considering the specific forms during the process of climbing up and down stairs, the mobile robot of the present application completes the tasks of climbing up and down stairs in the posture of the wheels touching the ground.

[0147] The stages of the robot during the whole process are divided into a single-leg support phase (Single Support Phase, SSP) and a double-leg support phase (Double Support Phase, DSP).

[0148] Figure 9 The shown Stage 1 is the single-leg support stage. The support leg of the robot is always on the step surface, and through the coordinated control of the wheels and other joints of the robot, balance is maintained. The swinging leg gradually lifts by overcoming gravity from the initial vertical state until it reaches the upper-level step, entering Stage 2, which is the double-leg support stage.

[0149] In Stage 2, the robot always keeps the wheels of both swinging leg groups in contact with the step surface within this plane. In Stage 2, the robot changes the angle of the upper body hip joint. On the premise of keeping the contact points of the wheels of both swinging leg groups with the ground unchanged significantly, the projection of the upper body center of mass on the ground is gradually moved from near the rear wheel center on the lower-level step to the front wheel center on the upper-level step. And, it is ready to lift the rear wheel leg from the rear-level step at any time. Once the rear wheel leg is lifted from the rear-level step, Stage 2 switches to Stage 3, and it enters the single-leg support stage again.

[0150] In Stage 3, the robot maintains balance through the support leg, and at the same time gradually lifts the swinging leg from the initial position on the lower-level step, overcoming the vertically downward gravity direction until the whole robot stably stands on the previous step in the single-leg group standing mode.

[0151] By observing Figure 9 the leftmost and rightmost figures, it can be found that the robot moves up one step, and at the same time, the support leg and the swinging leg are interchanged. Similarly, when moving up one more step, the support leg and the swinging leg are interchanged again. Thus, a complete periodic movement of going up the stairs is completed. For the down-stairs movement, the action stage division of going down the stairs is the same as that of going up the stairs, except that the movement planning in the z direction is opposite, which will not be elaborated here.

[0152] Figure 10 The schematic diagram of the up and down stairs action sequences of the robot is shown. Figure 10 Part (A) of Figure 9 shows the up stairs action sequence of the robot in more detail compared to Figure 10 Part (B) of

[0153] Figure 11 The block diagram of the control method of the mobile robot provided by an exemplary embodiment of the present application is shown. The mobile robot includes an action generator 1101, a whole-body controller (WBC) 1102, and a state estimator 1103.

[0154] The motion generator 1101 obtains the state data of the mobile robot sent by the state estimator 1103. According to the current state of the mobile robot, it determines the working mode of the robot. The working modes of the robot include but are not limited to: four-wheel mode, two-wheel mode, four-wheel to two-wheel mode, up and down stairs mode, four-wheel active suspension mode, etc. Considering the complexity of the upper body of the mobile robot, there will be more possibilities for the working modes included in the robot. The four-wheel mode refers to the mode in which both the two first swing legs and the two second swing legs of the mobile robot are in contact with the ground. The two-wheel mode refers to the mode in which either the two first swing legs or the two second swing legs of the mobile robot are in contact with the ground. The four-wheel to two-wheel mode refers to the intermediate mode from the four-wheel mode to the two-wheel mode. The up and down stairs mode refers to the mode in which the mobile robot performs going up or down stairs. The four-wheel active suspension mode refers to the mode in which the two first swing legs and the two second swing legs contract.

[0155] In different working modes, the motion generation methods of the mobile robot are different. Some common basic technology modules and algorithm modules will be called in multiple working modes. Figure 11 The model-free control module and the model-based control module are shown. Optionally, the model-based control module includes LQR (Linear Quadratic Regulator) and MPC (Model Predictive Control).

[0156] Schematically, in the two-wheel mode, it is necessary to control the balance of the wheels, and the PID (Proportion Integral Differential Control) module under the model-free control module is used to generate the reference trajectories of the wheels and the center of mass of the robot.

[0157] Schematically, in the two-wheel control stage of the four-wheel to two-wheel mode, a control module similar to that in the two-wheel mode is adopted. Schematically, in the four-wheel mode, the wheel legs extended towards the front of the body are made equivalent, and the wheel legs extended towards the rear of the body are made equivalent. The dynamics of the equivalent wheel legs and the upper body can be described by a first-order or second-order inverted pendulum. The module applied to balance control in the four-wheel mode can also adopt the module applied to balance control in the above two-wheel mode. The control trajectory obtained in this way can keep the robot balanced in the four-wheel mode. If the road surface is uneven, with potholes or obstacles, the actions generated by the control module can achieve relative stability of the upper body of the robot. Schematically, for the four-wheel active suspension mode, a control module similar to that in the four-wheel mode is adopted.

[0158] The whole-body controller 1102, and the above-mentioned motion generator 1101 will obtain the task information of some robots, including but not limited to: centroid task, support leg task, swing leg task, waist task, etc. Considering the complexity of the upper body, which can be used to complete various motions and tasks, the tasks that the robot can include are even more. These tasks are used as the input of the whole-body controller 1102. In the whole-body controller 1102, a detailed model and calibration of the robot will be carried out, and the dynamic model and the external force situation of the robot will be used as the constraints for optimization. Through the optimization process, the target joint angle commands, target joint angular velocity commands, and target joint torque commands of each joint of the robot are calculated. Finally, the target joint angle commands, target joint angular velocity commands, and target joint torque commands of each joint will be sent to the joint drivers of the robot to drive the execution of each joint of the robot.

[0159] The state estimator 1103, the state of the robot can be obtained by different sensors installed on the robot body. Schematically, using an IMU (Inertial Measurement Unit) sensor can obtain the current pose of the robot; using a motor encoder can obtain the rotation and movement position and speed information of each joint of the robot in the current state; using a force / torque sensor to obtain the magnitude and direction of the force and torque on the joint where the sensor is located at the current moment; using a tactile sensor to obtain the pressure magnitude on the sole of the robot's foot, the body surface, inside the hand or even the fingertips and the change characteristics over a period of time; using a visual sensor such as a camera to identify obstacles within the robot's field of view and indirectly obtain its own state information.

[0160] The role of the state estimator 1103 is to fuse the various pose and state information obtained by the robot. Schematically, based on the current pose of the robot obtained by the IMU sensor, the odometry information obtained from the wheel rotation, and the visual positioning information, a relatively accurate and reliable position of the robot in the world coordinate system is fused; based on the force / torque sensor and the tactile sensor, the contact situation between the robot and the external environment can be obtained; based on the current pose of the robot obtained by the IMU sensor and the angle information of each motor joint encoder, and combined with the robot's own model parameters, the centroid position of the robot is estimated.

[0161] The state estimator 1103 uses the fused robot state information as a feedback quantity and inputs it to the motion generator 1101 of the robot.

[0162] Figure 12The block diagram of the control device of a mobile robot provided by an exemplary embodiment of the present application is shown. The mobile robot includes at least three swinging legs, and the at least three swinging legs are arranged side by side. Moreover, the rotation axes of the at least three swinging legs are located in the same vertical plane. The control device includes a control module 1201, and the control module 1201 is used to control the at least three swinging legs to perform leg actions on a reference plane.

[0163] In an alternative embodiment, the at least three swinging legs are divided into a first swinging leg group and a second swinging leg group; the first swinging leg group includes a plurality of first swinging legs, and at least two of the plurality of first swinging legs are respectively located on both sides of the central axis of the mobile robot; the second swinging leg group includes a plurality of second swinging legs, and at least two of the plurality of second swinging legs are respectively located on both sides of the central axis of the mobile robot; the plurality of first swinging legs and the plurality of second swinging legs are arranged side by side.

[0164] The control module 1201 is used to control the first swinging leg group and the second swinging leg group to stand crosswise, with the first swinging leg group in front of the second swinging leg group;

[0165] The control module 1201 is further used to use the first swinging leg group as a support leg and control the second swinging leg group to rotate to a first landing point;

[0166] The control module 1201 is further used to use the second swinging leg group as a support leg and control the first swinging leg group to rotate to a second landing point.

[0167] In an alternative embodiment, the control module 1201 is further used to use the first swinging leg group as a support leg and control the second swinging leg group to rotate around a second hip rotation axis until the second swinging leg group rotates to a first landing point; use the second swinging leg group as a support leg and control the first swinging leg group to rotate around a first hip rotation axis until the first swinging leg group rotates to a second landing point.

[0168] In an alternative embodiment, the control module 1201 is further used to determine the first swinging leg group as a support leg; send a second rotation instruction to a second rotation motor; based on the second rotation instruction, control the second rotation motor to drive the second swinging leg group to rotate around the second hip rotation axis until the second swinging leg group rotates to a first landing point.

[0169] In an alternative embodiment, the control module 1201 is further used to determine the second swinging leg group as a support leg; send a first rotation instruction to a first rotation motor; based on the first rotation instruction, control the first rotation motor to drive the first swinging leg group to rotate around the first hip rotation axis until the first swinging leg group rotates to a second landing point.

[0170] In an alternative embodiment, the control module 1201 is further configured to use the first swinging leg group as the supporting legs; send a plurality of fourth rotation instructions to a plurality of fourth rotation motors respectively corresponding to the plurality of second swinging legs; and based on the plurality of fourth rotation instructions, control the plurality of fourth rotation motors to drive the plurality of second swinging legs to rotate around the second hip rotation axis until the plurality of second swinging legs rotate to the first landing point.

[0171] In an alternative embodiment, the control module 1201 is further configured to use the second swinging leg group as the supporting legs; send a plurality of third rotation instructions to a plurality of third rotation motors respectively corresponding to the plurality of first swinging legs; and based on the plurality of third rotation instructions, control the plurality of third rotation motors to drive the plurality of first swinging legs to rotate around the first hip rotation axis until the plurality of first swinging legs rotate to the second landing point.

[0172] In an alternative embodiment, the control module 1201 is further configured to determine the first swinging leg group as the supporting legs; send a second rotation instruction to the second rotation motor; and based on the second rotation instruction, control the second rotation motor to drive the second hip rotation axis of the mobile robot to rotate until the second swinging leg group rotates to the first landing point. In an alternative embodiment, the control module 1201 is further configured to determine the second swinging leg group as the supporting legs; send a first rotation instruction to the first rotation motor; and based on the first rotation instruction, control the first rotation motor to drive the first hip rotation axis of the mobile robot to rotate until the first swinging leg group rotates to the second landing point.

[0173] In an alternative embodiment, the first swinging leg includes a first mechanical thigh and a first mechanical calf, and the first mechanical thigh and the first mechanical calf are connected by a socket connection; the second swinging leg includes a second mechanical thigh and a second mechanical calf, and the second mechanical thigh and the second mechanical calf are connected by a socket connection. The control module 1201 is further configured to control the first mechanical thigh and the first mechanical calf to extend and retract along the socket direction; and / or, the control module 1201 is further configured to control the second mechanical thigh and the second mechanical calf to extend and retract along the socket direction.

[0174] In an alternative embodiment, the control module 1201 is further configured to send a first extension and retraction instruction to the first extension and retraction motor; and based on the first extension and retraction instruction, control the first extension and retraction motor to drive the first mechanical thigh and the first mechanical calf to extend and retract along the socket direction. In an alternative embodiment, the control module 1201 is further configured to send a second extension and retraction instruction to the second extension and retraction motor; and based on the second extension and retraction instruction, control the second extension and retraction motor to drive the second mechanical thigh and the second mechanical calf to extend and retract along the socket direction.

[0175] In an alternative embodiment, the first swing leg includes a first leg component and a first wheel located at the end of the first leg component, and the second swing leg includes a second leg component and a second wheel located at the end of the second leg component. The control module 1201 is further configured to control the rotation of at least one first wheel respectively corresponding to at least one first swing leg in the first swing leg group; and / or, the control module 1201 is further configured to control the rotation of at least one second wheel respectively corresponding to at least one second swing leg in the second swing leg group.

[0176] In an alternative embodiment, the control module 1201 is further configured to send at least one first drive instruction to at least one first drive motor respectively corresponding to at least one first swing leg in the first swing leg group; and drive the rotation of at least one first wheel through at least one first drive motor based on the at least one first drive instruction.

[0177] In an alternative embodiment, the control module 1201 is further configured to send at least one second drive instruction to at least one second drive motor respectively corresponding to at least one second swing leg in the second swing leg group; and drive the rotation of at least one second wheel through at least one second drive motor based on the at least one second drive instruction.

[0178] In an alternative embodiment, the mobile robot further includes a waist structure and a torso structure; the waist structure is used to connect the leg structure and the torso structure, and the leg structure includes a first swing leg group and a second swing leg group. The control module 1201 is further configured to control the torso structure to perform a pitching operation and / or a yawing operation through the waist structure.

[0179] In an alternative embodiment, the waist structure includes a pitching rotation axis; the pitching rotation axis is parallel to the rotation axis of the first swing leg group, and / or, the pitching rotation axis is parallel to the rotation axis of the second swing leg group; the pitching rotation axis is rotatably connected to the torso structure. The control module 1201 is further configured to control the torso structure to perform a pitching operation by controlling the rotation of the pitching rotation axis.

[0180] In an alternative embodiment, the waist structure includes a yawing rotation axis; the yawing rotation axis is perpendicular to the rotation axis of the first swing leg group, and / or, the yawing rotation axis is perpendicular to the rotation axis of the second swing leg group; the yawing rotation axis is rotatably connected to the torso structure. The control module 1201 is further configured to control the torso structure to perform a yawing operation by controlling the rotation of the yawing rotation axis.

[0181] In an alternative embodiment, the waist structure includes a pitch rotation axis and a yaw rotation axis; the pitch rotation axis is parallel to the rotation axis of the first swing leg group, and / or the pitch rotation axis is parallel to the rotation axis of the second swing leg group; the yaw rotation axis is perpendicular to the pitch rotation axis; the first end of the yaw rotation axis is connected to the center of the pitch rotation axis, and the second end of the yaw rotation axis is connected to the torso structure. The control module 1201 is further configured to control the torso structure to perform a pitch operation by controlling the rotation of the pitch rotation axis; and / or control the torso structure to perform a yaw operation by controlling the rotation of the yaw rotation axis.

[0182] In an alternative embodiment, the mobile robot further has at least one operating arm, and the operating arm is connected to the shoulder rotation axis of the mobile robot. The control module 1201 is further configured to control the multi-directional free rotation of the operating arm by controlling the rotation of the shoulder rotation axis.

[0183] In an alternative embodiment, 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 an elbow joint rotation axis. The control module 1201 is further configured to control the multi-directional free rotation of the mechanical lower arm by controlling the rotation of the elbow joint rotation axis.

[0184] Figure 13 The block diagram of the mobile robot provided by an exemplary embodiment of the present application is shown. The mobile robot includes a controller 1301 and a memory 1302.

[0185] The controller 1301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The controller 1301 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 1301 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the wake state, also known as the CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 1301 may be integrated with a GPU (Graphics Processing Unit), and the GPU is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the controller 1301 may further include an AI (Artificial Intelligence) processor, and the AI processor is used to process computational operations related to machine learning.

[0186] The memory 1302 may include one or more computer-readable storage media, which may be non-transitory. The memory 1302 may also include high-speed random access memory, as well as 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 1302 is used to store at least one instruction, which is to be executed by the controller 1301 to implement the control method of the mobile robot provided in the method embodiments of the present application.

[0187] In some embodiments, the mobile robot 1300 may further optionally include: at least one motor 1303 and at least one sensor 1304. The at least one motor 1303 is configured to receive control instructions sent by the controller 1301 and drive the mobile robot to perform actions. The at least one motor 1303 drives the respective joints of the mobile robot to perform actions such as rotation / extension / fixation. The at least one sensor 1304 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 1304 sends the state information of the mobile robot to the controller 1301 to control the mobile robot to perform related actions.

[0188] Those skilled in the art can understand that Figure 13 the structure shown in does not constitute a limitation on the mobile robot 1300, and it may include more or fewer components than shown in the figure, or combine certain components, or adopt different component arrangements.

[0189] The embodiments of the present application also 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.

[0190] The embodiments of the present application also provide a computer-readable storage medium, in which a computer program is stored, and the computer program is used to be executed by a processor to implement the control method of the mobile robot as described above. The embodiments of the present application also provide a chip, which includes programmable logic circuits and / or program instructions, and when the chip runs, it is used to implement the control method of the mobile robot as described above.

[0191] The embodiments of the present application also provide a computer program product or a computer program, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium, and 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.

[0192] 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.

[0193] All of the above alternative technical solutions can be combined arbitrarily to form alternative embodiments of this application, which will not be elaborated one by one here.

[0194] The above are only alternative embodiments of this application and are not intended to limit this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims

1. A mobile robot, characterized in that, The mobile robot comprises at least three swing legs, the at least three swing legs are arranged side by side, and the rotation axes of the at least three swing legs are located in the same vertical plane, and the at least three swing legs are divided into a first swing leg group (10) and a second swing leg group (20); the mobile robot also comprises a first rotating motor corresponding to the first swing leg group (10) and a second rotating motor corresponding to the second swing leg group (20); The first swing leg group (10) comprises a plurality of first swing legs (11), at least two of the plurality of first swing legs (11) are respectively located on both sides of the central axis of the mobile robot; the second swing leg group (20) comprises a plurality of second swing legs (21), at least two of the plurality of second swing legs (21) are respectively located on both sides of the central axis of the mobile robot; the first swing leg group (10) and the second swing leg group (20) support walking in a cross gait, and the plurality of first swing legs (11) and the plurality of second swing legs (21) support extension and retraction when walking in the cross gait; The plurality of first swing legs (11) are rotationally connected to the first hip rotation axis (1) of the mobile robot; the plurality of second swing legs (21) are rotationally connected to the second hip rotation axis (2) of the mobile robot; 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); and 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).

2. The mobile robot according to claim 1, characterized in that, The first hip rotation axis (1) and the second hip rotation axis (2) are coaxial.

3. The mobile robot according to claim 1, the mobile robot further comprises a third rotating motor corresponding to the first swinging leg (11) and a fourth rotating motor corresponding to the second swinging leg (21); The third rotating motor is used to drive the first swinging leg (11) to rotate around the first hip rotation axis (1); The fourth rotating motor is used to drive the second swinging leg (21) to rotate around the second hip rotation axis (2).

4. The mobile robot according to any one of claims 1 to 3, characterized in that, The first swing leg (11) comprises 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; The second swing leg (21) comprises 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.

5. The mobile robot according to claim 4, characterized in that, The mobile robot further comprises a first telescopic motor corresponding to the first swing leg (11), and a second telescopic motor corresponding to the second swing leg (21); The first telescopic motor is used to drive the first swing leg (11) to telescope along the sleeve direction; The second telescopic motor is used to drive the second swing leg (21) to telescope along the sleeve direction.

6. The mobile robot according to any one of claims 1 to 3, characterized in that, The first swing leg (11) comprises a first leg component and a first wheel (113) located at the end of the first leg component; The second swing leg (21) comprises a second leg component and a second wheel (213) located at the end of the second leg component.

7. The mobile robot according to claim 6, characterized in that, The mobile robot further comprises 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 configured to drive the first wheel (113) to rotate; The second drive motor is configured to drive the second wheel (213) to rotate.

8. The mobile robot according to any one of claims 1 to 3, characterized in that, The mobile robot further includes a waist structure (30) and a torso structure (40); The waist structure (30) is configured to connect the leg structure and the torso structure (40), and the leg structure includes the first swinging leg group (10) and the second swinging leg group (20).

9. The mobile robot according to claim 8, characterized in that, The waist structure (30) includes a pitch rotation axis (3); The pitch rotation axis (3) is parallel to the rotation axis of the first swinging leg group (10); or, the pitch rotation axis (3) is parallel to the rotation axis of the second swinging leg group (20); or, the pitch rotation axis (3) is parallel to the rotation axis of the first swinging leg group (10) and parallel to the rotation axis of the second swinging leg group (20); The pitch rotation axis (3) is rotatably connected to the torso structure (40), and the pitch rotation axis (3) is configured to support the torso structure (40) to perform a pitch operation.

10. The mobile robot according to claim 8, characterized in that, The waist structure (30) includes a yaw rotation axis (4); The yaw rotation axis (4) is perpendicular to the rotation axis of the first swinging leg group (10); or, the yaw rotation axis (4) is perpendicular to the rotation axis of the second swinging leg group (20); or, the yaw rotation axis (4) is perpendicular to the rotation axis of the first swinging leg group (10) and perpendicular to the rotation axis of the second swinging leg group (20); The yaw rotation axis (4) is rotatably connected to the torso structure (40), and the yaw rotation axis (4) is configured to support the torso structure (40) to perform a yaw operation.

11. The mobile robot according to claim 8, characterized in that The waist structure (30) includes a pitch rotation axis (3) and a yaw rotation axis (4); The pitch rotation axis (3) is parallel to the rotation axis of the first swinging leg group (10); or, the pitch rotation axis (3) is parallel to the rotation axis of the second swinging leg group (20); or, the pitch rotation axis (3) is parallel to the rotation axis of the first swinging leg group (10) and parallel to the rotation axis of the second swinging leg group (20); the pitch rotation axis (3) is configured to support the torso structure (40) to perform a pitch operation; The yaw rotation axis (4) is perpendicular to the pitch rotation axis (3); the first end of the yaw rotation axis (4) is connected to the center of the pitch rotation axis (3), and the second end of the yaw rotation axis (4) is connected to the torso structure (40), and the yaw rotation axis (4) is configured to support the torso structure (40) to perform a yaw operation.

12. The mobile robot according to any one of claims 1 to 3, characterized in that The mobile robot further has at least one operating arm (50), and the operating arm (50) is connected to the shoulder rotation axis (5) of the mobile robot, and the shoulder rotation axis (5) is configured to support the operating arm (50) to have multi-directional rotational degrees of freedom.

13. The mobile robot according to claim 12, characterized in that The operating arm comprises a mechanical arm (51) and a mechanical arm (52); the mechanical arm (51) and the mechanical arm (52) are connected via an elbow joint rotation axis (6); the elbow joint rotation axis (6) is used to support the mechanical arm (52) to have multi-directional rotational freedom.

14. A control method for a mobile robot, characterized in that The mobile robot comprises at least three swing legs, the at least three swing legs are arranged side by side, and the rotation axes of the at least three swing legs are located in the same vertical plane, and the method comprises: Control the at least three swing legs to perform leg movements on a reference plane, and the at least three swing legs are divided into a first swing leg group and a second swing leg group; the first swing leg group includes a plurality of first swing legs, and at least two of the plurality of first swing legs are respectively located on both sides of the central axis of the mobile robot; the second swing leg group includes a plurality of second swing legs, and at least two of the plurality of second swing legs are respectively located on both sides of the central axis of the mobile robot; the first swing leg group and the second swing leg group support moving in a cross gait, and the plurality of first swing legs and the plurality of second swing legs support extension and retraction when moving in the cross gait; the mobile robot also includes a first rotary motor corresponding to the first swing leg group and a second rotary motor corresponding to the second swing leg group; The controlling the at least three swinging legs to perform leg movements on the reference plane comprises: Control the first swing leg group and the second swing leg group to stand crosswise, with the first swing leg group being located in front of the second swing leg group; Using the first swing leg group as a supporting leg, controlling the second swing leg group to rotate to a first landing point; Using the second swing leg group as a supporting leg, controlling the first swing leg group to rotate to a second landing point; Among them, the multiple first swing legs are rotationally connected to the first hip rotation axis of the mobile robot; the multiple second swing legs are rotationally connected to the second hip rotation axis of the mobile robot; the first rotating motor is used to drive the first swing leg group to rotate in conjunction with the first hip rotation axis; the second rotating motor is used to drive the second swing leg group to rotate in conjunction with the second hip rotation axis.

15. The method according to claim 14, characterized in that The method of using the first swing leg group as a supporting leg and controlling the second swing leg group to rotate to a first landing point comprises: Using the first swing leg group as a supporting leg, controlling the second swing leg group to rotate around the second hip rotation axis until the second swing leg group rotates to the first landing point; The method of using the second swing leg group as a supporting leg and controlling the first swing leg group to rotate to a second landing point comprises: The second swing leg group is used as a supporting leg, and the first swing leg group is controlled to rotate around the first hip rotation axis until the first swing leg group rotates to the second foothold.

16. The method according to claim 15, characterized in that The method of using the first swing leg group as a supporting leg and controlling the second swing leg group to rotate around the second hip rotation axis until the second swing leg group rotates to the first landing point includes: Determine the first swinging leg group as the supporting leg; send a second rotation instruction to the second rotation motor; based on the second rotation instruction, control the second rotation motor to drive the second swinging leg group to rotate around the second hip rotation axis until the second swinging leg group rotates to the first landing point; Regarding the second swinging leg group as the supporting leg and controlling the first swinging leg group to rotate around the first hip rotation axis until the first swinging leg group rotates to the second landing point includes: Determine the second swinging leg group as the supporting leg; send a first rotation instruction to the first rotation motor; based on the first rotation instruction, control the first rotation motor to drive the first swinging leg group to rotate around the first hip rotation axis until the first swinging leg group rotates to the second landing point.

17. The method according to claim 15, characterized in that Regarding the first swinging leg group as the supporting leg and controlling the second swinging leg group to rotate around the second hip rotation axis until the second swinging leg group rotates to the first landing point includes: Regarding the first swinging leg group as the supporting leg; send a plurality of fourth rotation instructions to a plurality of fourth rotation motors respectively corresponding to the plurality of second swinging legs; based on the plurality of fourth rotation instructions, control the plurality of fourth rotation motors to drive the plurality of second swinging legs to rotate around the second hip rotation axis until the plurality of second swinging legs rotate to the first landing point; Regarding the second swinging leg group as the supporting leg and controlling the first swinging leg group to rotate around the first hip rotation axis until the first swinging leg group rotates to the second landing point includes: Regarding the second swinging leg group as the supporting leg; send a plurality of third rotation instructions to a plurality of third rotation motors respectively corresponding to the plurality of first swinging legs; based on the plurality of third rotation instructions, control the plurality of third rotation motors to drive the plurality of first swinging legs to rotate around the first hip rotation axis until the plurality of first swinging legs rotate to the second landing point.

18. A control device for a mobile robot, characterized in that The mobile robot includes at least three swinging legs, the at least three swinging legs are arranged side by side, and the rotation axes of the at least three swinging legs are located in the same vertical plane. The control device includes: A control module for controlling the at least three swinging legs to perform leg actions on a reference plane. The at least three swinging legs are divided into a first swinging leg group and a second swinging leg group; the first swinging leg group includes a plurality of first swinging legs, and at least two of the plurality of first swinging legs are respectively located on both sides of the central axis of the mobile robot; the second swinging leg group includes a plurality of second swinging legs, and at least two of the plurality of second swinging legs are respectively located on both sides of the central axis of the mobile robot; the first swinging leg group and the second swinging leg group support walking in a cross gait, and the plurality of first swinging legs and the plurality of second swinging legs support stretching when walking in the cross gait; the mobile robot further includes a first rotation motor corresponding to the first swinging leg group and a second rotation motor corresponding to the second swinging leg group; Controlling the at least three swinging legs to perform leg actions on a reference plane includes: Control the first swing leg group and the second swing leg group to stand crosswise, with the first swing leg group being located in front of the second swing leg group; Using the first swing leg group as a supporting leg, controlling the second swing leg group to rotate to a first landing point; Using the second swing leg group as a supporting leg, controlling the first swing leg group to rotate to a second landing point; Among them, the multiple first swing legs are rotationally connected to the first hip rotation axis of the mobile robot; the multiple second swing legs are rotationally connected to the second hip rotation axis of the mobile robot; the first rotating motor is used to drive the first swing leg group to rotate in conjunction with the first hip rotation axis; the second rotating motor is used to drive the second swing leg group to rotate in conjunction with the second hip rotation axis.

19. 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 14 to 17.

20. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is used to be executed by a processor to implement the control method of the mobile robot as described in any one of claims 14 to 17.

21. A chip, characterized in that, The chip includes at least one of a programmable logic circuit and a program instruction, 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 in any one of claims 14 to 17.

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