Intelligent Control System and Method for Quadruped Bionic Robots

Abstract

This invention relates to the field of simulation perception technology, and particularly to an intelligent control system and method for a quadrupedal bionic robot. The method includes: receiving a perception control command; identifying robot behavior signals perceived by the control command based on a perception ID value in the perception control command; waking up a matching perception sensor based on the robot behavior signal to collect first perception data from a first set of perception sensors in the perception scene, or collecting second perception data from a second set of perception sensors based on a control command set; and determining the current state of the wearable robot to which the first or second set of perception sensors belongs based on the perception results. The beneficial effects of this invention include fully utilizing the robot's perception similarity data information, using perception sensor signal data from multiple dimensions, providing perception warnings based on the basic situation of the robot's perception similarity data relationships, and reminding the robot to take relevant measures.

Description

Technical Field

[0001] This invention relates to the field of simulation perception technology, and in particular to an intelligent control system and method for a quadrupedal bionic robot. Background Technology

[0002] Environmental perception ability is an important physiological indicator of animal health. Assessing the level of an animal's environmental perception ability is crucial for scientific research and plays a decisive leading role in the rehabilitation treatment of functional impairments in environmental perception ability.

[0003] Environmental perception is one of the important basic abilities. Many inventions and creations in modern scientific research are based on the physiological functions of animals. For animal observation, simulation robots are a very convenient device. By simulating the behavior of animals in their natural environment, simulation robots can observe the perception of the surrounding environment and enhance the simulation 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. Existing technologies cannot provide perception warnings based on the basic situation of similar data relationships perceived by the robot, reminding the robot to take relevant measures to simulate animals, which would be 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 for a quadrupedal bionic robot, comprising:

[0006] Receive perception control commands and identify robot behavior signals perceived by the control commands based on the perception ID value in the perception control commands;

[0007] The robot wakes up the matching perception sensor according to the robot's behavior signal, so as to collect the first perception data of the first perception sensor set in the perception scene, or to collect the second perception data of the control instruction set of the second perception sensor set.

[0008] Based on the perception results, determine the current state of the wearable robot to which the first set of perception sensors or the second set of perception sensors belong;

[0009] Based on the current state of the robot, a sensory warning is issued to the associated controlled organism.

[0010] Furthermore, the robot behavior signals include similar data perception and control command perception;

[0011] The robot's behavior signals are used to wake up the matched perception sensors to collect first perception data from a first set of perception sensors in the perception scene, or to collect second perception data from a second set of perception sensors based on a set of control commands, including:

[0012] If the robot's behavior signal is similar data perception, then the similar data perception sensor is activated to perform similar data perception on the associated animals and similar data of the set service perception similar data first perception sensor set, and the matching first perception data is identified based on the similar data perception result;

[0013] If the robot behavior signal is a control command perception, then the control command perception sensor is activated to query the target control command of the set control command from the environmental perception history file of the second perception sensor set, and the second perception data of the target control command in the second perception sensor set is identified according to the query result.

[0014] The first set of sensing sensors includes a first set of interface sensing sensors, and the sensing scenario includes associated animals and similar data of the first awakened set of interface sensing sensors contained in the wearable robot;

[0015] If the robot behavior signal is similar to the perceived data, the current state of the wearable robot to which the first set of sensing sensors belongs is determined based on the perception result, including:

[0016] If the first perception data of all the first perception sensors in the wearable robot is a valid scene, then the perception scene of the wearable robot is determined to be normal.

[0017] If the first perception data of any first perception sensor set in the wearable robot is an invalid scene, then the perception scene of the wearable robot is determined to be abnormal.

[0018] Furthermore, if the robot behavior signal is perceived as a control command, the current state of the wearable robot to which the second set of sensing sensors belongs is determined based on the perception result, including:

[0019] Based on the association between the second set of sensing sensors and the wearable robot, identify all sets of the second set of sensing sensors belonging to the wearable robot;

[0020] If the target control command corresponds to the second sensing data of all the second sensing sensors in the set of second sensing sensors as a scene that has already occurred, then the current state of the wearable robot is determined to be normal.

[0021] If the target control command indicates that the second perception data of any second perception sensor set is a non-occurring scenario, then the current state of the wearable robot is determined to be abnormal.

[0022] Further, the acquisition of first sensing data from the first set of sensing sensors in the sensing scenario, or the acquisition of second sensing data from the second set of sensing sensors based on the set of control commands, includes:

[0023] The system collects first perception data from the first set of perception sensors in the perception scene through polling, or collects second perception data from the second set of perception sensors for the target control command set.

[0024] The step of issuing a perception warning to the associated controlled organism based on the current state of the wearable robot also includes:

[0025] When the sensory data of the wearable robot deviates from the normal value by more than a preset threshold, it is determined that the associated controlled organism has a behavioral risk, and a sensory warning is issued to the associated controlled organism.

[0026] Otherwise, continue to monitor the status of the robot being worn.

[0027] Furthermore, the method also includes:

[0028] The pre-collected perception scene, the control instruction set, and the associated animal set of the second perception sensor set are stored in the second perception sensor set;

[0029] The method further includes:

[0030] Based on the perception results, the first set of sensing sensors or the second set of sensing sensors that experienced a sudden environmental change is located, as well as the wearable robot to which the first set of sensing sensors or the second set of sensing sensors that experienced the sudden environmental change belongs.

[0031] According to a second aspect of the present invention, the present invention claims protection for an intelligent control system for a quadrupedal bionic robot, comprising:

[0032] The perception and control module is used to receive perception and control commands and identify the robot behavior signals perceived by the control commands based on the perception ID value in the perception and control commands.

[0033] The data acquisition module is used to wake up the matching perception sensor according to the robot's behavior signal, so as to collect the first perception data of the first perception sensor set in the current perception scene, or to collect the second perception data of the control instruction set of the second perception sensor set.

[0034] The state determination module is used to determine the current state of the wearable robot to which the first set of sensing sensors or the second set of sensing sensors belong, based on the sensing results.

[0035] The early warning module is used to issue a perception warning to the associated controlled organism based on the current state of the wearable robot.

[0036] Furthermore, the robot behavior signals include similar data perception and control command perception, and the data acquisition module is also used for:

[0037] If the robot's behavior signal is similar data perception, then the similar data perception sensor is activated to perform similar data perception on the associated animals and similar data of the set service perception similar data first perception sensor set, and the matching first perception data is identified based on the similar data perception result;

[0038] If the robot behavior signal is a control command perception, then the control command perception sensor is activated to query the target control command of the set control command from the environmental perception history file of the second perception sensor set, and the second perception data of the target control command in the second perception sensor set is identified according to the query result.

[0039] The first set of sensing sensors includes a first set of interface sensing sensors, and the sensing scenario includes associated animals and similar data of the first awakened set of interface sensing sensors contained in the wearable robot;

[0040] If the robot behavior signal is the similar data perception, the state determination module is further used for:

[0041] If the first perception data of all the first perception sensors in the wearable robot is a valid scene, then the perception scene of the wearable robot is determined to be normal.

[0042] If the first perception data of any first perception sensor set in the wearable robot is an invalid scene, then the perception scene of the wearable robot is determined to be abnormal.

[0043] Furthermore, if the robot behavior signal is perceived as a control command, the state determination module is also used for:

[0044] Based on the association between the second set of sensing sensors and the wearable robot, identify all sets of the second set of sensing sensors belonging to the wearable robot;

[0045] If the target control command corresponds to the second sensing data of all the second sensing sensors in the set of second sensing sensors as a scene that has already occurred, then the current state of the wearable robot is determined to be normal.

[0046] If the target control command indicates that the second perception data of any second perception sensor set is a non-occurring scenario, then the current state of the wearable robot is determined to be abnormal.

[0047] Furthermore, the data acquisition module is also used to collect first perception data of the first set of first perception sensors in the perception scene by polling, or to collect second perception data of the second set of second perception sensors for the target control command of the control command set.

[0048] The early warning module is also used to determine that the associated controlled organism has a behavioral risk when the perception data of the wearable robot deviates from the normal value by more than a preset threshold, and to issue a perception warning to the associated controlled organism.

[0049] Otherwise, continue to monitor the status of the robot being worn.

[0050] Furthermore, the system also includes:

[0051] The storage module is used to store 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;

[0052] The result localization module is used to locate the first set of sensing sensors or the second set of sensing sensors that experienced a sudden environmental change, and the wearable robot to which the first set of sensing sensors or the second set of sensing sensors that experienced the sudden environmental change belong.

[0053] This invention relates to the field of sensing technology, and particularly to an intelligent control system and method for a quadrupedal bionic robot. The system receives sensing control commands, identifies robot behavior signals sensed by the control commands based on the sensing ID value in the commands, and wakes up matching sensing sensors based on the robot behavior signals to collect first sensing data from a first set of sensing sensors in the sensing scene, or collects second sensing data from a second set of sensing sensors based on the control command set. Based on the sensing results, the system determines the current state of the wearable robot to which either the first or second set of sensing sensors belongs. The beneficial effects of this invention include fully utilizing the robot's sensing similarity data information, using sensing sensor signal data from multiple dimensions, providing sensing warnings based on the basic situation of the robot's sensing similarity data relationships, and reminding the robot to take relevant measures. Attached Figure Description

[0054] Figure 1 The present invention seeks to protect the intelligent control method of a quadrupedal bionic robot.

[0055] Figure 2 A flowchart illustrating the intelligent control method for a quadrupedal bionic robot for which protection is claimed in this invention.

[0056] Figure 3This is a structural block diagram of an intelligent control system for a quadrupedal bionic robot for which protection is claimed in this invention. Detailed Implementation

[0057] According to a first aspect of the present invention, with reference to the appendix Figure 1 This invention claims protection for an intelligent control method for a quadrupedal bionic robot, characterized by comprising:

[0058] Receive perception control commands and identify robot behavior signals perceived by the control commands based on the perception ID value in the perception control commands;

[0059] The robot wakes up the matching perception sensor according to the robot's behavior signal, so as to collect the first perception data of the first perception sensor set in the perception scene, or to collect the second perception data of the control instruction set of the second perception sensor set.

[0060] Based on the perception results, determine the current state of the wearable robot to which the first set of perception sensors or the second set of perception sensors belong;

[0061] Based on the current state of the robot, a sensory warning is issued to the associated controlled organism.

[0062] In this embodiment, the first set of sensing sensors includes at least sensing sensors worn on the robot to perceive similar data.

[0063] The second set of sensing sensors includes at least sensing sensors worn on the robot itself to perceive behavioral control command data.

[0064] Regarding sensor types, the first sensor set includes at least color sensors, temperature sensors, etc.; the second sensor set includes at least speed sensors, pressure sensors, acceleration sensors, rotation sensors, etc.

[0065] Furthermore, the robot behavior signals include similar data perception and control command perception;

[0066] The robot's behavior signals are used to wake up the matched perception sensors to collect first perception data from a first set of perception sensors in the perception scene, or to collect second perception data from a second set of perception sensors based on a set of control commands, including:

[0067] If the robot's behavior signal is the similar data perception, then the similar data perception sensor is activated to perform similar data perception on the associated animals and similar data of the set service similar data first perception sensor set, and the matching first perception data is identified according to the similar data perception result;

[0068] If the robot behavior signal is the control command perception, then the control command perception sensor is activated to query the target control command of the set control command from the environmental perception history file of the second perception sensor set, and the second perception data of the target control command in the second perception sensor set is identified according to the query result.

[0069] The first set of sensing sensors includes a first set of interface sensing sensors, and the sensing scenario includes associated animals and sensing similarity data of the first awakened set of interface sensing sensors contained in the wearable robot;

[0070] If the robot behavior signal is similar to the perceived data, the current state of the wearable robot to which the first set of sensing sensors belongs is determined based on the perception result, including:

[0071] If the first perception data of all the first perception sensors in the wearable robot is a valid scene, then the perception scene of the wearable robot is determined to be normal.

[0072] If the first perception data of any first perception sensor set in the wearable robot is an invalid scene, then the perception scene of the wearable robot is determined to be abnormal.

[0073] In this embodiment, the normal perception scenario of the wearable robot is a scenario in which the perception similar data of all the first perception sensors in the wearable robot are valid perception similar data. Under this environment, the perception similar data is considered to have the highest similarity with the robot's own defects and the highest correlation with environmental perception, and is therefore considered to be a normal perception scenario.

[0074] Specifically, in this embodiment, similar data perception refers to the similarity between the data perceived by the robot in its surrounding environment and the data perceived by the corresponding animal, such as the similarity of temperature perception and the similarity of color perception (the similarity threshold can be adjusted according to the degree of color blindness of different species).

[0075] If the first perception data of any set of first perception sensors in the wearable robot is invalid, it is considered that its similarity to the robot's own defects is low and its correlation with environmental perception is also low, and the wearable robot's perception scenario is abnormal.

[0076] The effective scene characterization indicates that the similarity between the robot's first perception data and the simulated animal's first perception data in the scene meets a threshold.

[0077] The invalid scenario indicates that the similarity between the robot's first perception data and the simulated animal's first perception data in that scenario does not meet a threshold.

[0078] Further, refer to the appendix. Figure 2If the robot behavior signal is perceived as a control command, the current state of the wearable robot to which the second set of sensing sensors belongs is determined based on the perception result, including:

[0079] Based on the association between the second set of sensing sensors and the wearable robot, identify all sets of the second set of sensing sensors belonging to the wearable robot;

[0080] If the target control command corresponds to the second sensing data of all the second sensing sensors in the set of second sensing sensors as a scene that has already occurred, then the current state of the wearable robot is determined to be normal.

[0081] If the target control command indicates that the second perception data of any second perception sensor set is a non-occurring scenario, then the current state of the wearable robot is determined to be abnormal.

[0082] In this embodiment, the second sensing data refers to the behavioral signal of the sensing sensor indicating that the sensing value of the robot being worn exceeds the normal threshold range.

[0083] Furthermore, the acquisition of first sensing data from the first set of sensing sensors in the sensing scenario, or the acquisition of second sensing data from the second set of sensing sensors based on the set of control commands, includes:

[0084] The system collects first perception data from the first set of perception sensors in the perception scene through polling, or collects second perception data from the second set of perception sensors for the target control command set.

[0085] The step of issuing a perception warning to the associated controlled organism based on the current state of the wearable robot also includes:

[0086] When the sensory data of the wearable robot deviates from the normal value by more than a preset threshold, it is determined that the associated controlled organism has a behavioral risk, and a sensory warning is issued to the associated controlled organism.

[0087] Otherwise, continue to monitor the status of the robot being worn.

[0088] Furthermore, the method also includes:

[0089] The pre-collected perception scene, the control instruction set, and the associated animal set of the second perception sensor set are stored in the second perception sensor set;

[0090] The method further includes:

[0091] Based on the perception results, the first set of sensing sensors or the second set of sensing sensors that experienced a sudden environmental change is located, as well as the wearable robot to which the first set of sensing sensors or the second set of sensing sensors that experienced the sudden environmental change belongs.

[0092] Among them, environmental mutations include sudden changes in various environmental factors that trigger dangerous scenarios, such as sudden changes in temperature, light intensity, and speed.

[0093] According to a second embodiment of the present invention, referring to the appendix Figure 3 This invention claims protection for an intelligent control system for a quadrupedal bionic robot, comprising:

[0094] The perception and control module is used to receive perception and control commands and identify the robot behavior signals perceived by the control commands based on the perception ID value in the perception and control commands.

[0095] The data acquisition module is used to wake up the matching perception sensor according to the robot's behavior signal, so as to collect the first perception data of the first perception sensor set in the current perception scene, or to collect the second perception data of the control instruction set of the second perception sensor set.

[0096] The state determination module is used to determine the current state of the wearable robot to which the first set of sensing sensors or the second set of sensing sensors belong, based on the sensing results.

[0097] The early warning module is used to issue a perception warning to the associated controlled organism based on the current state of the wearable robot.

[0098] Furthermore, the robot behavior signals include similar data perception and control command perception, and the data acquisition module is also used for:

[0099] If the robot's behavior signal is similar data perception, then the similar data perception sensor is activated to perform similar data perception on the associated animals and similar data of the set service perception similar data first perception sensor set, and the matching first perception data is identified based on the similar data perception result;

[0100] If the robot behavior signal is a control command perception, then the control command perception sensor is activated to query the target control command of the set control command from the environmental perception history file of the second perception sensor set, and the second perception data of the target control command in the second perception sensor set is identified according to the query result.

[0101] The first set of sensing sensors includes a first set of interface sensing sensors, and the sensing scenario includes associated animals and similar data of the first awakened set of interface sensing sensors contained in the wearable robot;

[0102] If the robot behavior signal is the similar data perception, the state determination module is further used for:

[0103] If the first perception data of all the first perception sensors in the wearable robot is a valid scene, then the perception scene of the wearable robot is determined to be normal.

[0104] If the first perception data of any first perception sensor set in the wearable robot is an invalid scene, then the perception scene of the wearable robot is determined to be abnormal.

[0105] Furthermore, if the robot behavior signal is perceived as a control command, the state determination module is also used for:

[0106] Based on the association between the second set of sensing sensors and the wearable robot, identify all sets of the second set of sensing sensors belonging to the wearable robot;

[0107] If the target control command corresponds to the second sensing data of all the second sensing sensors in the set of second sensing sensors as a scene that has already occurred, then the current state of the wearable robot is determined to be normal.

[0108] If the target control command indicates that the second perception data of any second perception sensor set is a non-occurring scenario, then the current state of the wearable robot is determined to be abnormal.

[0109] Furthermore, the data acquisition module is also used to collect first perception data of the first set of first perception sensors in the perception scene by polling, or to collect second perception data of the second set of second perception sensors for the target control command of the control command set.

[0110] The early warning module is also used to determine that the associated controlled organism has a behavioral risk when the perception data of the wearable robot deviates from the normal value by more than a preset threshold, and to issue a perception warning to the associated controlled organism.

[0111] Otherwise, continue to monitor the status of the robot being worn.

[0112] Furthermore, the system also includes:

[0113] The storage module is used to store 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;

[0114] The result localization module is used to locate the first set of sensing sensors or the second set of sensing sensors that experienced a sudden environmental change, and the wearable robot to which the first set of sensing sensors or the second set of sensing sensors that experienced the sudden environmental change belong.

[0115] Those skilled in the art will understand that the contents disclosed herein can be varied and modified in many ways. For example, the various devices or components described above can be implemented in hardware, or in software, firmware, or a combination of some or all of the three.

[0116] This disclosure uses flowcharts to illustrate the steps of a method according to embodiments of this disclosure. It should be understood that the preceding or following steps are not necessarily performed in exact order. Instead, the steps can be processed in reverse order or simultaneously. Furthermore, other operations can be added to these processes.

[0117] Those skilled in the art will understand that all or part of the steps in the above methods can be implemented by a computer program instructing related hardware, 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 embodiments can also be implemented using one or more integrated circuits. Accordingly, each module / unit in the above embodiments can be implemented in hardware or as a software functional module. This disclosure is not limited to any particular combination of hardware and software.

[0118] Unless otherwise defined, all terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. It should also be understood that terms such as those defined in a common dictionary should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0119] The foregoing description is intended to illustrate the present disclosure and should not be construed as limiting it. While several exemplary embodiments of the present disclosure have been described, those skilled in the art will readily understand 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 by the claims. It should be understood that the foregoing description is intended to illustrate the present disclosure and should not be construed as limiting it 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.

[0120] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0121] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An intelligent control method for a quadrupedal bionic robot, characterized in that, include: Receive perception control commands and identify robot behavior signals perceived by the control commands based on the perception ID value in the perception control commands; The robot wakes up the matching perception sensor according to the robot's behavior signal, so as to collect the first perception data of the first perception sensor set in the perception scene, or to collect the second perception data of the control instruction set of the second perception sensor set. Based on the perception results, determine the current state of the wearable robot to which the first set of perception sensors or the second set of perception sensors belong; Based on the current state of the wearable robot, a sensory warning is issued to the associated controlled organism. The robot behavior signals include similar data perception and control command perception; The robot's behavior signals are used to wake up the matched perception sensors to collect first perception data from a first set of perception sensors in the perception scene, or to collect second perception data from a second set of perception sensors based on a set of control commands, including: If the robot's behavior signal is similar data perception, then the similar data perception sensor is activated to perform similar data perception on the associated animals and similar data of the set service perception similar data first perception sensor set, and the matching first perception data is identified based on the similar data perception result; If the robot behavior signal is a control command perception, then the control command perception sensor is activated to query the target control command of the set control command from the environmental perception history file of the second perception sensor set, and the second perception data of the target control command in the second perception sensor set is identified according to the query result. The first set of sensing sensors includes a first set of interface sensing sensors, and the sensing scenario includes associated animals and similar data of the first awakened set of interface sensing sensors contained in the wearable robot; If the robot behavior signal is similar to the perceived data, the current state of the wearable robot to which the first set of sensing sensors belongs is determined based on the perception result, including: If the first perception data of all the first perception sensors in the wearable robot is a valid scene, then the perception scene of the wearable robot is determined to be normal. If the first perception data of any first perception sensor set in the wearable robot is an invalid scene, then the perception scene of the wearable robot is determined to be abnormal.

2. The intelligent control method for a quadrupedal bionic robot according to claim 1, characterized in that, If the robot behavior signal is perceived as a control command, the current state of the wearable robot to which the second set of sensing sensors belongs is determined based on the perception result, including: Based on the association between the second set of sensing sensors and the wearable robot, identify all sets of the second set of sensing sensors belonging to the wearable robot; If the target control command corresponds to the second sensing data of all the second sensing sensors in the set of second sensing sensors as a scene that has already occurred, then the current state of the wearable robot is determined to be normal. If the target control command indicates that the second perception data of any second perception sensor set is a non-occurring scenario, then the current state of the wearable robot is determined to be abnormal.

3. The intelligent control method for a quadrupedal bionic robot according to claim 1, characterized in that, The acquisition of first sensing data from a first set of sensing sensors in a sensing scenario, or the acquisition of second sensing data from a second set of sensing sensors based on a set of control commands, includes: The system collects first perception data from the first set of perception sensors in the perception scene through polling, or collects second perception data from the second set of perception sensors for the target control command set. The step of issuing a perception warning to the associated controlled organism based on the current state of the wearable robot also includes: When the sensory data of the wearable robot deviates from the normal value by more than a preset threshold, it is determined that the associated controlled organism has a behavioral risk, and a sensory warning is issued to the associated controlled organism. Otherwise, continue to monitor the status of the robot being worn.

4. The intelligent control method for a quadrupedal bionic robot according to claim 1, characterized in that, The method further includes: The pre-collected perception scene, the control instruction set, and the associated animal set of the second perception sensor set are stored in the second perception sensor set; The method further includes: Based on the perception results, the first set of sensing sensors or the second set of sensing sensors that experienced a sudden environmental change is located, as well as the wearable robot to which the first set of sensing sensors or the second set of sensing sensors that experienced the sudden environmental change belongs.

5. An intelligent control system for a quadrupedal bionic robot, characterized in that, include: The perception and control module is used to receive perception and control commands and identify the robot behavior signals perceived by the control commands based on the perception ID value in the perception and control commands. The data acquisition module is used to wake up the matching perception sensor according to the robot's behavior signal, so as to collect the first perception data of the first perception sensor set in the current perception scene, or to collect the second perception data of the control instruction set of the second perception sensor set. The state determination module is used to determine the current state of the wearable robot to which the first set of sensing sensors or the second set of sensing sensors belong, based on the sensing results. The early warning module is used to issue a perception warning to the associated controlled organism based on the current state of the wearable robot; The robot behavior signals include similar data perception and control command perception, and the data acquisition module is also used for: If the robot's behavior signal is similar data perception, then the similar data perception sensor is activated to perform similar data perception on the associated animals and similar data of the set service perception similar data first perception sensor set, and the matching first perception data is identified based on the similar data perception result; If the robot behavior signal is a control command perception, then the control command perception sensor is activated to query the target control command of the set control command from the environmental perception history file of the second perception sensor set, and the second perception data of the target control command in the second perception sensor set is identified according to the query result. The first set of sensing sensors includes a first set of interface sensing sensors, and the sensing scenario includes associated animals and similar data of the first awakened set of interface sensing sensors contained in the wearable robot; If the robot behavior signal is the similar data perception, the state determination module is further used for: If the first perception data of all the first perception sensors in the wearable robot is a valid scene, then the perception scene of the wearable robot is determined to be normal. If the first perception data of any first perception sensor set in the wearable robot is an invalid scene, then the perception scene of the wearable robot is determined to be abnormal.

6. The intelligent control system for a quadrupedal bionic robot according to claim 5, characterized in that, If the robot behavior signal is perceived as a control command, the state determination module is further configured to: Based on the association between the second set of sensing sensors and the wearable robot, identify all sets of the second set of sensing sensors belonging to the wearable robot; If the target control command corresponds to the second sensing data of all the second sensing sensors in the set of second sensing sensors as a scene that has already occurred, then the current state of the wearable robot is determined to be normal. If the target control command indicates that the second perception data of any second perception sensor set is a non-occurring scenario, then the current state of the wearable robot is determined to be abnormal.

7. The intelligent control system for a quadrupedal bionic robot according to claim 6, characterized in that, The data acquisition module is also used to collect first perception data of the first set of first perception sensors in the perception scene by polling, or to collect second perception data of the second set of second perception sensors for the target control command of the control command set. The early warning module is also used to determine that the associated controlled organism has a behavioral risk when the perception data of the wearable robot deviates from the normal value by more than a preset threshold, and to issue a perception warning to the associated controlled organism. Otherwise, continue to monitor the status of the robot being worn.

8. The intelligent control system for a quadrupedal bionic robot according to claim 7, characterized in that, The system also includes: The storage module is used to store 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; The result localization module is used to locate the first set of sensing sensors or the second set of sensing sensors that experienced a sudden environmental change, and the wearable robot to which the first set of sensing sensors or the second set of sensing sensors that experienced the sudden environmental change belong.

Images