Robot control method, device and equipment, robot and medium

Abstract

The invention discloses a robot control method, device and equipment, a robot and a medium, and relates to the field of robotics.The robot control method comprises the steps that a separable mobile robot receives a task instruction, and the working mode of the separable mobile robot is determined according to the electrical connection state between first robot equipment and second robot equipment; if the working mode is the joint working mode, performing communication authentication on the first robot device and the second robot device, controlling the first robot device to execute a corresponding task according to the task instruction and sending a task execution control instruction to the second robot device through the first robot device, the second robot equipment executes corresponding actions according to the task execution control instruction; and if the working mode is the separated working mode, analyzing the received task instructions through the robot devices to generate execution action sequences, and controlling the robot devices to execute actions based on the execution action sequences so as to complete respective tasks of the robot devices. Therefore, control over the robot is achieved.

Description

Technical Field

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

[0002] At present, the control methods of mobile manipulators are mainly concentrated on collaborative control, decoupled control, and independent control and scheduling. These methods have their advantages in realizing the linkage or independent operation of the chassis and the manipulator, but when faced with a new application scenario - that is, the humanoid robot and the mobile platform can be physically separated and each needs to have independent control capabilities - the traditional control method is not flexible enough. In particular, for a system that is expected to be freely combined or split according to task requirements, the existing technology has the following limitations: Collaborative control: Although it provides the greatest flexibility and coordination, it cannot maintain effective control of the two parts in the separated state. Decoupled control: Although it allows the performance of the chassis and the manipulator to be optimized separately, it does not consider the need to maintain independent operation after the two are separated. Independent control and scheduling: Although it supports a certain degree of independent work, the immediate response and support after separation may be insufficient, and there is a lack of a mechanism to ensure consistency and seamless switching before and after separation. In addition, the movement of humanoid robots is currently mainly divided into two forms: foot-based and mobile chassis-based. Both methods have their own advantages and disadvantages: Legged robots: have stronger terrain adaptability and can walk on complex and irregular ground, such as stairs, grass, stones, etc. However, they are usually more complex and expensive, and are not as stable and efficient as wheeled or tracked mobile chassis. Mobile chassis robots: Mobile chassis (such as wheels or tracks) provide faster speeds and smooth movement, especially on flat and hard surfaces. However, they have poor flexibility and adaptability in unstructured environments. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a robot control method, device, equipment, robot and medium, which can solve the challenges faced by the prior art in dealing with detachable humanoid mobile robots, achieve effective cooperation or independent work under various conditions, and meet the needs of diversified application scenarios. The specific scheme is as follows:

[0004] In a first aspect, the present application discloses a detachable mobile robot control method, which is applied to the detachable mobile robot, wherein the detachable mobile robot is a robot composed of a first robot device and a second robot device electrically connected, comprising:

[0005] receiving a task instruction sent by an upper-layer application server or a cloud platform, and determining a working mode of the detachable mobile robot according to an electrical connection state between the first robot device and the second robot device;

[0006] If the working mode is a joint working mode, two-way communication authentication is performed on the first robot device and the second robot device, and the first robot device controls itself to perform the corresponding task according to the task instruction and sends the task execution control instruction to the second robot device based on the communication link after successful authentication, so that the second robot device performs the corresponding action according to the task execution control instruction;

[0007] If the working mode is a separate working mode, the task instructions received by each robot device are parsed respectively, and an execution action sequence is generated according to each parsed instruction. Based on each execution action sequence and motion control algorithm, the robot device controls itself to perform corresponding actions to complete the respective tasks of the robot device.

[0008] Optionally, the process of performing two-way communication authentication on the first robot device and the second robot device includes:

[0009] After the wired connection signal between the first robot device and the second robot device is successfully connected, the first robot device sends a handshake request packet to the second robot device, so that the second robot device receives and verifies the handshake request packet and then returns a handshake confirmation packet to complete the two-way communication authentication; the handshake request packet includes a device identifier, a transmission protocol version, and a list of supported functions.

[0010] Optionally, when the working mode is a joint working mode, the method further includes:

[0011] The time synchronization of the first robot device and the second robot device is achieved by connecting the first robot device and the second robot device to the same time source or through a network supporting the precision time protocol.

[0012] Optionally, when the working mode is a joint working mode, the method further includes:

[0013] Data synchronization and control command synchronization between the first robot device and the second robot device are achieved through field bus or industrial Ethernet technology.

[0014] Optionally, the respectively received task instructions are parsed by the robot devices, and an execution action sequence is generated according to each parsed instruction, including:

[0015] The robot devices respectively parse the received task instructions based on the microprocessor of the embedded system, and generate the execution action sequence according to the hardware limitations of the robot devices themselves, sensor data, the capabilities of the action execution units and the parsed instructions.

[0016] Optionally, the method further includes:

[0017] When it is detected that the remaining power of any one of the first robot device and the second robot device does not meet the preset threshold condition, the robot device whose remaining power does not meet the preset threshold condition is charged using the charging interface of the other robot device.

[0018] Optionally, the method further includes:

[0019] The model data of the first robot device and the second robot device are stored so as to perform motion planning for the robot device based on the model data, and the continuity of the robot device driving instructions is ensured by storing the actions of the first robot device and the second robot device.

[0020] In a second aspect, the present application discloses a detachable mobile robot control device, which is applied to a detachable mobile robot. The detachable mobile robot is a robot composed of a first robot device and a second robot device electrically connected, comprising:

[0021] A working mode determination module, used to receive a task instruction sent by an upper application server or a cloud platform, and determine the working mode of the detachable mobile robot according to the electrical connection state between the first robot device and the second robot device;

[0022] a control instruction sending module, configured to, if the working mode is a joint working mode, perform two-way communication authentication on the first robot device and the second robot device, control the first robot device to perform the corresponding task according to the task instruction, and send the task execution control instruction to the second robot device based on the communication link after successful authentication, so that the second robot device performs the corresponding action according to the task execution control instruction;

[0023] The action execution module is used to parse the task instructions received by each robot device respectively if the working mode is a separated working mode, generate an execution action sequence according to each parsed instruction, and control itself to perform corresponding actions based on each execution action sequence and motion control algorithm to complete the respective tasks of the robot device.

[0024] In a third aspect, the present application discloses an electronic device, comprising:

[0025] Memory, used to store computer programs;

[0026] The processor is used to execute the computer program to implement the control method of the detachable mobile robot as described above.

[0027] In a fourth aspect, the present application discloses a detachable mobile robot, comprising a robot consisting of a first robot device and a second robot device electrically connected;

[0028] Furthermore, the processor in the first robot device and / or the second robot device is used to execute a computer program to implement the aforementioned detachable mobile robot control method.

[0029] Optionally, the first robot device is a legged robot, and the second robot device is a wheeled movable platform; wherein, the wheeled movable platform is provided with a support position for the foot of the legged robot for carrying and moving the legged robot.

[0030] Optionally, the processor of the wheeled movable platform is also used to execute a computer program to automatically control the wheeled movable platform to move to a preset charging area for charging after detecting the charging demand of the wheeled movable platform.

[0031] Optionally, after detecting the charging demand of the other robot device, any one of the first robot device and the second robot device charges the other robot device through its own charging interface.

[0032] In a fifth aspect, the present application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the detachable mobile robot control method as described above is implemented.

[0033] When the present application controls the detachable mobile robot, first, the detachable mobile robot receives the task instruction sent by the upper application server or the cloud platform, and determines the working mode of the detachable mobile robot according to the electrical connection state between the first robot device and the second robot device; if the working mode is the joint working mode, the first robot device and the second robot device are authenticated by two-way communication, and the first robot device controls itself to perform the corresponding task according to the task instruction and sends the task execution control instruction to the second robot device based on the communication link after the authentication is successful, so that the second robot device performs the corresponding action according to the task execution control instruction; if the working mode is the separate working mode, the task instructions received by each robot device are parsed respectively, and the execution action sequence is generated according to each parsed instruction, and the execution action sequence is controlled based on each execution action sequence and the motion control algorithm to perform the corresponding action to complete the respective tasks of the robot device. It can be seen that the present application can realize the joint work and separation work of the robot, implement different control logics under different working modes, improve the flexibility of robot control, and can realize effective cooperation or independent work under various conditions to meet the needs of diversified application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0035] Figure 1 A flow chart of a detachable mobile robot control method disclosed in this application;

[0036] Figure 2 A schematic diagram of a detachable mobile robot disclosed in the present application;

[0037] Figure 3 A schematic diagram of the configuration of a detachable mobile robot system disclosed in this application;

[0038] Figure 4 A schematic diagram of a detachable mobile robot information processing device disclosed in the present application;

[0039] Figure 5 This is a schematic structural diagram of a detachable mobile robot control device disclosed in this application;

[0040] Figure 6 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] For a system that is expected to be able to be freely combined or split according to task requirements, the following limitations currently exist: Collaborative control: Although it provides maximum flexibility and coordination, it is impossible to maintain effective control of the two parts in a separated state. Decoupling control: Although it allows the performance of the chassis and the robotic arm to be optimized separately, it does not consider the need to maintain independent operation after the two are separated. Independent control and scheduling: Although a certain degree of independent work is supported, the immediate response and support after separation may be insufficient, and there is a lack of a mechanism to ensure consistency and seamless switching before and after separation. In order to solve the above-mentioned technical problems, the present application discloses a robot control method, device, equipment, robot and medium, which can solve the challenges faced in the prior art when dealing with detachable humanoid mobile robots, realize effective cooperation or independent work under various conditions, and meet the needs of diverse application scenarios.

[0043] See also Figure 1 As shown, an embodiment of the present invention discloses a detachable mobile robot control method, which is applied to a detachable mobile robot, wherein the detachable mobile robot is a robot composed of a first robot device and a second robot device electrically connected, comprising:

[0044] Step S11, receiving a task instruction sent by an upper application server or a cloud platform, and determining a working mode of the detachable mobile robot according to the electrical connection state between the first robot device and the second robot device.

[0045] In this embodiment, the detachable mobile robot of the present application is a robot composed of a first robot device and a second robot device that are electrically connected, that is, it includes two parts of equipment. Specifically, it can be a connection between a humanoid robot device and a wheeled movable platform device. The connection method includes but is not limited to connection through a connecting rod. After the detachable mobile robot receives the task instruction sent by the upper application server or the cloud platform, it will determine whether the current working mode is the joint work of the first robot device and the second robot device, or the first robot device and the second robot device are separated and work independently according to the electrical connection state between the first robot device and the second robot device.

[0046] Step S12: If the working mode is a joint working mode, two-way communication authentication is performed on the first robot device and the second robot device, and the first robot device controls itself to perform the corresponding task according to the task instruction and sends the task execution control instruction to the second robot device based on the communication link after successful authentication, so that the second robot device can perform the corresponding action according to the task execution control instruction.

[0047] In this embodiment, when the detachable mobile robot is in a joint working state, that is, when the first robot device and the second robot device are not disconnected, the two devices will first perform a communication handshake. After the wired connection signal between the first robot device and the second robot device is successfully connected, the first robot device sends a handshake request packet to the second robot device, so that the second robot device receives and verifies the handshake request packet and returns a handshake confirmation packet to complete the two-way communication authentication; the handshake request packet includes a device identifier, a transmission protocol version, and a supported function list. Specifically, the controller of device A establishes initial communication with device B through the detected wired connection signal (such as RS-485 or Ethernet physical layer connection). Once the connection is confirmed to be successful, device A (the first robot device) will send a handshake request packet, which includes a device identifier, a protocol version, and a supported function list. After receiving and verifying this information, device B (the second robot device) replies with a handshake confirmation packet to complete the two-way authentication process, thereby ensuring that both parties can exchange data safely and reliably. In the joint working mode, the master-slave controller roles will also be determined, and device A is designated as the master controller, which is responsible for formulating the global strategy for the collaborative work of the two devices, including path planning, task allocation, etc. Device B acts as a slave controller and performs specific actions according to the received control instructions. This architecture simplifies system design, improves response speed, and reduces potential conflicts.

[0048] After successful communication authentication, the first robot device controls itself to perform the corresponding task according to the task instruction and sends the task execution control instruction to the second robot device based on the communication link after successful authentication, and the second robot device can then perform the corresponding action according to the task execution control instruction. Specifically, device A not only directly controls its own drive module, but also sends precise execution instructions to device B through its internal communication module (such as CAN (Controller Area Network) bus or Modbus TCP (Transmission Control Protocol). The execution module of device B parses these instructions and ensures the accuracy and reliability of the action through a closed-loop control system (including encoder feedback, etc.).

[0049] When the working mode is the joint working mode, the time synchronization of the first robot device and the second robot device is achieved by connecting the first robot device and the second robot device to the same time source or through a network that supports the precision time protocol. Data synchronization and control command synchronization between the first robot device and the second robot device are achieved through fieldbus or industrial Ethernet technology. In other words, in order to ensure the consistency of all operations, devices A and B are connected to the same high-precision time source (such as GPS (Global Positioning System) clock or NTP (Network Time Protocol) server), or sub-millisecond time synchronization is achieved through a network that supports IEEE 1588 precision time protocol (PTP (the Precision Time Protocol)). In this way, a high degree of time consistency can be maintained in the distributed control system. Using fieldbus (such as Profibus, DeviceNet) or industrial Ethernet technology, devices can share status data and control commands in real time to maintain the synchronization and accuracy of information within the system. In addition, message queue telemetry transmission (MQTT, Message Queuing TelemetryTransport) or other middleware services to enhance the reliability of data transmission. Motion control synchronization also needs to be guaranteed. For complex multi-axis coordination tasks, the controllers of devices A and B need to follow a unified motion planning algorithm, such as linear interpolation or circular interpolation in Cartesian space. In order to ensure synchronization, a synchronous start / stop mechanism may be applied, as well as continuous calibration of the position deviation of each axis during operation. At the same time, the central control system or a dedicated coordinator is responsible for overall task scheduling, optimizing resource allocation, and monitoring collaboration between devices. Devices A and B continuously exchange current motion status and environmental change information through high-speed communication channels (such as fiber optic links) to quickly respond to any possible problems, such as accidents. Obstacles or mechanical failures. When an abnormal situation is detected, the system can immediately take measures, such as slowing down, stopping or re-planning the path, to ensure safety and efficiency. It should be noted that when it is detected that the remaining power of any robot device among the first robot device and the second robot device does not meet the preset threshold condition, the robot device whose remaining power does not meet the preset threshold condition is charged using the charging interface of the other robot device. The two robot devices have their own intelligent charging interfaces and can charge each other. For example, when device B detects the energy demand of device A, it can automatically activate the charging circuit to provide stable power support for device A. This may involve power electronic conversion technology, such as DC-DC converters, to match the requirements of different voltage levels.

[0050] Step S13: If the working mode is a separate working mode, the task instructions received by each robot device are parsed respectively, and an execution action sequence is generated according to each parsed instruction. Based on each execution action sequence and motion control algorithm, the robot device controls itself to perform corresponding actions to complete the respective tasks of the robot device.

[0051] In this embodiment, when the controller of device A fails to detect the presence of device B through a preset communication link (such as Wi-Fi (wireless network transmission technology), Bluetooth or Zigbee (a wireless network protocol for low-speed, short-distance transmission)), it will switch to a separate working mode. At this time, each device operates independently based on its own pre-configured workflow and decision logic. At this time, device A and device B each have an independent communication module for receiving instructions from an upper-level application server or a cloud platform. When the first robot device and the second robot device receive instructions, they quickly parse the instructions based on the microprocessor of the embedded system, and generate the optimal action sequence taking into account hardware limitations, sensor readings, and the capabilities of the actuator. Then the two robot devices use their own motion control algorithms (such as PID (Proportional-Integral-Derivative, proportional-integral-differential control) controllers), and the devices can accurately control the drive module, monitor the execution effect through the built-in sensor unit, and feedback the results to the upper layer, thereby completing their respective tasks. At the same time, the two robotic devices will make autonomous decisions and adjustments. With the help of advanced machine learning algorithms or rule engines, the devices can make instant responses based on environmental perception (such as information provided by visual sensors, lidar, etc.), dynamically adjust task plans, and report the latest status to the central management system.

[0052] In summary, when the present application controls the detachable mobile robot, the detachable mobile robot first receives the task instruction sent by the upper application server or the cloud platform, and determines the working mode of the detachable mobile robot according to the electrical connection state between the first robot device and the second robot device; if the working mode is the joint working mode, the first robot device and the second robot device are authenticated by two-way communication, and the first robot device controls itself to perform the corresponding task according to the task instruction and sends the task execution control instruction to the second robot device based on the communication link after the authentication is successful, so that the second robot device performs the corresponding action according to the task execution control instruction; if the working mode is the separate working mode, the task instructions received by each robot device are parsed respectively, and an execution action sequence is generated according to each parsed instruction, and the execution action sequence is controlled based on each execution action sequence and the motion control algorithm to perform the corresponding action to complete the respective tasks of the robot device. It can be seen that the present application can realize the joint work and separation work of the robot, implement different control logics in different working modes, improve the flexibility of robot control, and realize that the robot can effectively cooperate or work independently under various conditions to meet the needs of diversified application scenarios.

[0053] Based on the above embodiment, it can be known that the present application discloses a control method for a detachable mobile robot, which can enable the robots to work effectively in cooperation or independently under various conditions. Next, the structure of the detachable mobile robot will be described in detail.

[0054] The detachable mobile robot of the present application includes a robot composed of a first robot device and a second robot device electrically connected. In addition, the processor in the first robot device and / or the second robot device is used to execute a computer program to implement the detachable mobile robot control method in the previous embodiment. Specifically, the first robot device is a foot robot, and the second robot device is a wheeled movable platform; wherein the wheeled movable platform is provided with a support position for the foot of the foot robot, which is used to carry the foot robot and move it.

[0055] In a specific embodiment, Figure 2The two robot devices shown in the joint form, robot device A is a humanoid robot, and robot device B is a wheeled movable platform. The movement modes of humanoid robots are currently mainly divided into two forms: foot-based and based on a mobile chassis. These two modes have their own advantages and disadvantages: foot-based robots: have stronger terrain adaptability and can walk on complex and irregular ground, such as stairs, grass, stones, etc. However, they are usually more complex and expensive, and are not as stable and efficient as wheeled or tracked mobile chassis. Mobile chassis robot: Mobile chassis (such as wheeled or tracked) provide faster speed and smooth movement, especially on flat and hard surfaces. However, in unstructured environments, their flexibility and adaptability are poor. The present application combines the two movement modes. When the humanoid robot is connected to the wheeled movable platform, the feet of the humanoid robot are placed in the installation position on the wheeled movable platform, and the humanoid robot and the wheeled movable platform are connected by a connecting rod to play a stable support role. At this time, the mobile robot device moves in a wheeled manner, which effectively improves the mobility efficiency and reduces the energy loss of movement. At the same time, the arms of the humanoid robot can be used to perform operational tasks. When entering a complex terrain working environment, the humanoid robot can be separated from the wheeled mobile platform. At this time, the device moves in a footed manner, which effectively improves the environmental adaptability of the robot device. At the same time, the processor of the wheeled mobile platform is also used to execute a computer program to automatically control the wheeled mobile platform to move to a preset charging area for charging after detecting the charging demand of the wheeled mobile platform. Saves energy replenishment time. In particular, after detecting the charging demand of the other robot device, any one of the first robot device and the second robot device charges the other robot device through its own charging interface.

[0056] In this way, by integrating the two modes of movement, foot-based and mobile chassis, the scope of application of humanoid robots is greatly expanded, enabling them to perform tasks in a more diverse environment.

[0057] See also Figure 3 As shown, the present application discloses a configuration diagram of a detachable mobile robot system. The two robot devices therein each include their own sensor module, a controller including a processor and a memory, a battery, and a communication interface. Therefore, robot device A and robot device B can operate as independent working units, ensuring automatic adjustment to the optimal working mode in a separated state. In addition, when the two robot devices are in a merged state, they can quickly enter a collaborative working state. The communication methods between robot device A and robot device B include wired and wireless modes, ensuring that the two devices can achieve safe and effective communication even in a separated state, ensuring information sharing and continuity of services. More specifically, as Figure 4As shown, the robot device includes a sensor module for measuring external information, a robot control module for receiving external information and planning robot motion tasks, a storage module for storing robot basic models and executing actions, a communication module for realizing communication between multiple robot devices, a drive module for controlling the joint motors or chassis motors of the robot device, and an energy module for replenishing energy for the robot device.

[0058] Among them, the sensor module includes an optical sensor for detecting robot vision and images, a posture sensor for detecting the position and posture of the robot, a laser sensor for positioning and scanning distance measurement, and a mechanical sensor for detecting the contact between the robot and the external environment and objects. The robot control module is electrically connected to the sensor module, storage module, communication module, drive module and energy module. The robot control module includes: an information processing module for obtaining sensor information and communication module information, an identification module for identifying the environment and objects, a prediction module for predicting tasks based on the identified information, a decision module for decomposing tasks and making decisions based on upper-level instructions and the state of the robot device, a robot device motion planning module based on the decision results, a robot device action execution module based on the motion planning instructions, and an energy management module for charging management and remaining power detection. The storage module includes a model storage module for storing the basic model of the robot device, and the stored model is used for the robot's motion planning. And an action storage module for storing robot actions, which is used to achieve long-term motion. That is, there are two types of long-term motion, one of which is that the pre-planned and choreographed actions need to be stored. The other is the movement automatically generated according to the upper-level instructions and external information, which needs to be cached to ensure the continuity of the lower-level driver instructions. The drive module includes multiple motor controllers, each of which controls a joint motor or a chassis motor. The communication module includes a 4G / 5G communication module for communication when robot device A is separated from robot device B, and an IO (Input / Output) interface module for connecting robot device A to robot device B and other peripheral devices when robot device A is connected to robot device B.

[0059] Therefore, the present application realizes precise control of robots in joint and separate working, implements different control logics in different working modes, and improves the flexibility of robot control.

[0060] See also Figure 5 As shown, an embodiment of the present invention discloses a detachable mobile robot control device, which is applied to a detachable mobile robot. The detachable mobile robot is a robot composed of a first robot device and a second robot device electrically connected, including:

[0061] The working mode determination module 11 is used to receive a task instruction sent by an upper application server or a cloud platform, and determine the working mode of the detachable mobile robot according to the electrical connection state between the first robot device and the second robot device;

[0062] a control instruction sending module 12, configured to perform two-way communication authentication on the first robot device and the second robot device if the working mode is a joint working mode, control the first robot device to perform a corresponding task according to the task instruction, and send a task execution control instruction to the second robot device based on a communication link after successful authentication, so that the second robot device performs a corresponding action according to the task execution control instruction;

[0063] The action execution module 13 is used to parse the task instructions received by each robot device respectively if the working mode is a separated working mode, generate an execution action sequence according to each parsed instruction, and control itself to perform corresponding actions based on each execution action sequence and motion control algorithm to complete the respective tasks of the robot device.

[0064] In summary, when the present application controls the detachable mobile robot, the detachable mobile robot first receives the task instruction sent by the upper application server or the cloud platform, and determines the working mode of the detachable mobile robot according to the electrical connection state between the first robot device and the second robot device; if the working mode is the joint working mode, the first robot device and the second robot device are authenticated by two-way communication, and the first robot device controls itself to perform the corresponding task according to the task instruction and sends the task execution control instruction to the second robot device based on the communication link after the authentication is successful, so that the second robot device performs the corresponding action according to the task execution control instruction; if the working mode is the separate working mode, the task instructions received by each robot device are parsed respectively, and the execution action sequence is generated according to each parsed instruction, and the execution action sequence and the motion control algorithm are used to control itself to perform the corresponding action to complete the respective tasks of the robot device. It can be seen that the present application can realize the joint work and separation work of the robot, implement different control logics in different working modes, improve the flexibility of robot control, and can realize effective cooperation or independent work under various conditions to meet the needs of diversified application scenarios.

[0065] In some specific embodiments, the device may specifically include:

[0066] A communication authentication module is used for, after the wired connection signal between the first robot device and the second robot device is successfully connected, the first robot device sends a handshake request packet to the second robot device, so that the second robot device receives and verifies the handshake request packet and then returns a handshake confirmation packet to complete the two-way communication authentication; the handshake request packet includes a device identifier, a transmission protocol version, and a list of supported functions.

[0067] In some specific embodiments, the device may further include:

[0068] The time synchronization module is used to achieve time synchronization between the first robot device and the second robot device by connecting the first robot device and the second robot device to the same time source or through a network supporting the precision time protocol.

[0069] In some specific embodiments, the device may further include:

[0070] The data and control command synchronization module is used to realize data synchronization and control command synchronization between the first robot device and the second robot device through field bus or industrial Ethernet technology.

[0071] In some specific embodiments, the action execution module 13 may specifically include:

[0072] The execution action sequence generation unit is used to parse the task instructions received by each robot device based on the microprocessor of the embedded system, and generate the execution action sequence according to the hardware limitations of the robot device itself, sensor data, the capabilities of the action execution unit and the parsed instructions.

[0073] In some specific embodiments, the device may further include:

[0074] The charging module is used to charge the robot device whose remaining power does not meet the preset threshold condition by using the charging interface of the other robot device when it is detected that the remaining power of any robot device among the first robot device and the second robot device does not meet the preset threshold condition.

[0075] In some specific embodiments, the device may further include:

[0076] A model data storage module is used to store the model data of the first robot device and the second robot device so as to perform motion planning for the robot device based on the model data, and to ensure the continuity of the robot device driving instructions by storing the actions of the first robot device and the second robot device.

[0077] Furthermore, the present application also discloses an electronic device. Figure 6 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram cannot be regarded as any limitation on the scope of use of the present application.

[0078] Figure 6 A schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the detachable mobile robot control method disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0079] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0080] In addition, the memory 22 as a carrier for resource storage may be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon may include an operating system 221, a computer program 222, etc., and the storage method may be temporary storage or permanent storage.

[0081] The operating system 221 is used to manage and control the hardware devices on the electronic device 20 and the computer program 222, which can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program that can be used to complete the detachable mobile robot control method executed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include a computer program that can be used to complete other specific tasks.

[0082] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein the computer program, when executed by a processor, implements the aforementioned disclosed detachable mobile robot control method. The specific steps of the method can refer to the corresponding contents disclosed in the aforementioned embodiments, and will not be repeated here.

[0083] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0084] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0085] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0086] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0087] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A control method for a detachable mobile robot, characterized in that: Applied to a detachable mobile robot, the detachable mobile robot is a robot composed of a first robot device and a second robot device electrically connected, comprising: receiving a task instruction sent by an upper-layer application server or a cloud platform, and determining a working mode of the detachable mobile robot according to an electrical connection state between the first robot device and the second robot device; If the working mode is a joint working mode, two-way communication authentication is performed on the first robot device and the second robot device, and the first robot device controls itself to perform the corresponding task according to the task instruction and sends the task execution control instruction to the second robot device based on the communication link after successful authentication, so that the second robot device performs the corresponding action according to the task execution control instruction; If the working mode is a separate working mode, the task instructions received by each robot device are parsed respectively, and an execution action sequence is generated according to each parsed instruction. Based on each execution action sequence and motion control algorithm, the robot device controls itself to perform corresponding actions to complete the respective tasks of the robot device.

2. The control method of a detachable mobile robot according to claim 1, characterized in that: The process of performing two-way communication authentication on the first robot device and the second robot device includes: After the wired connection signal between the first robot device and the second robot device is successfully connected, the first robot device sends a handshake request packet to the second robot device, so that the second robot device receives and verifies the handshake request packet and then returns a handshake confirmation packet to complete the two-way communication authentication; the handshake request packet includes a device identifier, a transmission protocol version, and a list of supported functions.

3. The control method of a detachable mobile robot according to claim 1, characterized in that: When the working mode is a joint working mode, the method further includes: The time synchronization of the first robot device and the second robot device is achieved by connecting the first robot device and the second robot device to the same time source or through a network supporting the precision time protocol.

4. The control method of a detachable mobile robot according to claim 1, characterized in that: When the working mode is a joint working mode, the method further includes: Data synchronization and control command synchronization between the first robot device and the second robot device are achieved through field bus or industrial Ethernet technology.

5. The control method of a detachable mobile robot according to claim 1, characterized in that: The robot devices respectively parse the received task instructions, and generate execution action sequences according to the parsed instructions, including: The robot devices respectively parse the received task instructions based on the microprocessor of the embedded system, and generate the execution action sequence according to the hardware limitations of the robot devices themselves, sensor data, the capabilities of the action execution units and the parsed instructions.

6. The control method of a detachable mobile robot according to claim 1, characterized in that: Also includes: When it is detected that the remaining power of any one of the first robot device and the second robot device does not meet the preset threshold condition, the robot device whose remaining power does not meet the preset threshold condition is charged using the charging interface of the other robot device.

7. The control method of a detachable mobile robot according to any one of claims 1 to 6, characterized in that: Also includes: The model data of the first robot device and the second robot device are stored so as to perform motion planning for the robot device based on the model data, and the continuity of the robot device driving instructions is ensured by storing the actions of the first robot device and the second robot device.

8. A detachable mobile robot control device, characterized in that: Applied to a detachable mobile robot, the detachable mobile robot is a robot composed of a first robot device and a second robot device electrically connected, comprising: A working mode determination module, used to receive a task instruction sent by an upper application server or a cloud platform, and determine the working mode of the detachable mobile robot according to the electrical connection state between the first robot device and the second robot device; a control instruction sending module, configured to, if the working mode is a joint working mode, perform two-way communication authentication on the first robot device and the second robot device, control the first robot device to perform the corresponding task according to the task instruction, and send the task execution control instruction to the second robot device based on the communication link after successful authentication, so that the second robot device performs the corresponding action according to the task execution control instruction; The action execution module is used to parse the task instructions received by each robot device respectively if the working mode is a separated working mode, generate an execution action sequence according to each parsed instruction, and control itself to perform corresponding actions based on each execution action sequence and motion control algorithm to complete the respective tasks of the robot device.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the detachable mobile robot control method as described in any one of claims 1 to 7.

10. A detachable mobile robot, characterized in that: A robot comprising a first robotic device and a second robotic device electrically connected; Furthermore, the processor in the first robot device and / or the second robot device is used to execute a computer program to implement the detachable mobile robot control method as described in any one of claims 1 to 7.

11. The detachable mobile robot according to claim 10, characterized in that: The first robot device is a legged robot, and the second robot device is a wheeled movable platform; wherein the wheeled movable platform is provided with a support position for the foot of the legged robot for carrying and moving the legged robot.

12. The detachable mobile robot according to claim 11, characterized in that: The processor of the wheeled movable platform is also used to execute a computer program to automatically control the wheeled movable platform to move to a preset charging area for charging after detecting the charging demand of the wheeled movable platform.

13. The detachable mobile robot according to claim 10, characterized in that: After detecting the charging demand of the other robot device, any one of the first robot device and the second robot device charges the other robot device through its own charging interface.

14. A computer-readable storage medium, characterized in that: Used to store computer programs; wherein, when the computer program is executed by a processor, the detachable mobile robot control method as described in any one of claims 1 to 7 is implemented.

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