A robot control method, device, equipment, robot and medium

Abstract

The application discloses a robot control method and device, equipment, robot and medium, and relates to the field of robots, and comprises the following steps: a detachable mobile robot receives a task instruction, and determines a working mode of the detachable mobile robot according to an electrical connection state between a first robot device and a second robot device; if the working mode is a joint working mode, the first robot device and the second robot device are authenticated, the first robot device controls itself to execute a corresponding task according to the task instruction, and sends a task execution control instruction to the second robot device, so that the second robot device executes a corresponding action according to the task execution control instruction; if the working mode is a separate working mode, the robot devices respectively analyze the task instructions received by the robot devices, generate execution action sequences, and control the robot devices to execute actions based on the execution action sequences, so as to complete the tasks of the robot devices. Therefore, the application realizes the control of the robot.

Description

TECHNICAL FIELD

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

[0002] Currently, the control methods of mobile operation composite robots mainly focus on cooperative 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 mechanical arm, but when facing a new application scenario, i.e., the humanoid robot and the mobile platform can be physically separated and need to have independent control ability, the traditional control method is not flexible enough. Especially for a system that is expected to be freely combined or split according to task requirements, the existing technology has the following limitations: cooperative control: although it provides the greatest flexibility and coordination, it cannot maintain effective control over the two parts in the separated state. Decoupled control: although it allows the performance of the chassis and the mechanical arm to be optimized separately, it does not consider the need to maintain independent operation after separation. Independent control and scheduling: although it supports independent work to some extent, it may not be sufficient for immediate response and support after separation, and lacks a mechanism to ensure consistency and seamless switching before and after separation. In addition, the current mobile methods of humanoid robots mainly include two forms: foot type and mobile chassis. These two methods have their own advantages and disadvantages: foot type robot: has 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 wheels or tracks) provide faster speed and smooth movement, especially on flat and hard surfaces. However, they have poor flexibility and adaptability in unstructured environments. SUMMARY

[0003] Therefore, the purpose of the present application is to provide a robot control method, device, equipment, robot and medium, which can solve the challenges faced by the prior art in handling separable humanoid mobile robots, effectively cooperate or work independently under various conditions, and meet the needs of various application scenarios. The specific scheme is as follows:

[0004] In a first aspect, the present application discloses a separable mobile robot control method applied to a separable mobile robot composed of a first robot device and a second robot device connected by electricity, comprising:

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

[0006] If the working mode is the joint working mode, the first robot device and the second robot device are authenticated for bidirectional communication, the first robot device controls itself to perform a corresponding task according to the task instruction, and sends a 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 a corresponding action according to the task execution control instruction;

[0007] If the working mode is the separated working mode, the task instruction received by each robot device is analyzed respectively, an execution action sequence is generated according to each analyzed instruction, and a corresponding action is controlled to be performed based on each execution action sequence and a motion control algorithm, so as to complete the task of each robot device.

[0008] Optionally, the process of authenticating the first robot device and the second robot device for bidirectional communication includes:

[0009] After the wired connection signal connection between the first robot device and the second robot device is successful, the first robot device sends a handshake request packet to the second robot device, so that the second robot device returns a handshake confirmation packet after receiving and verifying the handshake request packet, to complete the bidirectional communication authentication; the handshake request packet includes a device identifier, a transmission protocol version and a supported function list.

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

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

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

[0013] The data synchronization and the control command synchronization between the first robot device and the second robot device are realized by field bus or industrial Ethernet technology.

[0014] Optionally, the process of analyzing the task instruction received by each robot device respectively and generating an execution action sequence according to each analyzed instruction includes:

[0015] The robot device parses the task instruction received by the robot device respectively based on a microprocessor of an embedded system, and generates the execution action sequence according to the hardware limitation of the robot device itself, sensor data, the capability of the action execution unit, and the parsed instruction.

[0016] Optionally, the method further comprises:

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

[0018] Optionally, the method further comprises:

[0019] The model data of the first robot device and the second robot device are stored, so as to perform motion planning on the robot device based on the model data, and to ensure the continuity of the robot device driving instruction 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 applied to a detachable mobile robot, the detachable mobile robot being a robot composed of a first robot device and a second robot device connected by electricity, and the detachable mobile robot control device comprising:

[0021] A working mode determination module is configured 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 is configured to perform bidirectional 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 the communication link after the authentication is successful, so that the second robot device performs a corresponding action according to the task execution control instruction.

[0023] An action execution module is configured to parse the task instruction received by the robot device respectively if the working mode is a separate working mode, generate an execution action sequence according to the parsed instruction, and control the robot device to perform a corresponding action based on the execution action sequence and a motion control algorithm, so as to complete the task of the robot device.

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

[0025] a memory for storing the computer program;

[0026] a processor for executing the computer program to implement the detachable mobile robot control method as described above.

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

[0028] And the processor in the first robot device and / or the second robot device is used to execute the computer program to implement the detachable mobile robot control method as described above.

[0029] Optionally, the first robot device is a foot-type robot, and the second robot device is a wheeled movable platform; wherein the wheeled movable platform is provided with a support position of a foot of the foot-type robot, used to carry and move the foot-type robot.

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

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

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

[0033] In the present application, when controlling a detachable mobile robot, the detachable mobile robot first receives a task instruction sent by an upper-layer application server or a cloud platform, and determines the working mode of the detachable mobile robot according to the electrical connection status between the first robot device and the second robot device; if the working mode is a joint working mode, the first robot device and the second robot device are subjected to two-way communication authentication, 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 instruction received by each robot device is parsed, and an execution action sequence is generated according to each parsed instruction. Based on each execution action sequence and the motion control algorithm, the robot device controls itself to perform the corresponding action to complete the task of each robot device. It can be seen that the present application can realize the joint and separate work of the robots, implement different control logics in different working modes, improve the flexibility of robot control, and realize effective cooperation or independent work under various conditions to meet the needs of diverse 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

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

[0036] Figure 2 This is a schematic diagram of a detachable mobile robot disclosed in this application;

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

[0038] Figure 4 This is a schematic diagram of a detachable mobile robot information processing device disclosed in this 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 technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0042] For a system that is expected to be freely combined or split according to task requirements, the following limitations exist: cooperative control: although the greatest flexibility and coordination are provided, effective control of the two parts cannot be maintained in the separated state. Decoupled control: although the performance of the chassis and the robot arm is allowed to be optimized separately, the need to maintain independent operation after separation is not considered. 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 technical problems, the present application discloses a robot control method, device, equipment, robot and medium, which can solve the challenges faced in processing separable humanoid mobile robots in the prior art, effectively cooperate or work independently under various conditions, and meet the needs of diversified application scenarios.

[0043] Referring to Figure 1 As shown in the figure, the embodiment of the present application discloses a separable mobile robot control method applied to a separable mobile robot composed of a first robot device and a second robot device connected by electricity, comprising:

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

[0045] In this embodiment, the separable mobile robot of the present application is a robot composed of a first robot device and a second robot device connected by electricity, that is, it includes two parts of equipment. Specifically, it can be the connection of humanoid robot equipment and wheeled movable platform equipment. The connection method includes but is not limited to connection through a connecting rod. After the separable 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 separate work of the first robot device and the second robot device according to the electrical connection state between the first robot device and the second robot device.

[0046] In step S12, if the working mode is the joint working mode, the first robot device and the second robot device are authenticated for bidirectional communication, the first robot device controls itself to perform a corresponding task according to the task instruction, and sends a task execution control instruction to the second robot device based on the authenticated communication link, so that the second robot device performs a corresponding action according to the task execution control instruction.

[0047] In the embodiment, when the separable mobile robot is in the joint working state, i.e., the first robot device and the second robot device are not disconnected, the two devices 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 bidirectional communication authentication. The handshake request packet includes a device identifier, a transmission protocol version, and a list of supported functions. 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) sends a handshake request packet including a device identifier, a protocol version, and a list of supported functions. Device B (the second robot device) receives and verifies this information and replies with a handshake confirmation packet, completing the bidirectional authentication process and ensuring that both parties can securely and reliably exchange data. In the joint working mode, the master-slave controller roles are also determined, and device A is designated as the master controller, which is responsible for formulating the global strategy for the two devices to work together, 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 the communication authentication is successful, the first robot device controls itself to perform a corresponding task according to the task instruction, and sends a task execution control instruction to the second robot device based on the authenticated communication link, so that the second robot device can perform a corresponding action according to the task execution control instruction. Specifically, device A not only directly controls its 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 actions through a closed-loop control system (including encoder feedback, etc.).

[0049] In 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 supporting the Precision Time Protocol. The data synchronization and control command synchronization between the first robot device and the second robot device are achieved through fieldbus or industrial Ethernet technology. That is, to ensure the consistency of all operations, device A and device B are connected to the same high-precision time source (such as a GPS clock or an NTP server), or through a network supporting the IEEE 1588 Precision Time Protocol (PTP) to achieve sub-millisecond time synchronization. In this way, a high degree of time consistency can be maintained in a distributed control system. Using fieldbus (such as Profibus, DeviceNet) or industrial Ethernet technology, devices can share state data and control commands in real time, maintaining the synchronization and accuracy of information within the system. In addition, message queue telemetry transfer (MQTT) or other middleware services can be used to enhance the reliability of data transmission. Motion control synchronization is also required. For complex multi-axis coordination tasks, the controllers of device A and device B need to follow a unified motion planning algorithm, such as linear interpolation or circular arc interpolation in Cartesian space. To ensure synchronization, a synchronous start / stop mechanism may be applied, and the position deviation of each axis may be continuously calibrated during operation. At the same time, a central control system or a dedicated coordinator is responsible for overall task scheduling, optimizing resource allocation, and monitoring the cooperation between devices. Device A and device B constantly exchange current motion status and environmental change information through high-speed communication channels (such as fiber optic links) to quickly respond to any potential problems, such as unexpected 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 of the first robot device and the second robot device does not meet the preset threshold condition, the robot device with the remaining power not meeting 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, device B can automatically activate the charging circuit to provide stable power support for device A when it detects the energy demand of device A. This may involve power electronic conversion technology, such as DC-DC converters, to match different voltage levels.

[0050] Step S13, if the working mode is the separated working mode, the respective received task instructions are parsed by the robot devices respectively, the execution action sequences are generated according to the respective parsed instructions, the respective actions are controlled based on the respective execution action sequences and the motion control algorithm, so as to complete the respective tasks of the robot devices.

[0051] In the embodiment, when the controller of the device A fails to detect the presence of the device B through the preset communication link (such as Wi-Fi (wireless network transmission technology), Bluetooth or Zigbee (wireless network protocol for low-speed short-distance transmission)), the separated working mode is switched to. At this time, each device operates independently depending on the pre-configured working process and decision logic of itself. At this time, the device A and the device B each have an independent communication module for receiving instructions from an upper-layer application server or a cloud platform. When the first robot device and the second robot device receive the instructions, the instructions are quickly parsed based on the microprocessor of the embedded system, the optimal action sequence is generated by considering the hardware limitation, the sensor reading and the ability of the execution mechanism. Then, the two robot devices respectively utilize the respective motion control algorithm (such as PID (Proportional-Integral-Derivative, proportional-integral-derivative control) controller), the device can accurately control the driving module, meanwhile, the execution effect is monitored through the built-in sensing unit, and the result is fed back to the upper layer, so as to complete the respective tasks. At the same time, the two robot devices make autonomous decision and adjustment, by means of the advanced machine learning algorithm or the rule engine, the device can make instant response according to the environmental perception (such as the information provided by the visual sensor, laser radar and the like), dynamically adjust the task plan, and report the latest state to the central management system.

[0052] In summary, when the separable mobile robot is controlled, the separable mobile robot first receives a task instruction sent by an upper application server or a cloud platform, and determines a working mode of the separable 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, the first robot device and the second robot device are subjected to bidirectional communication authentication, the first robot device controls itself to perform a corresponding task according to the task instruction, and sends a task execution control instruction to the second robot device based on a communication link after the authentication succeeds, so that the second robot device performs a corresponding action according to the task execution control instruction. If the working mode is a separate working mode, the robot devices respectively analyze the task instructions received by themselves, generate execution action sequences according to the analyzed instructions, and control themselves to perform corresponding actions based on the execution action sequences and a motion control algorithm, so as to complete the tasks of the robot devices respectively. It can be seen that the application can realize joint work and separate work of the robot, implement different control logics in different working modes, improve the flexibility of robot control, effectively cooperate or work independently under various conditions, and meet the needs of diversified application scenarios.

[0053] Based on the previous embodiment, the application discloses a separable mobile robot control method, which can realize effective cooperation or independent work of the robot under various conditions. Next, the structure of the separable mobile robot will be described in detail.

[0054] The separable mobile robot of the application includes a robot composed of a first robot device and a second robot device connected by electricity. Moreover, the processor in the first robot device and / or the second robot device is used to execute a computer program to realize the separable mobile robot control method in the previous embodiment. Specifically, the first robot device is a legged robot, and the second robot device is a wheeled movable platform. The wheeled movable platform is provided with a support position of a foot of the legged robot, and is used to carry and move the legged robot.

[0055] In a specific embodiment, as shown in FIG. 1, the separable mobile robot includes a first robot device 1 and a second robot device 2 connected by electricity. The first robot device 1 is a legged robot, and the second robot device 2 is a wheeled movable platform. The wheeled movable platform is provided with a support position of a foot of the legged robot, and is used to carry and move the legged robot. Figure 2The two robot devices shown in the combined form, the robot device A is a humanoid robot, and the robot device B is a wheeled mobile platform. The current main moving ways of humanoid robots are divided into two forms: foot type and mobile chassis based. These two ways have their own advantages and disadvantages: foot type robots: have stronger terrain adaptability, can walk on complex and irregular ground, such as stairs, grass, stones, etc. However, they are usually more complex, more expensive, and less stable and efficient than wheeled or tracked mobile chassis. Mobile chassis robots: mobile chassis (such as wheels or tracks) provide faster speed and smooth movement, especially on flat and hard surfaces. However, in unstructured environments, they have poor flexibility and adaptability. This application combines the two moving ways. When the humanoid robot is connected with the wheeled mobile platform, the feet of the humanoid robot are placed in the mounting position on the wheeled mobile platform, and a connecting rod is connected between the humanoid robot and the wheeled mobile platform to provide stable support. At this time, the moving way of the mobile robot device is wheeled, effectively improving the moving efficiency and reducing the energy loss of the moving, and the arms of the humanoid robot can be used to perform operation tasks. When entering a complex terrain working environment, the humanoid robot can be separated from the wheeled mobile platform, and at this time the moving way of the device is foot type, effectively improving 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. The energy supplement time is saved. In particular, any one of the first robot device and the second robot device charges the other robot device through its own charging interface after detecting the charging demand of the other robot device.

[0056] In this way, by combining the foot type and mobile chassis moving ways, the application range of the humanoid robot is greatly expanded, and it can perform tasks in more diversified environments.

[0057] Referring to Figure 3 As shown, the application discloses a configuration diagram of a separable mobile robot system. The two robot devices each include their own sensor module, controller including processor and memory, battery, and communication interface. Then, the robot device A and the robot device B can operate as independent work units, ensuring automatic adjustment to the best working mode in the separated state. In addition, when the two robot devices are in the combined state, they can quickly enter the cooperative working state. The communication mode between the robot device A and the robot device B has two modes: wired and wireless, ensuring that the two devices can also achieve safe and effective communication in the separated state, ensuring the continuity of information sharing and services. More specifically, as shown in 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 base models and performing actions, a communication module for implementing communication between multiple robot devices, a drive module for controlling robot device joint motors or chassis motors, and an energy module for supplementing the energy of the robot device.

[0058] The sensor module includes an optical sensor for detecting robot vision and images, a pose sensor for detecting robot position and attitude, a laser sensor for positioning and scanning ranging, and a mechanical sensor for detecting robot contact with external environment and objects. The robot control module is electrically connected with the sensor module, the storage module, the communication module, the drive module and the energy module. The robot control module includes an information processing module for obtaining sensor information and communication module information, an identification module for identifying environment and objects, a prediction module for predicting tasks according to the identified information, a decision module for task decomposition and decision-making according to upper-level instructions and the state of the robot device, a robot device motion planning module according to the decision result, a robot device action execution module according to the motion planning instruction, and an energy management module for charging management and remaining power detection. The storage module includes a model storage module for storing robot device basic models, and the stored models are used for robot motion planning. And an action storage module for storing robot actions is used to realize long-time motion. That is, long-time motion is divided into two kinds, one is the action that needs to be stored for pre-planning and arrangement. The other is the motion generated automatically 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 a plurality of motor controllers, each motor controller controls a joint motor or a chassis motor. The communication module includes a 4G / 5G communication module for communication between robot device A and robot device B in the case of separation, and an IO (Input / Output) interface module for connection between robot device A and robot device B in the case of connection and other peripheral devices.

[0059] Therefore, the present application realizes precise control of the robot in joint work and separate work, and implements different control logic in different working modes, thereby improving the flexibility of robot control.

[0060] Referring to Figure 5 As shown, the embodiment of the present application discloses a detachable mobile robot control device applied to a detachable mobile robot, which is a robot composed of a first robot device and a second robot device connected by electricity, comprising:

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

[0062] The control instruction sending module 12 is configured to, if the working mode is the joint working mode, perform bidirectional communication authentication on the first robot device and the second robot device, 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 the authentication is successful, so that the second robot device performs a corresponding action according to the task execution control instruction.

[0063] The action execution module 13 is configured to, if the working mode is the separate working mode, respectively analyze the task instructions received by the robot devices, generate an execution action sequence according to each analyzed instruction, and control the robot devices to perform corresponding actions based on each execution action sequence and a motion control algorithm, so as to complete the tasks of the robot devices.

[0064] In summary, when the detachable mobile robot is controlled, the detachable mobile robot first receives a task instruction sent by an upper application server or a cloud platform, and determines 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 the joint working mode, bidirectional communication authentication is performed on the first robot device and the second robot device, the first robot device is controlled to perform a corresponding task according to the task instruction, and a task execution control instruction is sent to the second robot device based on a communication link after the authentication is successful, so that the second robot device performs a corresponding action according to the task execution control instruction. If the working mode is the separate working mode, the task instructions received by the robot devices are respectively analyzed, an execution action sequence is generated according to each analyzed instruction, and the robot devices are controlled to perform corresponding actions based on each execution action sequence and a motion control algorithm, so as to complete the tasks of the robot devices. It can be seen that the detachable mobile robot can realize joint working and separate working, different control logics are implemented in different working modes, the flexibility of robot control is improved, the detachable mobile robot can effectively cooperate or work independently under various conditions, and the demand of various application scenarios is met.

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

[0066] The communication authentication module is configured to, after a wired connection signal connection between the first robot device and the second robot device is successful, send a handshake request packet by the first robot device to the second robot device, so that the second robot device returns a handshake confirmation packet after receiving and verifying the handshake request packet, to complete a bidirectional 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 apparatus can further include:

[0068] The time synchronization module is configured to synchronize the time of the first robot device and the second robot device by connecting them to the same time source or by supporting a precision time protocol network.

[0069] In some specific embodiments, the apparatus can further include:

[0070] The data and control command synchronization module is configured to synchronize data and control commands 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 can specifically include:

[0072] The execution action sequence generation unit is configured to parse the respective received task instructions based on a microprocessor of an embedded system of the robot device, 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 apparatus can further include:

[0074] The charging module is configured to, when detecting that the remaining power of any one of the first robot device and the second robot device does not meet a preset threshold condition, charge the robot device with insufficient remaining power using the charging interface of the other robot device.

[0075] In some specific embodiments, the apparatus can further include:

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

[0077] Further, the embodiment of the present application further discloses an electronic device, Figure 6 is an electronic device 20 structural diagram shown according to an exemplary embodiment, the contents in the figure cannot be considered as any limitation on the scope of use of the present application.

[0078] Figure 6 An electronic device 20 structural diagram provided by the embodiment of the present application. The electronic device 20, specifically can include: at least one processor 21, at least one memory 22, power supply 23, communication interface 24, input output interface 25 and communication bus 26. Wherein, the memory 22 is used for storing computer programs, the computer programs are loaded and executed by the processor 21, to realize the related steps in the detachable mobile robot control method disclosed by any of the preceding embodiments. In addition, the electronic device 20 in the embodiment specifically can be electronic computer.

[0079] In the embodiment, the power supply 23 is used for providing working voltage for each hardware device on the electronic device 20; the communication interface 24 can create data transmission channel between the electronic device 20 and the external device, and the communication protocol followed by the communication interface 24 can be any communication protocol applicable to the technical solution of the present application, which is not limited specifically herein; the input output interface 25 is used for obtaining external input data or outputting data to the outside world, and the specific interface type can be selected according to the specific application needs, which is not limited specifically herein.

[0080] In addition, the memory 22 as the carrier of resource storage can be read-only memory, random access memory, magnetic disk or optical disk, etc., and the resources stored thereon can include operating system 221, computer program 222, etc., and the storage mode can be temporary storage or permanent storage.

[0081] Wherein, the operating system 221 is used for managing and controlling each hardware device on the electronic device 20 and the computer program 222, which can be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program capable of completing the detachable mobile robot control method executed by the electronic device 20 disclosed by any of the preceding embodiments, the computer program 222 can further include computer programs capable of completing other specific work.

[0082] Further, the present application further discloses a computer readable storage medium for storing computer programs; wherein the computer programs are executed by the processor to realize the detachable mobile robot control method disclosed above. The specific steps of the method can refer to the corresponding contents disclosed in the preceding embodiments, which will not be repeated here.

[0083] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from the other embodiments. Reference can be made to the descriptions of the identical or similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and the relevant parts can be referred to the descriptions of the methods.

[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 above description has generally described the components and steps of each example according to their functions. 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 beyond the scope of this application.

[0085] The steps of the methods or algorithms 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 random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, 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 document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0087] The above is a detailed introduction to the technical solution provided by the present application. Specific examples are used herein 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 those skilled in the art, according to the ideas of the present application, there may 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: Applicable 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: receiving a task instruction sent by an upper-layer application server or a cloud platform, and determining an operating 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, bidirectional communication authentication is performed on the first robot device and the second robot device, 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 bidirectional 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 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 robotic device and the second robotic device is achieved by connecting the first robotic device and the second robotic 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, wherein: 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 through their microprocessors based on embedded systems, and generate the execution action sequences according to the robot devices' own hardware limitations, sensor data, 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: Applicable 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: an operating mode determination module, configured to receive a task instruction sent by an upper-layer application server or a cloud platform, and determine an operating 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 bidirectional 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 according to 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 configured to execute a computer program to implement the detachable mobile robot control method according to any one of claims 1 to 7.

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

12. The detachable mobile robot according to claim 11, characterized in that: The processor of the wheeled movable platform is further configured to execute a computer program to automatically control the wheeled movable platform to move to a preset charging area for charging after detecting a 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, either the first robot device or 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 a computer program; wherein, when the computer program is executed by a processor, the detachable mobile robot control method according to any one of claims 1 to 7 is implemented.

Images