Intelligent control system and method of four-footed bionic robot

Abstract

The invention relates to the technical field of simulation perception, in particular to an intelligent control system and method for a four-footed bionic robot, and the method comprises the steps: receiving a perception control instruction, and recognizing a robot behavior signal perceived by the control instruction according to a perception ID value in the perception control instruction; awakening a matched sensing sensor according to the robot behavior signal to collect first sensing data of a first sensing sensor set in a sensing scene or collect second sensing data of a control instruction set in a second sensing sensor set; according to the sensing result, the current state of the wearing robot to which the first sensing sensor set or the second sensing sensor set belongs is judged. The method has the advantages that sensing similar data information of the robot is fully utilized, sensing sensor signal data is used in multiple dimensions, sensing early warning is given based on the basic condition of the robot sensing similar data relation, and the robot is reminded to take relevant measures.

Description

Technical Field

[0001] The present invention relates to the field of simulation perception technology, and in particular to an intelligent control system and method for a quadruped bionic robot. Background Art

[0002] Environmental perception ability is an important physiological indicator that characterizes animal health. Assessing the level of environmental perception ability of animals is crucial in scientific research, and it plays a decisive leading role in the rehabilitation treatment of environmental perception dysfunction.

[0003] Environmental perception is one of the important basic abilities. Many inventions in modern scientific research are based on the physiological functions of animals. For animal observation, simulation robots are a very convenient device. The simulation robots' behaviors can simulate the movements of animals in natural environments and observe the perception of the surrounding environment, thereby enhancing the simulation scientific research value of animal physiological functions.

[0004] However, current environmental perception can only be based on the robot's own perception level, and judgments are often delayed. The existing technology is unable to provide perception warnings based on the basic situation of the robot's perception of similar data relationships to remind the robot to take relevant measures to simulate animals, which is helpful for animal ecology research. Summary of the invention

[0005] According to a first aspect of the present invention, the present invention claims protection for an intelligent control method of a quadruped bionic robot, comprising: Receiving a perception control instruction, and identifying a robot behavior signal perceived by the control instruction according to a perception ID value in the perception control instruction; A matched perception sensor is awakened according to the robot behavior signal to collect first perception data of a first perception sensor set in the perception scene, or to collect second perception data of a control instruction set in a second perception sensor set; Determine, according to the perception result, the current state of the wearable robot to which the first perception sensor set or the second perception sensor set belongs; A perception warning is issued to the associated controlled creature according to the current state of the wearable robot.

[0006] Further, the robot behavior signal includes similar data perception and control instruction perception; Waking up the matching perception sensor according to the robot behavior signal to collect first perception data of a first perception sensor set in the perception scene, or collecting second perception data of a control instruction set in a second perception sensor set, including: If the robot behavior signal is similar data perception, the similar data perception sensor is awakened to perform similar data perception on the associated animals and similar data of the set of first perception sensors for similar data perception, and the matching first perception data is identified according to the similar data perception result; If the robot behavior signal is control instruction perception, wake up the control instruction perception sensor to query the target control instruction of the set control instruction set from the environmental perception history file of the second perception sensor set, and identify the second perception data of the target control instruction in the second perception sensor set according to the query result; The first perception sensor set includes a first interface perception sensor set, and the perception scene includes associated animals and similar data of the first awakened interface perception sensor set included in the wearable robot; If the robot behavior signal is the similar data perception, determining the current state of the wearable robot to which the first perception sensor set belongs according to the perception result, including: If the first perception data of all the first perception sensors in the wearable robot are valid scenes, it is determined that the perception scene of the wearable robot is normal; If the first perception data of any first perception sensor set in the wearable robot is an invalid scene, it is determined that the perception scene of the wearable robot is abnormal.

[0007] Further, if the robot behavior signal is the control instruction perception, determining the current state of the wearable robot to which the second perception sensor set belongs according to the perception result includes: According to the association relationship between the second perception sensor set and the wearable robot, identifying all second perception sensor sets belonging to the wearable robot; If the target control instruction indicates that the second sensing data of all the second sensing sensors are a scene that has occurred, then determining that the current state of the wearable robot is normal; If the second perception data of the target control instruction in any second perception sensor set is that the scene has not occurred, it is determined that the current state of the wearable robot is abnormal.

[0008] Further, the collecting of first perception data of a first perception sensor set in a perception scene, or collecting of second perception data of a second perception sensor set by a control instruction set, includes: Collecting first perception data of a first perception sensor set in a perception scene by polling, or collecting second perception data of a target control instruction of a control instruction set in a second perception sensor set; The method of sending a perception warning to the associated controlled creature according to the current state of the wearable robot also includes: When the perception data of the wearable robot deviates from the normal value and exceeds a preset threshold, it is determined that the associated controlled creature has a behavioral risk, and a perception warning is issued to the associated controlled creature; Otherwise, continue to monitor the status of the wearable robot.

[0009] Furthermore, the method further comprises: storing the pre-collected perception scene, the control instruction set and the associated animal set of the second perception sensor set in the second perception sensor set; The method further comprises: According to the perception result, the first perception sensor set or the second perception sensor set where the sudden environmental change occurs is located, and the wearable robot to which the first perception sensor set or the second perception sensor set where the sudden environmental change occurs belongs is located.

[0010] According to a second aspect of the present invention, the present invention claims protection for an intelligent control system of a quadruped bionic robot, comprising: A perception control module, used for receiving a perception control instruction and identifying a robot behavior signal perceived by the control instruction according to a perception ID value in the perception control instruction; A data acquisition module, used to wake up the matching perception sensor according to the robot behavior signal to collect first perception data of the first perception sensor set in the current perception scene, or to collect second perception data of the control instruction set in the second perception sensor set; A state determination module, used to determine the current state of the wearable robot to which the first perception sensor set or the second perception sensor set belongs according to the perception result; The early warning module is used to send a perception early warning to the associated controlled creature according to the current state of the wearable robot.

[0011] Furthermore, the robot behavior signal includes similar data perception and control instruction perception, and the data acquisition module is also used for: If the robot behavior signal is similar data perception, the similar data perception sensor is awakened to perform similar data perception on the associated animals and similar data of the set of first perception sensors for similar data perception, and the matching first perception data is identified according to the similar data perception result; If the robot behavior signal is control instruction perception, wake up the control instruction perception sensor to query the target control instruction of the set control instruction set from the environmental perception history file of the second perception sensor set, and identify the second perception data of the target control instruction in the second perception sensor set according to the query result; The first perception sensor set includes a first interface perception sensor set, and the perception scene includes associated animals and similar data of the first awakened interface perception sensor set included in the wearable robot; If the robot behavior signal is the similarity data perception, the state determination module is further used to: If the first perception data of all the first perception sensors in the wearable robot are valid scenes, it is determined that the perception scene of the wearable robot is normal; If the first perception data of any first perception sensor set in the wearable robot is an invalid scene, it is determined that the perception scene of the wearable robot is abnormal.

[0012] Furthermore, if the robot behavior signal is the control instruction perception, the state determination module is further used to: According to the association relationship between the second perception sensor set and the wearable robot, identifying all second perception sensor sets belonging to the wearable robot; If the target control instruction indicates that the second sensing data of all the second sensing sensors are a scene that has occurred, then determining that the current state of the wearable robot is normal; If the second perception data of the target control instruction in any second perception sensor set is that the scene has not occurred, it is determined that the current state of the wearable robot is abnormal.

[0013] Furthermore, the data acquisition module is further used to collect first perception data of a first perception sensor set in a perception scene by polling, or to collect second perception data of a target control instruction of a control instruction set in a second perception sensor set; The warning module is also used to determine that the associated controlled creature has a behavioral risk when the perception data of the wearable robot deviates from the normal value and exceeds a preset threshold, and issue a perception warning to the associated controlled creature; Otherwise, continue to monitor the status of the wearable robot.

[0014] Furthermore, the system further comprises: A storage module, used for storing the pre-collected perception scene, the control instruction set and the associated animal set of the second perception sensor set into the second perception sensor set; A result positioning module is used to locate the first perception sensor set or the second perception sensor set where a sudden environmental change occurs, and the wearable robot to which the first perception sensor set or the second perception sensor set where a sudden environmental change occurs belongs, according to the perception result.

[0015] The present invention relates to the field of perception technology, and in particular to an intelligent control system and method for a quadruped bionic robot, receiving a perception control instruction, identifying a robot behavior signal perceived by the control instruction according to a perception ID value in the perception control instruction; waking up a matching perception sensor according to the robot behavior signal to collect first perception data of a first perception sensor set in a perception scene, or collecting second perception data of a control instruction set in a second perception sensor set; and determining the current state of a wearable robot to which the first perception sensor set or the second perception sensor set belongs according to the perception result. The beneficial effects of the present invention include making full use of the perception similarity data information of the robot, using the perception sensor signal data in multiple dimensions, giving a perception warning based on the basic situation of the robot's perception similarity data relationship, and reminding the robot itself to take relevant measures. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A work flow chart of an intelligent control method of a quadruped bionic robot is claimed for the present invention; Figure 2 A work flow chart of an intelligent control method for a quadruped bionic robot for which protection is sought in the present invention; Figure 3 This is a structural module diagram of an intelligent control system of a quadruped bionic robot for which protection is sought in the present invention. DETAILED DESCRIPTION

[0017] According to the first aspect of the present invention, referring to the attached Figure 1 The present invention claims protection for an intelligent control method of a quadruped bionic robot, characterized in that it comprises: Receiving a perception control instruction, and identifying a robot behavior signal perceived by the control instruction according to a perception ID value in the perception control instruction; A matched perception sensor is awakened according to the robot behavior signal to collect first perception data of a first perception sensor set in the perception scene, or to collect second perception data of a control instruction set in a second perception sensor set; Determine, according to the perception result, the current state of the wearable robot to which the first perception sensor set or the second perception sensor set belongs; A perception warning is issued to the associated controlled creature according to the current state of the wearable robot.

[0018] Wherein, in this embodiment, the first set of perception sensors at least includes perception sensors worn on the robot to perceive similar data; The second sensor set includes at least a sensor worn on the robot itself that senses behavior control instruction data; As for the sensor type, the first sensor set includes at least a color sensor, a temperature sensor, etc.; the second sensor set includes at least a speed sensor, a pressure sensor, an acceleration sensor, a rotation sensor, etc.

[0019] Furthermore, the robot behavior signal includes similar data perception and control instruction perception; Waking up the matching perception sensor according to the robot behavior signal to collect first perception data of a first perception sensor set in the perception scene, or collecting second perception data of a control instruction set in a second perception sensor set, including: If the robot behavior signal is the similarity data perception, then wake up the similarity data perception sensor to perform similarity data perception on the associated animals and similarity data of the set service similarity data first perception sensor set, and identify the matching first perception data according to the similarity data perception result; If the robot behavior signal is the control instruction perception, then wake up the control instruction perception sensor to query the target control instruction of the set control instruction set from the environmental perception history file of the second perception sensor set, and identify the second perception data of the target control instruction in the second perception sensor set according to the query result; The first perception sensor set includes a first interface perception sensor set, and the perception scene includes associated animals and perception similarity data of the first awakened interface perception sensor set included in the wearable robot; If the robot behavior signal is the similar data perception, determining the current state of the wearable robot to which the first perception sensor set belongs according to the perception result, including: If the first perception data of all the first perception sensors in the wearable robot are valid scenes, it is determined that the perception scene of the wearable robot is normal; If the first perception data of any first perception sensor set in the wearable robot is an invalid scene, it is determined that the perception scene of the wearable robot is abnormal.

[0020] In this embodiment, the perception scene of the wearable robot is normal when the perception similarity data of all the first perception sensor sets in the wearable robot are valid perception similarity data. In this environment, it is considered that the perception similarity data has the highest similarity with the robot's own defects and the highest correlation with environmental perception, and the perception scene is considered normal. Specifically, in this embodiment, similar data perception refers to the similarity between the data perceived by the wearable robot in the surrounding environment and the data perceived by the corresponding animal, such as the perceived similarity of temperature and color (the perceived similarity threshold can be adjusted according to the degree of color blindness of different species).

[0021] When the first perception data of any first perception sensor set in the wearable robot is an invalid scene, it is considered that the similarity with the defect of the robot itself is low, and the correlation with the environmental perception is also low, and the perception scene of the wearable robot is abnormal; The effective scene represents that the similarity between the first perception data of the robot in the scene and the first perception data of the simulated animal meets a threshold; The invalid scene represents that the similarity between the first perception data of the robot in the scene and the first perception data of the simulated animal does not meet the threshold.

[0022] For further information, see Attachment Figure 2 , if the robot behavior signal is the control instruction perception, determining the current state of the wearable robot to which the second perception sensor set belongs according to the perception result, including: According to the association relationship between the second perception sensor set and the wearable robot, identifying all second perception sensor sets belonging to the wearable robot; If the target control instruction indicates that the second sensing data of all the second sensing sensors are a scene that has occurred, then determining that the current state of the wearable robot is normal; If the second perception data of the target control instruction in any second perception sensor set is that the scene has not occurred, it is determined that the current state of the wearable robot is abnormal.

[0023] Wherein, in this embodiment, the second perception data refers to the behavioral signal of the perception sensor indicating that the perception value of the wearable robot exceeds the normal threshold range; Further, the collecting of first perception data of a first perception sensor set in a perception scene, or collecting of second perception data of a second perception sensor set by a control instruction set, includes: Collecting first perception data of a first perception sensor set in a perception scene by polling, or collecting second perception data of a target control instruction of a control instruction set in a second perception sensor set; The method of sending a perception warning to the associated controlled creature according to the current state of the wearable robot also includes: When the perception data of the wearable robot deviates from the normal value and exceeds a preset threshold, it is determined that the associated controlled creature has a behavioral risk, and a perception warning is issued to the associated controlled creature; Otherwise, continue to monitor the status of the wearable robot.

[0024] Furthermore, the method further comprises: storing the pre-collected perception scene, the control instruction set and the associated animal set of the second perception sensor set in the second perception sensor set; The method further comprises: According to the perception result, the first perception sensor set or the second perception sensor set where the sudden environmental change occurs is located, and the wearable robot to which the first perception sensor set or the second perception sensor set where the sudden environmental change occurs belongs is located.

[0025] Among them, environmental mutations include sudden changes in various environmental factors that trigger dangerous scenarios, such as sudden changes in temperature, sudden changes in light intensity, sudden changes in speed, etc.

[0026] According to the second embodiment of the present invention, referring to the attached Figure 3 The present invention claims protection for an intelligent control system of a quadruped bionic robot, comprising: A perception control module, used for receiving a perception control instruction and identifying a robot behavior signal perceived by the control instruction according to a perception ID value in the perception control instruction; A data acquisition module, used to wake up the matching perception sensor according to the robot behavior signal to collect first perception data of the first perception sensor set in the current perception scene, or to collect second perception data of the control instruction set in the second perception sensor set; A state determination module, used to determine the current state of the wearable robot to which the first perception sensor set or the second perception sensor set belongs according to the perception result; The early warning module is used to send a perception early warning to the associated controlled creature according to the current state of the wearable robot.

[0027] Furthermore, the robot behavior signal includes similar data perception and control instruction perception, and the data acquisition module is also used for: If the robot behavior signal is similar data perception, the similar data perception sensor is awakened to perform similar data perception on the associated animals and similar data of the set of first perception sensors for similar data perception, and the matching first perception data is identified according to the similar data perception result; If the robot behavior signal is control instruction perception, wake up the control instruction perception sensor to query the target control instruction of the set control instruction set from the environmental perception history file of the second perception sensor set, and identify the second perception data of the target control instruction in the second perception sensor set according to the query result; The first perception sensor set includes a first interface perception sensor set, and the perception scene includes associated animals and similar data of the first awakened interface perception sensor set included in the wearable robot; If the robot behavior signal is the similarity data perception, the state determination module is further used to: If the first perception data of all the first perception sensors in the wearable robot are valid scenes, it is determined that the perception scene of the wearable robot is normal; If the first perception data of any first perception sensor set in the wearable robot is an invalid scene, it is determined that the perception scene of the wearable robot is abnormal.

[0028] Furthermore, if the robot behavior signal is the control instruction perception, the state determination module is further used to: According to the association relationship between the second perception sensor set and the wearable robot, identifying all second perception sensor sets belonging to the wearable robot; If the target control instruction indicates that the second sensing data of all the second sensing sensors are a scene that has occurred, then determining that the current state of the wearable robot is normal; If the second perception data of the target control instruction in any second perception sensor set is that the scene has not occurred, it is determined that the current state of the wearable robot is abnormal.

[0029] Furthermore, the data acquisition module is further used to collect first perception data of a first perception sensor set in a perception scene by polling, or to collect second perception data of a target control instruction of a control instruction set in a second perception sensor set; The warning module is also used to determine that the associated controlled creature has a behavioral risk when the perception data of the wearable robot deviates from the normal value and exceeds a preset threshold, and issue a perception warning to the associated controlled creature; Otherwise, continue to monitor the status of the wearable robot.

[0030] Furthermore, the system further comprises: A storage module, used for storing the pre-collected perception scene, the control instruction set and the associated animal set of the second perception sensor set into the second perception sensor set; A result positioning module is used to locate the first perception sensor set or the second perception sensor set where a sudden environmental change occurs, and the wearable robot to which the first perception sensor set or the second perception sensor set where a sudden environmental change occurs belongs, according to the perception result.

[0031] Those skilled in the art will appreciate that the contents disclosed in this disclosure may be subject to various modifications and improvements. For example, the various devices or components described above may be implemented by hardware, or by software, firmware, or a combination of some or all of the three.

[0032] Flowcharts are used in this disclosure to illustrate the steps of the method according to the embodiments of the present disclosure. It should be understood that the preceding or following steps are not necessarily performed precisely in order. On the contrary, various steps may be processed in reverse order or simultaneously. At the same time, other operations may also be added to these processes.

[0033] Those skilled in the art will appreciate that all or part of the steps in the above method can be completed by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk. Optionally, all or part of the steps in the above embodiment can also be implemented using one or more integrated circuits. Accordingly, each module / unit in the above embodiment can be implemented in the form of hardware or in the form of a software functional module. The present disclosure is not limited to any particular form of combination of hardware and software.

[0034] Unless otherwise defined, all terms used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the present disclosure belongs. It should also be understood that terms such as those defined in common dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or highly formal sense, unless explicitly defined as such herein.

[0035] The above is an explanation of the present disclosure and should not be considered as a limitation thereof. Although several exemplary embodiments of the present disclosure are described, it will be readily understood by those skilled in the art that many modifications may be made to the exemplary embodiments without departing from the novel teachings and advantages of the present disclosure. Therefore, all such modifications are intended to be included within the scope of the present disclosure as defined in the claims. It should be understood that the above is an explanation of the present disclosure and should not be considered to be limited to the specific embodiments disclosed, and modifications to the disclosed embodiments and other embodiments are intended to be included within the scope of the appended claims. The present disclosure is defined by the claims and their equivalents.

[0036] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0037] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An intelligent control method for a quadruped bionic robot, characterized in that: include: Receiving a perception control instruction, and identifying a robot behavior signal perceived by the control instruction according to a perception ID value in the perception control instruction; A matched perception sensor is awakened according to the robot behavior signal to collect first perception data of a first perception sensor set in the perception scene, or to collect second perception data of a control instruction set in a second perception sensor set; Determine, according to the perception result, the current state of the wearable robot to which the first perception sensor set or the second perception sensor set belongs; A perception warning is issued to the associated controlled creature according to the current state of the wearable robot.

2. The intelligent control method of a quadruped bionic robot according to claim 1, characterized in that: The robot behavior signal includes similar data perception and control instruction perception; Waking up the matching perception sensor according to the robot behavior signal to collect first perception data of a first perception sensor set in the perception scene, or collecting second perception data of a control instruction set in a second perception sensor set, including: If the robot behavior signal is similar data perception, the similar data perception sensor is awakened to perform similar data perception on the associated animals and similar data of the set of first perception sensors for similar data perception, and the matching first perception data is identified according to the similar data perception result; If the robot behavior signal is control instruction perception, wake up the control instruction perception sensor to query the target control instruction of the set control instruction set from the environmental perception history file of the second perception sensor set, and identify the second perception data of the target control instruction in the second perception sensor set according to the query result; The first perception sensor set includes a first interface perception sensor set, and the perception scene includes associated animals and similar data of the first awakened interface perception sensor set included in the wearable robot; If the robot behavior signal is the similar data perception, determining the current state of the wearable robot to which the first perception sensor set belongs according to the perception result, including: If the first perception data of all the first perception sensors in the wearable robot are valid scenes, it is determined that the perception scene of the wearable robot is normal; If the first perception data of any first perception sensor set in the wearable robot is an invalid scene, it is determined that the perception scene of the wearable robot is abnormal.

3. The intelligent control method of a quadruped bionic robot according to claim 2, characterized in that: If the robot behavior signal is the control instruction perception, determining the current state of the wearable robot to which the second perception sensor set belongs according to the perception result, including: According to the association relationship between the second perception sensor set and the wearable robot, identifying all second perception sensor sets belonging to the wearable robot; If the target control instruction indicates that the second sensing data of all the second sensing sensors are a scene that has occurred, then determining that the current state of the wearable robot is normal; If the second perception data of the target control instruction in any second perception sensor set is that the scene has not occurred, it is determined that the current state of the wearable robot is abnormal.

4. The intelligent control method of a quadruped bionic robot according to claim 1, characterized in that: The collecting of first perception data of a first perception sensor set in a perception scene, or collecting second perception data of a second perception sensor set with a control instruction set, includes: Collecting first perception data of a first perception sensor set in a perception scene by polling, or collecting second perception data of a target control instruction of a control instruction set in a second perception sensor set; The method of sending a perception warning to the associated controlled creature according to the current state of the wearable robot also includes: When the perception data of the wearable robot deviates from the normal value and exceeds a preset threshold, it is determined that the associated controlled creature has a behavioral risk, and a perception warning is issued to the associated controlled creature; Otherwise, continue to monitor the status of the wearable robot.

5. The intelligent control method of a quadruped bionic robot according to claim 1, characterized in that: The method further comprises: storing the pre-collected perception scene, the control instruction set and the associated animal set of the second perception sensor set in the second perception sensor set; The method further comprises: According to the perception result, the first perception sensor set or the second perception sensor set where the sudden environmental change occurs is located, and the wearable robot to which the first perception sensor set or the second perception sensor set where the sudden environmental change occurs belongs is located.

6. An intelligent control system for a quadruped bionic robot, characterized in that: include: A perception control module, used for receiving a perception control instruction and identifying a robot behavior signal perceived by the control instruction according to a perception ID value in the perception control instruction; A data acquisition module, used to wake up the matching perception sensor according to the robot behavior signal to collect first perception data of the first perception sensor set in the current perception scene, or to collect second perception data of the control instruction set in the second perception sensor set; A state determination module, used to determine the current state of the wearable robot to which the first perception sensor set or the second perception sensor set belongs according to the perception result; The early warning module is used to send a perception early warning to the associated controlled creature according to the current state of the wearable robot.

7. The intelligent control system of a quadruped bionic robot according to claim 6, characterized in that: The robot behavior signal includes similar data perception and control instruction perception, and the data acquisition module is also used for: If the robot behavior signal is similar data perception, the similar data perception sensor is awakened to perform similar data perception on the associated animals and similar data of the set of first perception sensors for similar data perception, and the matching first perception data is identified according to the similar data perception result; If the robot behavior signal is control instruction perception, wake up the control instruction perception sensor to query the target control instruction of the set control instruction set from the environmental perception history file of the second perception sensor set, and identify the second perception data of the target control instruction in the second perception sensor set according to the query result; The first perception sensor set includes a first interface perception sensor set, and the perception scene includes associated animals and similar data of the first awakened interface perception sensor set included in the wearable robot; If the robot behavior signal is the similarity data perception, the state determination module is further used to: If the first perception data of all the first perception sensors in the wearable robot are valid scenes, it is determined that the perception scene of the wearable robot is normal; If the first perception data of any first perception sensor set in the wearable robot is an invalid scene, it is determined that the perception scene of the wearable robot is abnormal.

8. The intelligent control system of a quadruped bionic robot according to claim 7, characterized in that: If the robot behavior signal is the control instruction perception, the state determination module is further used to: According to the association relationship between the second perception sensor set and the wearable robot, identifying all second perception sensor sets belonging to the wearable robot; If the target control instruction indicates that the second sensing data of all the second sensing sensors are a scene that has occurred, then determining that the current state of the wearable robot is normal; If the second perception data of the target control instruction in any second perception sensor set is that the scene has not occurred, it is determined that the current state of the wearable robot is abnormal.

9. The intelligent control system of a quadruped bionic robot according to claim 8, characterized in that: The data acquisition module is further used to collect first perception data of a first perception sensor set in a perception scene by polling, or to collect second perception data of a target control instruction of a control instruction set in a second perception sensor set; The warning module is also used to determine that the associated controlled creature has a behavioral risk when the perception data of the wearable robot deviates from the normal value and exceeds a preset threshold, and issue a perception warning to the associated controlled creature; Otherwise, continue to monitor the status of the wearable robot.

10. The intelligent control system of a quadruped bionic robot according to claim 9, characterized in that: The system further comprises: A storage module, used for storing the pre-collected perception scene, the control instruction set and the associated animal set of the second perception sensor set into the second perception sensor set; A result positioning module is used to locate the first perception sensor set or the second perception sensor set where a sudden environmental change occurs, and the wearable robot to which the first perception sensor set or the second perception sensor set where a sudden environmental change occurs belongs, according to the perception result.

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