Mobile platform, robot, control method and control device

Abstract

The invention provides a mobile platform, a robot, a control method and a control device, and belongs to the technical field of robots. The mobile platform comprises a hip module, an inner leg module and an outer leg module; the top end of the inner leg module and the top end of the outer leg module are connected with the hip module along the same rotating shaft, and the hip module can independently drive the inner leg module and the outer leg module to rotate around the rotating shaft; the bottom end of the inner leg module and the bottom end of the outer leg module are each provided with a movable wheel and a supporting foot. Each of the inner leg module and the outer leg module comprises a wheel type state and a foot type state; in the wheel type state, the movable wheels make contact with the ground, the supporting feet do not make contact with the ground, and the movable wheels rotate to achieve movement of the movable platform. In the foot type state, the movable wheels and the supporting feet make contact with the ground at the same time, and the inner leg module and the outer leg module alternately swing so that movement of the movable platform can be achieved. The mobile platform integrates the advantages of a foot type robot and a wheel type robot, so that the robot has wide universality.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a mobile platform, a robot, a control method and a control device. Background Art

[0002] Robots can be divided into legged robots and wheeled robots according to their different ways of movement. Among them, legged robots have strong adaptability to the environment in which humans live, and can walk up stairs, cross obstacles, etc., but their movement speed is slow; wheeled robots have high speed, stability and durability that legged robots cannot achieve, and can achieve fast movement on relatively flat ground, but their adaptability to the environment is poor.

[0003] How to achieve an organic combination of legged robots and wheeled robots so that the robots have the advantages of both robots has always been a hot research topic in this field. Summary of the invention

[0004] The present application provides a mobile platform, a robot, a control method and a control device, which organically combine a legged robot and a wheeled robot, have the advantages of both legged and wheeled robots, can achieve rapid movement, and have strong adaptability to the environment.

[0005] The technical solution at least includes the following solutions:

[0006] According to one aspect of the present application, there is provided a mobile platform, the mobile platform comprising: a hip module, an inner leg module and an outer leg module;

[0007] The top of the inner leg module and the top of the outer leg module are connected to the hip module along the same rotation axis, and the hip module can independently drive the inner leg module and the outer leg module to rotate around the rotation axis;

[0008] The bottom ends of the inner leg modules and the outer leg modules are both provided with movable wheels and supporting feet;

[0009] The inner leg module and the outer leg module both include a wheel state and a foot state;

[0010] In the wheeled state, the movable wheels contact the ground, the supporting feet do not contact the ground, and the movable wheels rotate to realize the movement of the mobile platform;

[0011] In the foot-type state, the movable wheel and the supporting foot contact the ground at the same time, and the inner leg module and the outer leg module swing alternately to realize the movement of the mobile platform.

[0012] According to one aspect of the present application, a robot is provided, wherein the robot includes the mobile platform described in the present application.

[0013] According to one aspect of the present application, a control method is provided, the control method being used to control the mobile platform as described in the present application, the control method comprising:

[0014] determining a motion mode of the mobile platform;

[0015] Determining the working states of the inner leg module and the outer leg module according to the motion mode;

[0016] When the inner leg module and the outer leg module are in a wheeled state, the movable wheel is controlled to contact the ground, and the supporting foot is not in contact with the ground; when the inner leg module and the outer leg module are in a footed state, the movable wheel and the supporting foot are controlled to contact the ground at the same time.

[0017] According to one aspect of the present application, a control device is provided, the control device is used to control the mobile platform as described in the present application, the control device comprising:

[0018] A first determination module, configured to determine a motion mode of the mobile platform;

[0019] A second determination module, used to determine the working states of the inner leg module and the outer leg module according to the movement mode;

[0020] The control module is used to control the movable wheel to contact the ground and the supporting foot not to contact the ground when the inner leg module and the outer leg module are in a wheeled state; and to control the movable wheel and the supporting foot to contact the ground at the same time when the inner leg module and the outer leg module are in a footed state.

[0021] According to one aspect of the present application, a computer device is provided, which includes a processor and a memory; at least one program code is stored in the memory, and the program code is loaded and executed by the processor to implement the control method as described above.

[0022] According to one aspect of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is used to be executed by a processor to implement the control method as described above.

[0023] According to one aspect of the present application, a chip is provided, which includes at least one of a programmable logic circuit and a program instruction, and is used to implement the control method described above when an electronic device equipped with the chip is running.

[0024] According to one aspect of the present application, a computer program product is provided. The computer program product includes computer instructions. The computer instructions are stored in a computer-readable storage medium. A processor reads and executes the computer instructions from the computer-readable storage medium to implement the control method described above.

[0025] The beneficial effects of the technical solution provided by this application include at least:

[0026] The mobile platform of the present application includes a hip module, an inner leg module and an outer leg module, wherein the bottom ends of the inner leg module and the outer leg module are respectively provided with movable wheels and supporting feet. When the inner leg module or the outer leg module is in a wheeled state, the supporting feet do not contact the ground, and the movable wheels contact the ground. The mobile platform rotates with the help of the movable wheels and has the fast movement ability and high stability of a wheeled robot. When the inner leg module and the outer leg module are in a footed state, the supporting feet and the movable wheels contact the ground at the same time. The mobile platform moves with the help of the alternating swinging of the legs and has the terrain adaptability and agility of a footed robot. The mobile platform combines the advantages of a footed robot and a wheeled robot, and is used as a mobile chassis of the robot to enable the robot to have a wide range of general performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 is a schematic diagram of the structure of a mobile platform provided in an embodiment of the present application;

[0029] Figure 2 It is a schematic diagram of the structure of the movable wheel and the supporting foot provided in the embodiment of the present application;

[0030] Figure 3 is a schematic structural diagram of a movable wheel and a supporting foot provided in another embodiment of the present application;

[0031] Figure 4 is a schematic structural diagram of a leg assembly provided in an embodiment of the present application;

[0032] Figure 5 is a schematic diagram of the internal structure of a leg assembly provided in an embodiment of the present application;

[0033] Figure 6 It is a flow chart of the control method provided in the embodiment of the present application;

[0034] Figure 7 is a flow chart of a control method provided by another embodiment of the present application;

[0035] Figure 8 is a schematic diagram of the structure of a control device provided in an embodiment of the present application;

[0036] Fig. 9is a schematic diagram of a mobile platform provided in an embodiment of the present application in a motion mode;

[0037] Fig.10 is a schematic diagram of a mobile platform provided in an embodiment of the present application in another motion mode;

[0038] Fig.11 is a schematic diagram of a mobile platform provided in an embodiment of the present application in another motion mode;

[0039] Fig.12 is a schematic diagram of a mobile platform provided in an embodiment of the present application in another motion mode;

[0040] Fig.13 It is a structural block diagram of the robot provided in the embodiment of the present application.

[0041] The reference numerals in the figures represent respectively:

[0042] 100, hip module; 200, inner leg module; 300, outer leg module;

[0043] 1. Movable wheels;

[0044] 2. Support foot;

[0045] 21. sole member; 221. anti-slip portion; 22. left support plate; 23. right support plate;

[0046] 3. First drive;

[0047] 4. Bracket parts;

[0048] 41. Support arm;

[0049] 5. Leg assembly;

[0050] 51. outer frame member; 52. inner frame member; 53. telescopic mechanism; 531. second driver; 532. screw member; 533. nut member; 534. guide rail member; 535. connecting flange; 536. first sensor; 537. second sensor; 538. upper bearing seat; 539. lower bearing seat; 5310. guide wheel member; 5311. coupling;

[0051] 6. The first determination module;

[0052] 7. Second determination module;

[0053] 8. Control module;

[0054] 9. The third determination module;

[0055] 1001. Processor; 1002. Memory; 1003. Peripheral device interface; 1004. Radio frequency circuit; 1005. Display screen; 1006. Camera component; 1007. Audio circuit; 1008. Positioning component; 1009. Power supply; 1010. Sensor; 1011. Acceleration sensor; 1012. Gyroscope sensor; 1013. Pressure sensor; 1014. Optical sensor; 1015. Proximity sensor. DETAILED DESCRIPTION

[0056] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0057] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate directions or positional relationships based on the attached Figure 1 The orientation or positional relationship shown is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0058] Unless otherwise defined, all technical terms used in the embodiments of the present application have the same meanings as commonly understood by those of ordinary skill in the art.

[0059] The present application provides a mobile platform for a robot, which combines the advantages of a legged robot and a wheeled robot. When used as a mobile chassis of the robot, the robot can have a wide range of general performance.

[0060] It should be understood that the mobile platform provided by this application can be applied to robot scenarios in the fields of cloud technology, artificial intelligence, smart transportation, etc., and can be used to realize human-computer interaction through robots and serve people's daily lives.

[0061] Artificial Intelligence (AI) is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technology in computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can respond in a similar way to human intelligence. Artificial intelligence is to study the design principles and implementation methods of various intelligent machines so that machines have the functions of perception, reasoning and decision-making.

[0062] Artificial intelligence technology is a comprehensive discipline that covers a wide range of fields, including both hardware-level and software-level technologies. Basic artificial intelligence technologies generally include sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technology, pre-trained model technology, operation / interaction systems, mechatronics, etc. Among them, pre-trained models are also called large models and basic models. After fine-tuning, they can be widely used in downstream tasks in various major directions of artificial intelligence. Artificial intelligence software technology mainly includes computer vision technology, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0063] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0064] On the one hand, combined with Figure 1-3 As shown, this embodiment provides a mobile platform, which includes: a hip module 100, an inner leg module 200 and an outer leg module 300; the top of the inner leg module 200 and the top of the outer leg module 300 are connected to the hip module 100 along the same rotation axis, and the hip module 100 can independently drive the inner leg module 200 and the outer leg module 300 to rotate around the rotation axis; the bottom end of the inner leg module 200 and the bottom end of the outer leg module 300 are both provided with movable wheels 1 and supporting feet 2.

[0065] The inner leg module 200 and the outer leg module 300 both include a wheeled state and a footed state; in the wheeled state, the movable wheel 1 contacts the ground, the supporting foot 2 does not contact the ground, and the rotation of the movable wheel 1 can realize the movement of the mobile platform; in the footed state, the movable wheel 1 and the supporting foot 2 contact the ground at the same time, and the inner leg module 200 and the outer leg module 300 swing alternately to realize the movement of the mobile platform.

[0066] The mobile platform of this embodiment includes a hip module 100, an inner leg module 200 and an outer leg module 300, wherein the bottom ends of the inner leg module 200 and the outer leg module 300 are respectively provided with a movable wheel 1 and a supporting foot 2. When the inner leg module 200 or the outer leg module 300 is in a wheeled state, the supporting foot 2 does not contact the ground, and the movable wheel 1 contacts the ground. The mobile platform rotates with the help of the movable wheel 1 and has the fast movement ability and high stability of a wheeled robot. When the inner leg module 200 and the outer leg module 300 are in a footed state, the supporting foot 2 and the movable wheel 1 contact the ground at the same time. The mobile platform moves with the help of the alternating swinging of the legs and has the terrain adaptability and agility of a footed robot. The mobile platform combines the advantages of a footed robot and a wheeled robot. When used as a mobile chassis of the robot, it can enable the robot to have a wide range of general performance.

[0067] In the foot-type state, the supporting foot 2 and the movable wheel 1 are used to contact the supporting ground at the same time, which can increase the contact area with the ground and improve the stability and reliability of the mobile platform in the foot-type state.

[0068] In some possible implementations, in the foot-type state, the position where the support foot 2 contacts the ground includes directly in front of the movable wheel 1 along the moving direction of the mobile platform, or directly behind the movable wheel 1 along the moving direction of the mobile platform. The direction of the line connecting the contact center of the support foot 2 with the ground and the contact center of the movable wheel 1 with the ground is consistent with the moving direction of the mobile platform.

[0069] Among them, the inner leg module 200 and the outer leg module 300 are connected to the hip module 100 along the same rotation axis, the inner leg module 200 refers to the leg structure located on the inside, and the outer leg module 300 refers to the leg structure located on the outside. The inner leg module 200 and the outer leg module 300 can rotate independently around the rotation axis, and the mobile platform can be supported independently and balanced by the outer leg module 300, or supported independently and balanced by the inner leg module 200, or supported jointly by the inner leg module 200 and the outer leg module 300. When the mobile platform is supported independently by the outer leg module 300 or the inner leg module 200, the mobile platform can achieve step-by-step movement or light movement, and when the mobile platform is supported jointly by the inner leg module 200 and the outer leg module 300, the mobile platform can obtain more stable support, and can obtain greater load-bearing capacity and more stable support.

[0070] refer to Figure 1 , Figure 1In the mobile platform shown, the inner leg module 200 includes two inner leg components, and the outer leg module 300 includes two outer leg components. The two inner leg components are symmetrically distributed along the central axis of the mobile platform (i.e., the rotation axis of the inner leg module 200 and the outer leg module 300), and the two outer leg components are symmetrically distributed along the central axis of the mobile platform, and the spacing between the two outer leg components is greater than the spacing between the two inner leg components, so that the two inner leg components are sandwiched between the two outer leg components.

[0071] Optionally, the two inner leg assemblies rotate synchronously around the rotation axis, and the two outer leg assemblies rotate synchronously around the rotation axis.

[0072] Regarding the motion modes of the mobile platform, it includes but is not limited to a two-wheel motion mode, a three-wheel motion mode, a four-wheel motion mode, a two-legged motion mode, a four-legged motion mode, a stair climbing mode, etc. Among them, the two-wheel motion module is as follows: Fig. 9 As shown, the outer leg module 300 is in a wheeled state, and the mobile platform contacts the ground with two movable wheels 1 at the bottom of the outer leg module 300, and the two movable wheels 1 rotate to achieve forward, backward or turning movement. Fig.10 As shown, the inner leg module 200 and the outer leg module 300 are both in the foot state, and can be used as the front and rear legs alternately to move, and the four sets of movable wheels 1 and the supporting feet 2 are in contact with the ground at the same time, providing four-leg support for the mobile platform. Fig.11 As shown, the inner leg module 200 and the outer leg module 300 are both in a foot-type state, and the inner leg module 200 and the outer leg module 300 alternately act as the front and rear legs to move alternately.

[0073] Taking the quadruped motion mode as an example, the inner leg module 200 and the outer leg module 300 are both in a foot-type state, the inner leg module 200 contacts the ground as a front leg, and the outer leg module 300 contacts the ground as a hind leg, and the robot's center of gravity projection is located between the geometric figures surrounded by the contact points of the front and rear legs and the ground. The stepping mode at least includes the front and rear legs alternating stepping and the left and right legs crossing stepping. Wherein the front and rear legs alternately step, in the initial posture, with the inner leg module 200 as the supporting leg, the outer leg module 300 is swung to the first foothold (any point in front of the initial foothold of the outer leg module 300), and the center of gravity of the mobile platform is controlled to move forward at the same time. When the outer leg module 300 swings to the first foothold, the center of gravity of the control robot is again located between the geometric figures surrounded by the contact points of the front and rear legs and the ground. Afterwards, using the outer leg module 300 as the supporting leg, the inner leg module 200 is swung to the second landing point (any point in front of the initial landing point of the inner leg module 200), and at the same time, the center of gravity of the mobile platform is controlled to move forward. When the inner leg module 200 swings to the second landing point, the center of gravity of the mobile platform is controlled to be located between the geometric figures formed by the contact points of the front and rear legs and the ground again, and the cycle is repeated in sequence to realize the alternating stepping of the front and rear legs of the mobile platform.

[0074] The left and right legs step crosswise, and the leg components 5 in the inner leg module 200 and the outer leg module 300 are divided into a group of left front leg and right rear leg, and a group of right front leg and left rear leg. In the initial state, the left front leg and the right rear leg are used as supporting legs, and the right front leg and the left rear leg are swung to the third landing point, and then the right front leg and the left rear leg are used as supporting legs, and the left front leg and the right rear leg are swung to the fourth landing point, and the cycle is repeated in sequence to realize the left and right leg crosswise stepping of the mobile platform.

[0075] The mobile robot is provided with an inner leg module 200 and an outer leg module 300. The inner leg module 200 includes a plurality of inner leg components, and the outer leg module 300 includes a plurality of outer leg components. At least two of the plurality of inner leg components are located on both sides of the central axis of the mobile robot, and at least two of the plurality of outer leg components are located on both sides of the central axis of the mobile robot. The plurality of inner leg components and the plurality of outer leg components are arranged side by side, so that the static stability of the mobile platform in a standing posture can be achieved without dynamically adjusting the center of gravity of the mobile robot. In addition, the mobile platform supports traveling in a cross gait. During the traveling process, the mobile platform does not need to consider the balance problem in the rolling direction, and the rolling direction is a direction perpendicular to the traveling direction.

[0076] In some other possible implementations, the hip module 100 is a robot hip joint, including: a support assembly and at least two drive assemblies. The inner leg module 200 and the outer leg module 300 are respectively rotatably connected to the support assembly, and the inner leg module 200 and the outer leg module 300 correspond to at least one drive assembly respectively, and independently drive the inner leg module 200 and the outer leg module 300 to rotate around the rotation axis. A connection structure is provided on the top of the support assembly, which can be used to install the upper module of the robot, such as a robot torso module, a mechanical arm module, etc., and can also be equipped with a support platform to provide a loading space.

[0077] Optionally, the driving component includes an electric motor, which is driven by electricity and has a built-in reducer module, and can output a rotational torque with a target torque and speed.

[0078] Combination Figure 1-3 As shown, in some embodiments, the bottom end of the inner leg module 200 and the bottom end of the outer leg module 300 are also provided with a first driver 3.

[0079] The supporting foot 2 is connected to a first driver 3, and the first driver 3 is used to drive the supporting foot 2 to move, so that the supporting foot 2 is away from the ground in a wheeled state, and contacts the ground in a footed state.

[0080] The first driver 3 can be used to realize the movement of the supporting foot 2, so that the inner leg module 200 and the outer leg module 300 of the mobile platform can complete the switching between the wheel state and the foot state.

[0081] Exemplarily, the first driver 3 is an electric motor, which is driven by electricity and has a built-in reducer module, and can output a rotational moment of target torque and speed to the outside.

[0082] In some embodiments, the first driver 3 is also used to drive the supporting foot 2. In the foot state, the supporting angle of the supporting foot 2 is adjusted according to the swing angle of the inner leg module 200 or the outer leg module 300 and / or the slope of the ground, so that the movable wheel 1 and the supporting foot 2 can contact the ground at the same time when the inner leg module 200 or the outer leg module 300 is at different swing angles.

[0083] Considering that in the foot-type state, the inner leg module 200 or the outer leg module 300 may need to contact the ground at any angle, such as when going up or down stairs or on a sloped ground, the first driver 3 is used to adjust the support angle of the support foot 2 according to the swing angle of the inner leg module 200 or the outer leg module 300 and / or the slope of the ground, so that the support foot 2 can always keep in contact with the ground at the same time as the movable wheel 1.

[0084] Optionally, in the wheeled state, the first driver 3 can drive the supporting foot 2 to approach the ground to assist the movable wheel 1 in braking and other tasks. When the supporting foot 2 is used as a brake, the braking force can be controlled by controlling the first driver 3.

[0085] Combination Figure 2 , 3 As shown, in some embodiments, the axis core of the movable wheel 1 is hollow, the first driver 3 is located at the axis core of the movable wheel 1 and is coaxial with the movable wheel 1; the first driver 3 drives the supporting foot 2 to rotate around the axis core of the movable wheel 1.

[0086] Through the above arrangement, the first drive 3 is arranged at the axial core position of the movable wheel 1, the axial direction of the movable wheel 1 remains unchanged, and the structural volume of the bottom end of the inner leg module 200 or the outer leg module 300 will not be increased, thereby ensuring the mobility of the inner leg module 200 and the outer leg module 300.

[0087] In addition, the first driver 3 is arranged at the axis core position of the movable wheel 1. After the support foot 2 is connected to the first driver 3, it can rotate around the axis core of the movable wheel 1. The support foot 2 realizes the switching between the foot state and the wheel state through rotational movement. The switching action is simple and the reliability is high.

[0088] Optionally, refer to Fig.10 Driven by the first driver 3, the support foot 2 rotates upward until it is tightly attached to the surface of the leg assembly 5. This is also beneficial to improving the stability of the support foot 2 and preventing the support foot 2 from shaking, which would affect the movement safety of the mobile platform in the wheeled state.

[0089] Combination Figure 1 , 2As shown in FIG. 3 , in some embodiments, the center of gravity of the first driver 3 and the movable wheel 1 coincide with each other. Thus, it is beneficial for the mobile platform to adjust and control the position of its own center of gravity, improve the balance of the mobile platform, and reduce the control difficulty.

[0090] Exemplarily, the center of gravity of the first driver 3 and the movable wheel 1 coincides with the central axis of each leg assembly 5 in the inner leg module 200, which can further reduce the difficulty of balancing the mobile platform.

[0091] Combination Figure 2 , 3 As shown, in some embodiments, the supporting foot 2 includes a sole member 21, a left supporting plate 22 and a right supporting plate 23; the left supporting plate 22 and the right supporting plate 23 are respectively connected to the first driver 3, and extend from the axis core of the movable wheel 1 to the circumferential outer side of the movable wheel 1, and the left and right sides of the sole member 21 are respectively connected to the left supporting plate 22 and the right supporting plate 23.

[0092] The first driver 3 can drive the left support plate 22 and the right support plate 23 to rotate around the axis of the movable wheel 1 at the same time. The left support plate 22 and the right support plate 23 drive the sole member 21 to rotate around the axis of the movable wheel 1, so that the sole member 21 contacts or moves away from the ground.

[0093] The support foot 2 of this embodiment uses the left support plate 22 and the right support plate 23 to support the foot sole 21 on the outside of the movable wheel 1, and can drive the foot sole 21 to rotate around the axis of the movable wheel 1. The structures and positions of the left support plate 22 and the right support plate 23 are both bilaterally symmetrical, and the symmetry plane coincides with the central symmetry plane of the movable wheel 1. The foot sole 21 is also symmetrical along the central symmetry plane of the movable wheel 1, so that the center of gravity of the entire support foot 2 and the center of gravity of the movable wheel 1 are distributed along the moving direction of the mobile platform, which is conducive to improving the supporting stability of the movable wheel 1 and the support foot 2.

[0094] In some possible implementations, the sole member 21 is made of a wear-resistant flexible material, which can provide reliable support and friction for the mobile platform. The bottom surface of the sole member 21 is optionally provided with an anti-slip portion 221, which includes at least one concave-convex structure.

[0095] Combination Figure 1-3 As shown, in some embodiments, the movable wheel 1 set at the bottom end of the outer leg module 300 is a driving wheel, and the movable wheel 1 set at the bottom end of the inner leg module 200 is an omnidirectional driven wheel; in the wheeled state, the mobile platform can be driven forward, backward or turn by the driving wheel.

[0096] In the mobile platform of this embodiment, the movable wheel 1 at the bottom of the outer leg module 300 is designed as a driving wheel, and the movable wheel 1 at the bottom of the inner leg module 200 is designed as an omnidirectional passive wheel. The movable wheel 1 at the bottom of the outer leg module 300 has a larger wheelbase, which is beneficial to improving the movement stability of the mobile platform and reducing the steering difficulty of the mobile platform.

[0097] Among them, the driving wheel is a movable wheel 1 with a built-in electric motor, which has power output capability and can be driven by electricity. The omnidirectional passive wheel is an omnidirectional wheel, including a hub and a driven wheel. The outer circumference of the hub is evenly provided with 3 or more hub teeth, and a driven wheel is installed between every two hub teeth. The radial direction of the driven wheel is perpendicular to the tangent direction of the outer circumference of the hub. When the mobile platform moves forward or backward, the hub rotates. When the mobile platform turns, the hub does not move, and the driven wheel rotates to achieve turning.

[0098] Combination Figure 1-3 As shown, in some embodiments, a bracket member 4 is provided at the bottom end of the inner leg module 200 and the bottom end of the outer leg module 300; the top surface of the bracket member 4 is connected to the bottom surface of the inner leg module 200 or the outer leg module 300; the bracket member 4 includes two support arms 41 extending toward the bottom, and the movable wheel 1 and the support foot 2 are respectively connected to the support arms 41.

[0099] By utilizing the support member 4 arranged at the bottom of the inner leg module 200 and the outer leg module 300, the movable wheel 1 can be arranged directly below the inner leg module 200 or the outer leg module 300, and the center of the movable wheel 1 can be aligned with the center of the leg assembly 5, which is beneficial to improving the structural compactness of the mobile platform and reducing the difficulty of balance control of the mobile platform.

[0100] Combination Figure 1 , 4 As shown in Figure 5, in some embodiments, the inner leg module 200 includes at least one leg assembly 5, and the outer leg module 300 includes at least two leg assemblies 5; the leg assembly 5 includes an outer frame 51 and an inner frame 52, the outer frame 51 is movably mounted on the outside of the inner frame 52, one of the inner frame 52 and the outer frame 51 is connected to the hip module 100, and the other of the inner frame 52 and the outer frame 51 is connected to the movable wheel 1 and the supporting foot 2.

[0101] Through the above arrangement, the leg assembly 5 realizes the telescopic function by utilizing the sleeved inner frame 52 and outer frame 51, so that the mobile platform has more abundant motion modes, such as stair climbing mode, hill climbing mode and the like.

[0102] Combination Figure 4 , 5As shown, in some embodiments, the leg assembly 5 also includes a telescopic mechanism 53, and the telescopic mechanism 53 includes one or more of the following: a ball screw mechanism, a gear rack mechanism, a pneumatic cylinder telescopic mechanism, a hydraulic cylinder telescopic mechanism, a linear motor mechanism, and a rope winch mechanism.

[0103] In some possible implementations, the telescopic mechanism 53 includes a second driver 531, a connecting flange 535, a screw member 532 and a nut member 533, wherein the connecting flange 535 is connected to the top of the inner frame member 52, the second driver 531 is located on the connecting flange 535, the screw member 532 is arranged in the inner frame member 52 along the telescopic direction, and the nut member 533 is threadedly connected to the screw member 532 and connected to the outer frame member 51. The second driver 531 and the screw member 532 are connected through a coupling 5311, the second driver 531 can drive the screw member 532 to rotate, and the nut member 533 drives the outer frame member 51 to move along the axial direction of the screw member 532, so as to realize the telescopic movement of the outer frame member 51 and the inner frame member 52.

[0104] The second driver 531 may be an electric motor and be equipped with a deceleration module, a rotary encoder, etc., which can timely detect and feedback the motion state of the second driver 531 so that the mobile platform can perform closed-loop control on the telescopic length.

[0105] Exemplarily, the two ends of the screw member 532 are supported and fixed by the upper bearing seat 538 and the lower bearing seat 539, respectively. The top and bottom ends of the inner frame member 52 are respectively arranged with a first sensor 536 and a second sensor 537 to detect the position of the nut member 533. A force sensor can also be integrated in the upper bearing seat 538 to collect the support pressure of the inner frame member 52 and the outer frame member 51, so that the mobile platform can perform closed-loop control on the support condition of the leg assembly 5.

[0106] In some other possible implementations, a guide rail member 534 and a guide wheel member 5310 are further provided between the inner frame member 52 and the outer frame member 51. The guide rail member 534 is used to improve the telescopic stability of the outer frame member 51 and the inner frame member 52. The guide wheel member 5310 is arranged on the outer side of the bottom of the inner frame member 52 and supported on the inner wall of the outer frame member 51. It is used to correct the position of the outer frame member 51 in a scenario with a larger telescopic amount and prevent the outer frame member 51 from shaking.

[0107] Another aspect of the present application provides a robot, which includes the mobile platform of the present application. The robot adopts the mobile platform of the present application and has all the beneficial technical effects of the present application.

[0108] In some possible implementations, the robot further includes a motion generator, a whole-body controller (WBC), and a state estimator.

[0109] The action generator obtains the state data of the robot sent by the state estimator. According to the current state of the robot, the motion mode of the robot is determined. The motion modes of the robot include but are not limited to: two-wheel motion mode, three-wheel motion mode, four-wheel motion mode, four-legged motion mode, two-legged motion mode, four-legged standing mode, four-legged up and down stairs mode, etc. Considering the complexity of the upper body of the robot, there will be more possibilities for the motion modes contained in the robot. For example, the four-wheel motion mode refers to the mode in which the robot relies on the four movable wheels 1 of the inner leg module 200 and the outer leg module 300 to contact the ground and rotate to move. The two-wheel motion mode refers to the mode in which the inner leg module 200 or the outer leg module 300 of the robot contacts the ground and rotates to move. The four-legged motion mode refers to the mode in which the robot relies on the four movable wheels 1 and four supporting feet 2 of the inner leg module 200 and the outer leg module 300 to contact the ground and move in an alternating swing or cross swinging manner. The up and down stairs mode refers to the mode in which the robot performs up or down stairs.

[0110] In different motion modes, the robot generates different motions. Some common basic technology modules and algorithm modules will be called in multiple motion modes. Optional model-based control modules include LQR (LinearQuadratic Regulator) and MPC (Model Predictive Control).

[0111] Schematically, in the two-wheel motion mode, the balance of the wheels needs to be controlled, and the reference trajectory of the wheels and the robot's center of mass is generated by using the PID (Proportion Integral Differential Control) module under the model-free control module.

[0112] The whole body controller, the above action generator will get some task information of the robot. Including but not limited to: supporting foot 2 lifting task, supporting foot 2 lowering task, center of mass task, supporting leg task, swinging leg task, waist task, etc. Considering the complexity of the upper body, it can be used to complete a variety of actions and tasks, and the robot can include more tasks. These tasks are used as inputs of the whole body controller. In the whole body controller, the robot will be modeled and calibrated in detail, and the robot's dynamic model and external force conditions will be used as optimization constraints. After the optimization process, the target joint angle command, target joint angular velocity command, and target joint torque command of each joint of the robot are calculated. Finally, the target joint angle command, target joint angular velocity command, and target joint torque command of each joint will be sent to the robot's joint drivers to drive the robot's joints to execute.

[0113] State estimator, the state of the robot can be obtained by different sensors installed on the robot body. Schematically, the current posture of the robot can be obtained by using IMU (Inertial Measurement Unit) sensors; the rotation and movement position and speed information of each joint of the robot in the current state can be obtained by using motor encoders; the magnitude and direction of the force and torque of the joint where the sensor is located at the current moment can be obtained by using force / torque sensors; the pressure of the robot's soles, body surface, hands and even fingertips and the changing characteristics over a period of time can be obtained by using tactile sensors; visual sensors such as cameras can be used to identify obstacles in the robot's field of view and indirectly obtain its own state information.

[0114] The function of the state estimator is to fuse the various postures and state information obtained by the robot. Schematically, the current posture of the robot obtained by the IMU sensor, the mileage information obtained by the wheel rotation, and the visual positioning information are fused to obtain a relatively accurate and reliable position of the robot in the world coordinate system; the contact between the robot and the external environment can be obtained based on the force / torque sensor and the tactile sensor; the current posture of the robot obtained by the IMU sensor and the angle information of each motor joint encoder are fused, and combined with the robot's own model parameters, the center of mass position of the robot is estimated.

[0115] The state estimator inputs the fused robot state information as feedback to the robot's action generator.

[0116] Another aspect of this application, in combination with Figure 6 As shown, a control method is provided, and the control method is used to control the mobile platform of the present application, and the control method includes:

[0117] Step S1, determining the motion mode of the mobile platform; the motion mode of the mobile platform includes but is not limited to a two-wheel motion mode, a three-wheel motion mode, a four-wheel motion mode, a bipedal motion mode, a quadrupedal motion mode, a stair climbing mode, etc.

[0118] Step S2, determining the working state of the inner leg module 200 and the outer leg module 300 according to the motion mode. For example, the inner leg module 200 and the outer leg module 300 are determined to be in a wheeled state in a two-wheel motion mode, a three-wheel motion mode, and a four-wheel motion mode, and the inner leg module 200 and the outer leg module 300 are determined to be in a footed state in a bipedal motion mode, a quadrupedal motion mode, and a stair climbing mode.

[0119] Step S3, when the inner leg module 200 and the outer leg module 300 are in the wheeled state, the movable wheel 1 is controlled to contact the ground, and the supporting foot 2 is not in contact with the ground; when the inner leg module 200 and the outer leg module 300 are in the foot state, the movable wheel 1 and the supporting foot 2 are controlled to contact the ground at the same time.

[0120] Optionally, the first driver 3 drives the supporting foot 2 to rotate in a first direction so that the supporting foot 2 rises and does not touch the ground, and the first driver 3 drives the supporting foot 2 to rotate in an opposite second direction so that the supporting foot 2 drops and touches the ground.

[0121] Combination Figure 6 As shown, in some embodiments, the mobile platform includes a first driver 3, and when the inner leg module 200 and the outer leg module 300 are in a foot-type state, the control method further includes:

[0122] Step S4, determining the swing angle and / or ground slope of the inner leg module 200 or the outer leg module 300. The swing angle can be determined by the operating parameters of the driving assembly in the hip module 100, or by a sensor device such as a rotary encoder in the inner leg module 200 or the outer leg module 300. The ground slope can be determined by detecting devices such as a visual sensor and a gravity sensor in the mobile platform.

[0123] Step S5, controlling the first driver 3 to drive the supporting foot 2 according to the swing angle, adjusting the supporting angle of the supporting foot 2, so that the movable wheel 1 and the supporting foot 2 can contact the ground at the same time when the inner leg module 200 or the outer leg module 300 is at different swing angles.

[0124] By utilizing the control method of this embodiment, the mobile platform can be controlled to work with different parameters according to different motion modes to complete different motions.

[0125] Several control methods for mobile platforms are introduced below.

[0126] 1) Controlling the inner leg module 200 and the outer leg module 300 to stand together.

[0127] refer to Fig. 9 , Fig. 9 The standing mode is shown in which the outer leg module 300 of the mobile platform is in contact with the horizontal reference plane. At this time, the two leg components 5 in the outer leg module 300 are in an extended state, and the two leg components 5 in the inner leg module 200 are in a shortened state. Fig. 9 Only an example of the outer leg module 300 being in a wheeled state is shown, and the outer leg module 300 can also be in a footed state.

[0128] In one embodiment, the inner leg module 200 of the mobile platform can also contact the horizontal reference plane. At this time, the two leg components 5 in the inner leg module 200 are in an extended state, and the two leg components 5 in the outer leg module 300 are in a shortened state.

[0129] In other embodiments, the inner leg module 200 and the outer leg module 300 of the mobile platform are in contact with the horizontal reference plane. At this time, the four leg components 5 are in an extended state, or the four leg components 5 are in a shortened state.

[0130] It is understandable that when the robots stand close together, the footprint of the robots can be reduced, making it easier for the robots to pass through narrow spaces. Based on the setting of the leg wheels, the robot can achieve zero-radius turning. When moving on narrow flat ground, the robots can move by standing close together and driving the wheels at the ends of the legs.

[0131] 2) Control the inner leg module 200 and the outer leg module 300 to stand crosswise.

[0132] Fig.10 The cross-stance is shown in which the inner leg module 200 and the outer leg module 300 in the wheeled state are both in contact with the horizontal reference plane. In one embodiment, in the cross-stance mode, the angle between the inner leg module 200 and the outer leg module 300 can be any angle (such as 40°) under the limitation of the mechanical structure, thereby adjusting the horizontal operable range of the robot after the position is fixed. By changing the angle between the inner leg module 200 and the outer leg module 300, the footprint area of ​​the mobile platform can be changed, thereby adjusting the stability of the robot. In one embodiment, in the cross-stance mode, the inner leg module 200 and the outer leg module 300 can be extended or shortened, thereby adjusting the height operable range of the robot after the position is fixed.

[0133] It is understandable that when the robot moves on a wide flat ground, it can move by the active movable wheels 1 of the cross mode and driving the outer leg module 300. At this time, the inner leg module 200 and the outer leg module 300 are both in a wheeled state.

[0134] 3) Control the inner leg module 200 and the outer leg module 300 to move in a cross gait.

[0135] Fig.11 The inner leg module 200 and the outer leg module 300 in the foot-type state are shown to move in a cross-gait. When the robot moves on non-flat ground, the leg assembly 5 can move in a cross-gait manner, and the inner leg module 200 and the outer leg module 300 move alternately. When introducing the robot structure above, the detailed gait of the robot when moving in a cross-gait has been introduced, and it will not be introduced here. At this time, the inner leg module 200 and the outer leg module 300 are both in the foot-type state.

[0136] 4) Obstacle crossing mode of the mobile platform (going up / down stairs).

[0137] Fig.12The mobile platform shown is in stair climbing mode. At this time, the inner leg module 200 and the outer leg module 300 are both in a foot-type state, with a larger contact area and better stability of a single leg.

[0138] The inner leg module 200 and the outer leg module 300 are different in many aspects such as position and drive on the mobile platform body, but in the specific action of going up / down stairs, they can be not distinguished, and going up / down stairs belongs to periodic motion. Therefore, the specific correspondence between the supporting leg, the swinging leg and the inner leg module 200 and the outer leg module 300 will no longer be emphasized below. Since the different number of contact points between the mobile platform and the stairs will affect the specific form of the dynamic model, the movement of the mobile platform needs to be divided into stages in both the planning and control stages. Taking into account the specific forms in the process of going up and down stairs, the mobile platform of the present application completes the task of going up and down stairs with the wheels on the ground.

[0139] The phase of the mobile platform in the whole process is divided into the single-leg support phase (Single Support Phase, SSP) and the double-leg support phase (Double Support Phase, DSP).

[0140] The supporting legs of the mobile platform are always on the step surface, and the balance is maintained by coordinated control of the supporting angles of the movable wheels 1 and the supporting feet 2. The swinging legs are gradually lifted up in the initial vertical state by overcoming gravity until they are placed on the upper step, entering the double-leg support stage.

[0141] In the double-leg support stage, the mobile platform always keeps the movable wheel 1 and the supporting foot 2 in contact with the step surface in the plane, and the mobile platform changes the angle of the hip module 100, gradually moving the center of gravity to the movable wheel 1 and the supporting foot 2 on the upper step. And, the rear leg is ready to be lifted from the next step at any time. Once the rear wheel leg is lifted from the next step, the single-leg support stage is entered again.

[0142] So far, a complete cyclic action of climbing stairs has been completed. For the action of descending stairs, the action phase division of descending stairs is the same as that of ascending stairs, which will not be repeated here.

[0143] Another aspect of this application, in combination with Figure 8 As shown, a control device is provided, the control device is used to control the mobile platform of the present application, and the control device includes:

[0144] The first determination module 6 is used to determine the motion mode of the mobile platform.

[0145] The second determination module 7 is used to determine the working status of the inner leg module 200 and the outer leg module 300 according to the movement mode.

[0146] The control module 8 is used to control the movable wheel 1 to contact the ground and the supporting foot 2 not to contact the ground when the inner leg module 200 and the outer leg module 300 are in the wheeled state; when the inner leg module 200 and the outer leg module 300 are in the foot state, control the movable wheel 1 and the supporting foot 2 to contact the ground at the same time.

[0147] By using the control device of this embodiment, the inner leg module 200 and the outer leg module 300 can be controlled to operate with different control parameters according to different movement modes, thereby completing different movements, so that the robot using the mobile platform can achieve different movements.

[0148] Combination Figure 8 As shown, in some embodiments, the mobile platform includes a first driver 3, and the control device also includes: a third determination module 8 for determining the swing angle and / or ground slope of the inner leg module 200 or the outer leg module 300.

[0149] The control module 8 is also used to control the first driver 3 to drive the supporting foot 2 according to the swing angle, and adjust the supporting angle of the supporting foot 2 so that the movable wheel 1 and the supporting foot 2 can contact the ground at the same time when the inner leg module 200 or the outer leg module 300 is at different swing angles.

[0150] Through the above setting, the control device can use the first driver 3 to adjust the support angle of the support foot 2 according to the swing angle of the inner leg module 200 or the outer leg module 300 and / or the ground slope, so that the support foot 2 can always keep in contact with the ground at the same time as the movable wheel 1.

[0151] Fig.13 The structure block diagram of a robot provided by an exemplary embodiment of the present application is shown. The robot includes a controller, and the controller includes: a processor 1001 and a memory 1002.

[0152] The processor 1001 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 1001 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 1001 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 1001 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 1001 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0153] The memory 1002 may include one or more computer-readable storage media, which may be non-transitory. The memory 1002 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 1002 is used to store at least one instruction, which is used to be executed by the processor 1001 to implement the control method provided in the method embodiment of the present application.

[0154] In some embodiments, the computer device may further optionally include: a peripheral device interface 1003 and at least one peripheral device. The processor 1001, the memory 1002 and the peripheral device interface 1003 may be connected via a bus or a signal line. Each peripheral device may be connected to the peripheral device interface 1003 via a bus, a signal line or a circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 1004, a display screen 1005, a camera assembly 1006, an audio circuit 1007, a positioning assembly 1008 and a power supply 1009.

[0155] The peripheral device interface 1003 may be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 1001 and the memory 1002. In some embodiments, the processor 1001, the memory 1002, and the peripheral device interface 1003 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1001, the memory 1002, and the peripheral device interface 1003 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

[0156] The radio frequency circuit 1004 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 1004 communicates with the communication network and other communication devices through electromagnetic signals. The radio frequency circuit 1004 converts the electrical signal into an electromagnetic signal for transmission, or converts the received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 1004 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, and the like. The radio frequency circuit 1004 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: at least one of the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and a Wi-Fi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 1004 may also include circuits related to NFC (Near Field Communication), which is not limited in this application.

[0157] The display screen 1005 is used to display a UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 1005 is a touch display screen, the display screen 1005 also has the ability to collect touch signals on the surface or above the surface of the display screen 1005. The touch signal can be input to the processor 1001 as a control signal for processing. At this time, the display screen 1005 can also be used to provide at least one of a virtual button and a virtual keyboard, also known as at least one of a soft button and a soft keyboard. In some embodiments, the display screen 1005 can be one, which is set on the front panel of the computer device; in other embodiments, the display screen 1005 can be at least two, which are respectively set on different surfaces of the computer device or are folded; in other embodiments, the display screen 1005 can be a flexible display screen, which is set on a curved surface or a folded surface of the computer device. Even, the display screen 1005 can also be set to a non-rectangular irregular shape, that is, a special-shaped screen. The display screen 1005 can be made of materials such as LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode, organic light-emitting diode).

[0158] The camera assembly 1006 is used to capture images or videos. Optionally, the camera assembly 1006 includes a front camera and a rear camera. Typically, the front camera is arranged on the front panel of the terminal, and the rear camera is arranged on the back of the terminal. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth of field camera, a wide-angle camera, and a telephoto camera, so as to realize the fusion of the main camera and the depth of field camera to realize the background blur function, the fusion of the main camera and the wide-angle camera to realize panoramic shooting and VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments, the camera assembly 1006 may also include a flash. The flash can be a monochrome temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0159] The audio circuit 1007 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals and input them into the processor 1001 for processing, or input them into the radio frequency circuit 1004 to achieve voice communication. For the purpose of stereo acquisition or noise reduction, there can be multiple microphones, which are respectively arranged in different parts of the computer device. The microphone can also be an array microphone or an omnidirectional acquisition microphone. The speaker is used to convert the electrical signal from the processor 1001 or the radio frequency circuit 1004 into sound waves. The speaker can be a traditional film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves audible to humans, but also convert the electrical signal into sound waves inaudible to humans for purposes such as ranging. In some embodiments, the audio circuit 1007 may also include a headphone jack.

[0160] The positioning component 1008 is used to locate the current geographical location of the computer device to implement navigation or LBS (Location Based Service). The positioning component 1008 can be a positioning component based on GPS (Global Positioning System), Beidou system or Galileo system.

[0161] The power supply 1009 is used to power various components in the computer device. The power supply 1009 can be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power supply 1009 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged through a wired line, and a wireless rechargeable battery is a battery that is charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0162] In some embodiments, the computer device further includes one or more sensors 1010 , including but not limited to: an acceleration sensor 1011 , a gyroscope sensor 1012 , a pressure sensor 1013 , an optical sensor 1014 , and a proximity sensor 1015 .

[0163] The acceleration sensor 1011 can detect the magnitude of acceleration on the three coordinate axes of the coordinate system established by the computer device. For example, the acceleration sensor 1011 can be used to detect the components of gravity acceleration on the three coordinate axes. The processor 1001 can control the display screen 1005 to display the user interface in a horizontal view or a vertical view according to the gravity acceleration signal collected by the acceleration sensor 1011. The acceleration sensor 1011 can also be used for collecting game or user motion data.

[0164] The gyro sensor 1012 can detect the body direction and rotation angle of the computer device, and the gyro sensor 1012 can cooperate with the acceleration sensor 1011 to collect the user's 3D actions on the computer device. The processor 1001 can implement the following functions based on the data collected by the gyro sensor 1012: motion sensing (such as changing the UI according to the user's tilt operation), image stabilization during shooting, game control, and inertial navigation.

[0165] The pressure sensor 1013 can be set in the lower layer of at least one of the side frame of the computer device and the display screen 1005. When the pressure sensor 1013 is set in the side frame of the computer device, it can detect the user's grip signal of the computer device, and the processor 1001 performs left and right hand recognition or shortcut operation according to the grip signal collected by the pressure sensor 1013. When the pressure sensor 1013 is set in the lower layer of the display screen 1005, the processor 1001 controls the operability controls on the UI interface according to the user's pressure operation on the display screen 1005. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0166] The optical sensor 1014 is used to collect the ambient light intensity. In one embodiment, the processor 1001 can control the display brightness of the display screen 1005 according to the ambient light intensity collected by the optical sensor 1014. Specifically, when the ambient light intensity is high, the display brightness of the display screen 1005 is increased; when the ambient light intensity is low, the display brightness of the display screen 1005 is reduced. In another embodiment, the processor 1001 can also dynamically adjust the shooting parameters of the camera assembly 1006 according to the ambient light intensity collected by the optical sensor 1014.

[0167] The proximity sensor 1015, also called a distance sensor, is usually arranged on the front panel of the computer device. The proximity sensor 1015 is used to collect the distance between the user and the front of the computer device. In one embodiment, when the proximity sensor 1015 detects that the distance between the user and the front of the computer device is gradually decreasing, the processor 1001 controls the display screen 1005 to switch from the screen-on state to the screen-off state; when the proximity sensor 1015 detects that the distance between the user and the front of the computer device is gradually increasing, the processor 1001 controls the display screen 1005 to switch from the screen-off state to the screen-on state.

[0168] Those skilled in the art will understand that Fig.13 The structure shown in the figure does not constitute a limitation on the robot, and may include more or less components than shown in the figure, or combine certain components, or adopt a different component arrangement.

[0169] An embodiment of the present application also provides a computer device, which includes a memory and a processor; at least one program code is stored in the memory, and the program code is loaded and executed by the processor to implement the control method of the mobile robot as described above.

[0170] According to one aspect of the present application, this embodiment provides a computer-readable storage medium, in which a computer program is stored. The computer program is used to be executed by a processor to implement the control method as described above.

[0171] According to one aspect of the present application, this embodiment provides a chip, which includes at least one of a programmable logic circuit and a program instruction, and is used to implement the control method described above when an electronic device equipped with the chip is running.

[0172] According to one aspect of the present application, a computer program product is provided. The computer program product includes computer instructions. The computer instructions are stored in a computer-readable storage medium. A processor reads and executes the computer instructions from the computer-readable storage medium to implement the control method described above.

[0173] It should be pointed out that the “several” and “at least one” mentioned in this article refer to one or more, and the “multiple” and “at least two” refer to two or more.

[0174] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0175] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0176] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0177] In the description of this specification, the reference terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application.

[0178] The above description is only an embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A mobile platform, characterized in that: The mobile platform comprises: a hip module (100), an inner leg module (200) and an outer leg module (300); The top end of the inner leg module (200) and the top end of the outer leg module (300) are connected to the hip module (100) along the same rotation axis, and the hip module (100) can independently drive the inner leg module (200) and the outer leg module (300) to rotate around the rotation axis; The bottom ends of the inner leg module (200) and the outer leg module (300) are both provided with movable wheels (1) and supporting feet (2); The inner leg module (200) and the outer leg module (300) both include a wheeled state and a footed state; In the wheeled state, the movable wheel (1) contacts the ground, the supporting foot (2) does not contact the ground, and the movable wheel (1) rotates to realize the movement of the mobile platform; In the foot-type state, the movable wheel (1) and the supporting foot (2) contact the ground at the same time, and the inner leg module (200) and the outer leg module (300) swing alternately to achieve the movement of the mobile platform.

2. The mobile platform according to claim 1, characterized in that: The bottom end of the inner leg module (200) and the bottom end of the outer leg module (300) are both provided with a first driver (3); The supporting foot (2) is connected to the first driver (3), and the first driver (3) is used to drive the supporting foot (2) to move, so that the supporting foot (2) is away from the ground in the wheeled state and contacts the ground in the footed state.

3. The mobile platform according to claim 2, characterized in that: The first driver (3) is also used to drive the supporting foot (2). In the foot-type state, the supporting angle of the supporting foot (2) is adjusted according to the swing angle of the inner leg module (200) or the outer leg module (300) or the ground slope, so that the movable wheel (1) and the supporting foot (2) can contact the ground at the same time when the inner leg module (200) or the outer leg module (300) is at different swing angles.

4. The mobile platform according to claim 2, characterized in that: The axis core of the movable wheel (1) is hollow, and the first driver (3) is located at the axis core of the movable wheel (1) and is coaxial with the movable wheel (1); the first driver (3) drives the supporting foot (2) to rotate around the axis core of the movable wheel (1).

5. The mobile platform according to claim 4, characterized in that: The centers of gravity of the first driver (3) and the movable wheel (1) coincide with each other.

6. The mobile platform according to any one of claims 2 to 5, characterized in that: The support foot (2) comprises a foot sole (21), a left support plate (22) and a right support plate (23); the left support plate (22) and the right support plate (23) are respectively connected to the first driver (3), and respectively extend from the axis of the movable wheel (1) to the circumferential outer side of the movable wheel (1); the left and right sides of the foot sole (21) are respectively connected to the left support plate (22) and the right support plate (23); The first driver (3) is capable of driving the left support plate (22) and the right support plate (23) to rotate around the axis of the movable wheel (1) at the same time, and the left support plate (22) and the right support plate (23) drive the sole member (21) to rotate around the axis of the movable wheel (1), so that the sole member (21) contacts or moves away from the ground.

7. The mobile platform according to any one of claims 1 to 6, characterized in that: The movable wheel (1) arranged at the bottom end of the outer leg module (300) is a driving wheel, and the movable wheel (1) arranged at the bottom end of the inner leg module (200) is an omnidirectional driven wheel; in the wheeled state, the mobile platform is driven forward, backward or turned by the driving wheel.

8. The mobile platform according to claim 7, characterized in that: The bottom ends of the inner leg module (200) and the outer leg module (300) are both provided with a bracket member (4); The top surface of the support member (4) is connected to the bottom surface of the inner leg module (200) or the outer leg module (300); the support member (4) includes two support arms (41) extending toward the bottom, and the movable wheel (1) and the support foot (2) are respectively connected to the support arms (41).

9. The mobile platform according to any one of claims 1 to 8, characterized in that: The inner leg module (200) includes at least one leg component (5), and the outer leg module (300) includes at least two leg components (5); The leg assembly (5) comprises an outer frame (51) and an inner frame (52); the outer frame (51) is movably mounted on the outer side of the inner frame (52); one of the inner frame (52) and the outer frame (51) is connected to the hip module (100); and the other of the inner frame (52) and the outer frame (51) is connected to the movable wheel (1) and the supporting foot (2).

10. The mobile platform according to claim 9, characterized in that: The leg assembly (5) further comprises a telescopic mechanism (53), and the telescopic mechanism (53) comprises one or more of the following: a ball screw mechanism, a gear rack mechanism, a pneumatic cylinder telescopic mechanism, a hydraulic cylinder telescopic mechanism, a linear motor mechanism, and a rope winch mechanism.

11. A robot, characterized in that: The robot comprises the mobile platform according to any one of claims 1 to 10.

12. A control method, characterized in that: The control method is used to control the mobile platform according to any one of claims 1 to 10, and the control method comprises: determining a motion mode of the mobile platform; Determining the working states of the inner leg module (200) and the outer leg module (300) according to the movement mode; When the inner leg module (200) and the outer leg module (300) are in a wheeled state, the movable wheel (1) is controlled to contact the ground, and the supporting foot (2) is not in contact with the ground; when the inner leg module (200) and the outer leg module (300) are in a footed state, the movable wheel (1) and the supporting foot (2) are controlled to contact the ground at the same time.

13. The control method according to claim 12, characterized in that: The mobile platform comprises a first driver (3), and when the inner leg module (200) and the outer leg module (300) are in a foot-type state, the control method further comprises: Determining the swing angle or ground slope of the inner leg module (200) or the outer leg module (300); The first driver (3) is controlled to drive the support foot (2) according to the swing angle, and the support angle of the support foot (2) is adjusted, so that the movable wheel (1) and the support foot (2) can contact the ground at the same time when the inner leg module (200) or the outer leg module (300) is at different swing angles.

14. A control device, characterized in that: The control device is used to control the mobile platform according to any one of claims 1 to 10, and the control device comprises: A first determination module (6), used for determining the motion mode of the mobile platform; A second determination module (7) is used to determine the working states of the inner leg module (200) and the outer leg module (300) according to the movement mode; The control module (8) is used to control the movable wheel (1) to contact the ground and the support foot (2) not to contact the ground when the inner leg module (200) and the outer leg module (300) are in a wheeled state; and to control the movable wheel (1) and the support foot (2) to contact the ground at the same time when the inner leg module (200) and the outer leg module (300) are in a footed state.

15. The control device according to claim 14, characterized in that: The mobile platform comprises a first driver (3), and the control device further comprises: A third determination module (9) is used to determine the swing angle or ground slope of the inner leg module (200) or the outer leg module (300); The control module (8) is also used to control the first driver (3) to drive the support foot (2) according to the swing angle, and adjust the support angle of the support foot (2) so that the movable wheel (1) and the support foot (2) can contact the ground at the same time when the inner leg module (200) or the outer leg module (300) is at different swing angles.

16. A computer device, characterized in that: The computer device comprises a processor (1001) and a memory (1002); At least one program code is stored in the memory (1002), and the program code is loaded and executed by the processor (1001) to implement the control method according to claim 12.

17. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to be executed by a processor to implement the control method as claimed in claim 12 or 13.

18. A chip, characterized in that: The chip includes at least one of a programmable logic circuit and a program instruction, and is used to implement the control method according to claim 12 or 13 when an electronic device equipped with the chip is running.

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