Transverse autonomous obstacle crossing method and system for robot

Abstract

The invention provides a robot transverse autonomous obstacle crossing method and system, and relates to the technical field of robotics.The method comprises the steps that when a multi-joint bionic robot conducts ordinary transverse rolling according to a preset U-shaped curve, the surface pressure of each module is obtained through a pressure sensor of each module; according to the surface pressure of the modules, the rolling direction of the multi-joint bionic robot is determined, and whether the multi-joint bionic robot makes contact with an obstacle or not is judged in combination with the rolling direction; when the multi-joint bionic robot makes contact with the obstacle, the contact position of the multi-joint bionic robot and the obstacle is obtained; according to the contact position, fitting a preset U-shaped curve into a U-shaped hump curve; and controlling the multi-joint bionic robot to perform hump rolling along the rolling direction according to the U-shaped hump curve until the multi-joint bionic robot completes obstacle crossing. By measuring and analyzing the pressure data, the obstacle information is effectively detected, and the obstacle crossing effect of the multi-joint bionic robot during transverse movement is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular, to a method and system for a robot to autonomously cross obstacles horizontally. Background Art

[0002] At present, multi-joint bionic robots, due to their unique structures and flexibility, have ultra-redundant degrees of freedom and can work in various complex environments. For example, snake robots. Generally, multi-joint bionic robots achieve the perception and detection of the external environment through cameras or lidars installed on their heads.

[0003] In related technologies, in order to ensure the effectiveness of the information obtained by perception and detection, the head of the multi-joint bionic robot should be as stable as possible, which results in the limitation of the obstacle-crossing ability of the robot in complex environments. Especially during the horizontal rolling process, the robot cannot effectively detect obstacle information, making it difficult to autonomously cross obstacles when encountering obstacles with irregular shapes. Summary of the Invention

[0004] The problem solved by the present invention is how to improve the obstacle-crossing effect of a multi-joint bionic robot during horizontal movement.

[0005] To solve the above problems, the present invention provides a method and system for a robot to autonomously cross obstacles horizontally.

[0006] In a first aspect, a method for a robot to autonomously cross obstacles horizontally according to the present invention is applied to a multi-joint bionic robot, which is composed of multiple modules connected in sequence; when the multi-joint bionic robot rolls horizontally, pressure sensors are arranged on the rolling plane where each module can contact the ground.

[0007] The method for the robot to autonomously cross obstacles horizontally includes:

[0008] When the multi-joint bionic robot performs ordinary horizontal rolling according to a preset U-shaped curve, the surface pressure of each module is obtained through the pressure sensor of each module.

[0009] According to the surface pressure of the module, the rolling direction of the multi-joint bionic robot is determined, and whether the multi-joint bionic robot contacts an obstacle is judged in combination with the rolling direction.

[0010] When the multi-joint bionic robot contacts the obstacle, the contact position between the multi-joint bionic robot and the obstacle is obtained.

[0011] According to the contact position, the preset U-shaped curve is fitted into a U-shaped hump curve.

[0012] Control the multi-joint bionic robot to perform hump rolling along the rolling direction according to the U-shaped hump curve until the multi-joint bionic robot completes obstacle crossing.

[0013] Optionally, determining the rolling direction of the multi-joint bionic robot according to the surface pressure of the module and judging whether the multi-joint bionic robot contacts an obstacle in combination with the rolling direction includes:

[0014] When the multi-joint bionic robot performs ordinary lateral rolling according to a preset U-shaped curve, obtain the time sequence of the pulse signals generated when the pressure sensors on each plane in each module monitor the surface pressure;

[0015] According to the time sequence, judge the contact sequence between the rolling plane of each module and the ground;

[0016] Determine the rolling direction of the multi-joint bionic robot according to the contact sequence of all the modules.

[0017] Optionally, determining the rolling direction of the multi-joint bionic robot according to the surface pressure of the module and judging whether the multi-joint bionic robot contacts an obstacle in combination with the rolling direction includes:

[0018] According to the rolling direction of each module, determine the next rolling plane of the module in contact with the ground, and use the rolling plane as the plane to be contacted;

[0019] Judge whether there is the surface pressure on the plane to be contacted through the pressure sensor on the plane to be contacted;

[0020] If so, determine that the multi-joint bionic robot contacts the obstacle;

[0021] If not, determine that the multi-joint bionic robot does not contact the obstacle.

[0022] Optionally, when the multi-joint bionic robot contacts the obstacle, obtaining the contact position between the multi-joint bionic robot and the obstacle includes:

[0023] When the multi-joint bionic robot contacts the obstacle, obtain the installation position of the pressure sensor on the plane to be contacted;

[0024] Determine the contact position between the multi-joint bionic robot and the obstacle according to the installation position.

[0025] Optionally, fitting the preset U-shaped curve into a U-shaped hump curve according to the contact position includes:

[0026] Determine the hump height of the obstacle and the influencing hump width according to the contact position;

[0027] Determine the complete curve arc length of the multi-joint bionic robot according to the motion control parameters of the multi-joint bionic robot;

[0028] Determine the curve arc length of the contact position according to the contact position in combination with the complete curve arc length;

[0029] Fit the preset U-shaped curve to a U-shaped hump curve according to the curve arc length, in combination with the hump height and the influencing hump width;

[0030] Optionally, the fitting of the preset U-shaped curve to a U-shaped hump curve according to the curve arc length of the contact position, in combination with the hump height and the influencing hump width, includes:

[0031] Determine the fitting curve radius of the multi-joint bionic robot according to the preset U-shaped curve;

[0032] Fit through the U-shaped hump curve parametric equation according to the curve arc length, the complete curve arc length, the fitting curve radius, the hump height and the influencing hump width to determine the U-shaped hump curve;

[0033] Fit the preset U-shaped curve to the U-shaped hump curve;

[0034] The parametric equation of the U-shaped hump curve is:

[0035]

[0036] r is the fitting curve radius, s is the complete curve arc length, h is the hump height, σ is the influencing hump width, x, y, z are the x coordinate, y coordinate and z coordinate of the U-shaped hump curve respectively, s 0 is the curve arc length of the contact position, and e is a constant.

[0037] Optionally, the controlling the multi-joint bionic robot to perform hump rolling along the rolling direction according to the U-shaped hump curve until the multi-joint bionic robot completes obstacle crossing includes:

[0038] Control the multi-joint bionic robot to perform hump rolling along the rolling direction according to the U-shaped hump curve by fitting the preset U-shaped curve to the U-shaped hump curve;

[0039] When the multi-joint bionic robot performs hump rolling, determine the hump position of the multi-joint bionic robot according to the contact position;

[0040] According to the hump position, obtain the surface pressure of each rolling plane of the modules within a preset range centered on the hump position;

[0041] Judge whether the multi-joint bionic robot has completed obstacle crossing according to the surface pressure.

[0042] Optionally, the controlling the multi-joint bionic robot to perform hump rolling along the rolling direction according to the U-shaped hump curve by fitting the preset U-shaped curve into the U-shaped hump curve includes:

[0043] Perform linear interpolation on the U-shaped hump curve according to the hump height and the influencing hump width to obtain a plurality of transitional U-shaped hump curves;

[0044] Control the multi-joint bionic robot to perform hump rolling through all the transitional U-shaped hump curves in sequence according to a preset transition time;

[0045] After completing the hump rolling of all the transitional U-shaped hump curves, perform hump rolling along the rolling direction according to the U-shaped hump curve.

[0046] Optionally, the judging whether the multi-joint bionic robot has completed obstacle crossing according to the change of the surface pressure includes:

[0047] When the number of modules with the surface pressure of the rolling plane gradually increasing is greater than or equal to a preset number threshold, it is determined that the multi-joint bionic robot has completed obstacle crossing;

[0048] When the number of modules with the surface pressure of the rolling plane gradually increasing is less than the preset number threshold, it is determined that the multi-joint bionic robot has not completed obstacle crossing.

[0049] In a second aspect, the present invention provides a robot lateral autonomous obstacle crossing system, which is applied to a multi-joint bionic robot, and the multi-joint bionic robot is composed of a plurality of modules connected in sequence; when the multi-joint bionic robot performs lateral rolling, pressure sensors are arranged on each rolling plane that can contact the ground of each module;

[0050] The robot lateral autonomous obstacle crossing system includes:

[0051] A pressure acquisition unit, configured to obtain the surface pressure of each module through the pressure sensor of each module when the multi-joint bionic robot performs ordinary lateral rolling according to a preset U-shaped curve;

[0052] A judgment unit, configured to determine the rolling direction of the multi-joint bionic robot according to the surface pressure of the module, and combine the rolling direction to judge whether the multi-joint bionic robot touches an obstacle;

[0053] An obstacle positioning unit, configured to obtain the contact position between the multi-joint bionic robot and the obstacle when the multi-joint bionic robot touches the obstacle;

[0054] A fitting unit, configured to fit the preset U-shaped curve into a U-shaped hump curve according to the contact position;

[0055] A control unit, configured to control the multi-joint bionic robot to perform hump rolling along the rolling direction according to the U-shaped hump curve until the multi-joint bionic robot completes obstacle crossing.

[0056] The robot lateral autonomous obstacle crossing method and system of the present invention can obtain the surface pressure data of each module in real time when the multi-joint bionic robot performs ordinary lateral rolling by arranging pressure sensors on the rolling plane of each module of the multi-joint bionic robot. Based on the obtained surface pressure data of each module, the rolling direction of the robot itself can be accurately judged, and then the side surface in contact with the obstacle can be predicted in advance, so as to realize the early perception of the obstacle, enabling the robot to independently judge its own movement direction and posture without the assistance of external vision or lidar. When the robot touches the obstacle, it can quickly determine the contact position, and fit the preset U-shaped curve into a U-shaped hump curve adapted to the obstacle according to the contact position, so as to ensure that when touching the obstacle, the robot can timely adjust the rolling posture according to the contact position. By controlling the robot to roll along the hump curve, the robot can effectively lift the joints in contact with the obstacle and their adjacent joints, so as to successfully cross the obstacle. The present invention effectively detects the obstacle information through the measurement and analysis of the pressure data, not only improves the perception ability and response speed of the robot to the obstacle during lateral movement, but also enhances its obstacle crossing flexibility and accuracy, enabling the robot to more efficiently and stably complete the lateral obstacle crossing task in a complex environment, and significantly improving the obstacle crossing effect of the multi-joint bionic robot during lateral movement. Description of the Drawings

[0057] Figure 1 It is a method flow chart of the robot lateral autonomous obstacle crossing method in an embodiment of the present invention;

[0058] Figure 2 It is a schematic structural diagram of a snake-shaped robot in another embodiment of the present invention;

[0059] Figure 3 It is one of the rolling motion schematic diagrams of the snake-shaped robot in another embodiment of the present invention;

[0060] Figure 4 It is the second schematic diagram of the rolling motion of the snake-shaped robot in another embodiment of the present invention;

[0061] Figure 5 It is the schematic structural diagram of the robot's lateral autonomous obstacle-crossing system in another embodiment of the present invention. Detailed implementation manners

[0062] To make the above objects, features and advantages of the present invention more obvious and understandable, the following will describe the specific embodiments of the present invention in detail with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments described herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not used to limit the protection scope of the present invention.

[0063] It should be understood that the various steps recorded in the method embodiments of the present invention can be executed in different orders and / or executed in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this regard.

[0064] The term "including" and its variants used herein are open-ended, that is, "including but not limited to"; the term "based on" is "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts such as "first" and "second" mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order of the functions performed by these devices, modules or units or their interdependent relationships.

[0065] It should be noted that the modifications of "one" and "multiple" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly stated in the context, it should be understood as "one or more".

[0066] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only for illustrative purposes and are not used to limit the scope of these messages or information.

[0067] In view of the problems existing in the above related technologies, this embodiment provides a method and system for a robot to laterally autonomously cross obstacles.

[0068] A method for a robot to laterally autonomously cross obstacles provided by an embodiment of the present invention. The method is applied to a multi-joint bionic robot, and the multi-joint bionic robot is composed of a plurality of modules connected in sequence. When the multi-joint bionic robot rolls laterally, pressure sensors are arranged on each rolling plane that can contact the ground for each module.

[0069] Specifically, the multi-joint bionic robot is composed of a plurality of modules connected in sequence. In a preferred embodiment of the present invention, as shown in Figure 2 , the multi-joint bionic robot is a snake-shaped robot. The modules that make up the snake-shaped robot are a head module, a tail module, and a plurality of joint modules, and the connection directions of adjacent two modules are orthogonal. When the snake-shaped robot rolls laterally, thin-film pressure sensors are arranged on each rolling plane that can contact the ground for each module. In another preferred embodiment of the present invention, each module is a cuboid, and the pressure sensors are installed on its four side surfaces, and the four side surfaces are regarded as rolling surfaces, and the front and rear surfaces of the module are used to connect adjacent modules before and after.

[0070] The method for the robot to laterally autonomously cross obstacles includes:

[0071] When the multi-joint bionic robot performs ordinary lateral rolling according to a preset U-shaped curve, the surface pressure of each module is obtained through the pressure sensor of each module.

[0072] Specifically, when the multi-joint bionic robot performs ordinary lateral rolling according to a preset U-shaped curve, the surface pressure is obtained through the pressure sensor of each module. The pressure sensor can monitor the pressure change of the rolling surface when the robot contacts the ground in real time and the pressure change of other surfaces when they do not contact the ground, providing direct feedback on the interaction between the robot and the environment for the robot. By collecting these pressure data, the robot can construct a preliminary perception model of its own motion state and the surrounding environment, providing data support for subsequent direction judgment and obstacle detection.

[0073] According to the surface pressure of the module, the rolling direction of the multi-joint bionic robot is determined, and whether the multi-joint bionic robot contacts an obstacle is judged in combination with the rolling direction.

[0074] Specifically, according to the surface pressure of the module, the rolling direction of the multi-joint bionic robot is determined, and whether the robot contacts an obstacle is judged in combination with the rolling direction. By analyzing the surface pressure generated by the pressure sensor, the rolling direction of the robot itself can be accurately judged. Among them, once the rolling direction is determined, the pressure change of a specific side surface can be monitored specifically, so as to detect the existence of an obstacle in time. This method improves the perception efficiency of the robot for obstacles, enabling the robot to respond at the initial stage of obstacle contact and gaining time for subsequent obstacle-crossing actions.

[0075] When the multi-joint bionic robot contacts the obstacle, a contact position between the multi-joint bionic robot and the obstacle is acquired.

[0076] Specifically, when the multi-joint bionic robot contacts an obstacle, the contact position between the robot and the obstacle is obtained. In a preferred embodiment of the present invention, the robot can accurately know the point of action of the obstacle on its own structure by identifying the installation position of the pressure sensor that contacts the obstacle. This enables the robot to adjust its own motion posture and power output in a targeted manner to ensure the effectiveness and safety of the obstacle-crossing action. Accurate contact position information helps the robot optimize the obstacle-crossing path and reduce unnecessary energy consumption and structural damage.

[0077] According to the contact position, the preset U-shaped curve is fitted into a U-shaped hump curve.

[0078] Specifically, the preset U-shaped curve is fitted into a U-shaped hump curve according to the contact position. This fitting process is to adapt the robot's motion trajectory to the shape and position of the obstacle. By adjusting the parameters of the U-shaped curve, such as the hump height and width, the robot can effectively raise the joints in contact with the obstacle and its adjacent joints while maintaining the tumbling motion, thereby achieving a leap over the obstacle. This dynamic curve fitting capability gives the robot greater adaptability and flexibility, enabling it to find a suitable obstacle-crossing path when facing obstacles of different shapes and sizes.

[0079] The multi-joint bionic robot is controlled to perform hump rolling along the rolling direction according to the U-shaped hump curve until the multi-joint bionic robot completes the obstacle crossing.

[0080] Specifically, the multi-joint bionic robot is controlled to roll along the rolling direction according to the U-shaped hump curve until the robot completes the obstacle crossing. In this process, the movement of each joint needs to be precisely controlled to ensure smooth rolling along the hump curve. By monitoring the data of the pressure sensor in real time, the robot can dynamically adjust the motion parameters to ensure stability in the process of crossing obstacles. When the robot successfully crosses the obstacle, it returns to the normal U-shaped rolling motion. This process gives the robot precise motion control capabilities, and can also make rapid adjustments based on real-time feedback to ensure the smooth completion of the obstacle crossing action.

[0081] The lateral autonomous obstacle-crossing method of the robot of the present invention can obtain the surface pressure data of each module in real time when the robot performs ordinary lateral rolling by setting pressure sensors on the rolling plane of each module of the multi-joint bionic robot. Based on the obtained surface pressure data of each module, the rolling direction of the robot itself can be accurately judged, and then the side surface in contact with the obstacle can be predicted in advance, so as to realize the early perception of the obstacle, enabling the robot to independently judge its own movement direction and posture without the assistance of external vision or lidar. When the robot contacts the obstacle, the contact position can be quickly determined, and the preset U-shaped curve can be fitted into a U-shaped hump curve adapted to the obstacle according to the contact position, so as to ensure that when contacting the obstacle, the robot can timely adjust the rolling posture according to the contact position. By controlling the robot to roll along the hump curve, the robot can effectively raise the joints in contact with the obstacle and their adjacent joints, so as to successfully cross the obstacle. Through the measurement and analysis of the pressure data, the present invention effectively detects the obstacle information, not only improves the perception ability and response speed of the robot to obstacles during lateral movement, but also enhances its obstacle-crossing flexibility and accuracy, enabling the robot to more efficiently and stably complete the lateral obstacle-crossing task in a complex environment, and significantly improving the obstacle-crossing effect of the multi-joint bionic robot during lateral movement.

[0082] Optionally, determining the rolling direction of the multi-joint bionic robot according to the surface pressure of the module and judging whether the multi-joint bionic robot contacts an obstacle in combination with the rolling direction includes:

[0083] When the multi-joint bionic robot performs ordinary lateral rolling according to a preset U-shaped curve, obtain the time sequence of the pulse signals generated when the pressure sensors on each plane in each module monitor the surface pressure;

[0084] According to the time sequence, judge the contact sequence of the rolling plane of each module with the ground;

[0085] According to the contact sequence of all the modules, determine the rolling direction of the multi-joint bionic robot.

[0086] Specifically, when the multi-joint bionic robot performs ordinary lateral rolling, by obtaining the time sequence of the pulse signals generated when the surface pressure is monitored by the pressure sensors on each plane in each module, the contact sequence between the rolling plane of each module and the ground can be accurately determined. For example, during the rolling process of the robot, the pressure sensors on its four sides will successively contact the ground and generate pressure pulse signals. By analyzing the time sequence of these signals, the robot can determine its own rolling direction relative to itself. Specifically, if the pressure sensor A generates a pulse signal before the pressure sensor B, it can be inferred that during the rolling process of the robot, the A side contacts the ground before the B side. By synthesizing the contact sequences of all modules, the rolling direction of the entire robot can be determined. This method utilizes the time series data of the pressure sensors to provide the robot with a way of environmental perception based on its own motion state, enabling the robot to independently judge its own motion direction and posture without the assistance of external vision or lidar.

[0087] In the embodiment of the present invention, by accurately judging the rolling direction, the robot can anticipate in advance the side that may contact an obstacle, thereby timely adjusting the motion strategy, which not only reduces the dependence on external sensors, lowers the complexity and cost of the system, but also enhances the adaptability and flexibility of the robot in a dynamic environment.

[0088] Optionally, determining the rolling direction of the multi-joint bionic robot according to the surface pressure of the module and judging whether the multi-joint bionic robot contacts an obstacle in combination with the rolling direction includes:

[0089] According to the rolling direction of each module, determine the next rolling plane of the module that contacts the ground, and use the rolling plane as the plane to be contacted;

[0090] Judge whether the surface pressure exists on the plane to be contacted through the pressure sensor on the plane to be contacted;

[0091] If so, it is determined that the multi-joint bionic robot contacts the obstacle;

[0092] If not, it is determined that the multi-joint bionic robot does not contact the obstacle.

[0093] Specifically, in combination with Figure 3As shown in the figure, during the lateral rolling process of the multi-joint bionic robot, first determine the next rolling plane that will contact the ground according to the rolling direction of each module, and mark this plane as the plane to be contacted. For example, when the robot performs a U-shaped roll, by analyzing the time sequence of the pressure pulse signals generated by the pressure sensors, the rolling direction of the robot can be determined. If the robot rolls from left to right, the pressure sensor on the left side will generate a signal earlier than the pressure sensor on the right side. Based on this rolling direction, the next rolling plane that will contact the ground can be predicted. Then, monitor whether there is surface pressure through the pressure sensors on the plane to be contacted. If the pressure sensors on the plane to be contacted detect pressure, it means that the robot is about to or has already contacted an obstacle; on the contrary, if no pressure is detected, it indicates that the robot has not contacted an obstacle. By utilizing the real-time monitoring function of the pressure sensors and combining with the movement direction of the robot, a fast and accurate judgment of obstacle contact is achieved.

[0094] In the embodiment of the present invention, by determining the plane to be contacted in advance and monitoring the pressure change thereof in real time, the robot can make a judgment at the moment of contacting an obstacle, so as to take timely measures to cross the obstacle. This not only improves the obstacle-crossing efficiency of the robot, but also enhances its survival ability and task execution ability in complex environments.

[0095] Optionally, when the multi-joint bionic robot contacts the obstacle, obtaining the contact position between the multi-joint bionic robot and the obstacle includes:

[0096] When the multi-joint bionic robot contacts the obstacle, obtaining the installation position of the pressure sensor on the plane to be contacted;

[0097] Determining the contact position between the multi-joint bionic robot and the obstacle according to the installation position.

[0098] Specifically, when the multi-joint bionic robot contacts an obstacle during the lateral rolling process, the contact position is determined by obtaining the installation position of the pressure sensor on the plane to be contacted. Specifically, pressure sensors are installed on the rolling plane of each module, and the positions of these sensors are preset. Thin-film pressure sensors are installed on the four sides of each module of the robot. When the robot contacts an obstacle, specific pressure sensors will detect pressure changes. By reading the installation position information of these sensors, the contact position between the robot and the obstacle can be accurately determined. For example, if the second pressure sensor on the left module detects pressure, then the contact position can be determined in a specific area of the left module. This method utilizes the spatial distribution information of the pressure sensors and combines the pressure signal with the physical structure of the robot, thereby achieving precise positioning of the contact position.

[0099] In the embodiments of the present invention, by accurately acquiring the contact position, the robot can more specifically adjust its own motion posture and force output, ensuring the effectiveness and safety of the obstacle-crossing action. The precise contact position perception ability also reduces the possible damage that the robot may suffer during the obstacle-crossing process, improving the service life and reliability of the robot.

[0100] Optionally, fitting the preset U-shaped curve into a U-shaped hump curve according to the contact position includes:

[0101] Determining the hump height and the influencing hump width of the obstacle according to the contact position;

[0102] Determining the complete curve arc length of the multi-joint bionic robot according to the motion control parameters of the multi-joint bionic robot;

[0103] Determining the curve arc length of the contact position according to the contact position in combination with the complete curve arc length;

[0104] Fitting the preset U-shaped curve into a U-shaped hump curve according to the curve arc length, in combination with the hump height and the influencing hump width.

[0105] Specifically, after the multi-joint bionic robot contacts the obstacle, fitting the U-shaped hump curve according to the contact position is a key step to achieve effective obstacle crossing. First, determine the hump height and the influencing hump width of the obstacle according to the contact position. When the robot contacts the obstacle, estimate the height and width of the obstacle by analyzing the pressure sensor data at the contact position. Then, determine the complete curve arc length of the robot according to the motion control parameters of the robot, where the physical size and motion range of the robot are involved. Next, combine the contact position and the complete curve arc length to determine the curve arc length of the contact position. Finally, according to the curve arc length, the hump height, and the influencing hump width, fit the preset U-shaped curve into a U-shaped hump curve adapted to the obstacle. Specifically, parametric equations can be used to describe the hump curve, where the parameters of the hump height and width are dynamically adjusted according to the actual contact situation. For example, if the obstacle is relatively high, the hump height parameter will be increased accordingly to ensure that the robot can successfully cross the obstacle. In the preferred embodiment of the present invention, if the obstacle is a regular shape such as a cylinder or a rectangle, the hump height and the influencing hump width can be inferred through the known contact position.

[0106] In the embodiments of the present invention, by accurately fitting the hump curve, the robot can dynamically adjust its motion trajectory according to the shape and size of the actual obstacle, thereby achieving more flexible and efficient obstacle crossing, improving the success rate and safety of obstacle crossing. The adaptability of the robot in a complex environment is enhanced, enabling it to cope with various obstacles of different shapes and sizes.

[0107] Optionally, fitting the preset U-shaped curve into a U-shaped hump curve according to the arc length of the contact position, combined with the hump height and the influencing hump width, includes:

[0108] Determine the fitting curve radius of the multi-joint bionic robot according to the preset U-shaped curve;

[0109] According to the curve arc length, the complete curve arc length, the fitting curve radius, the hump height and the influencing hump width, perform fitting through the U-shaped hump curve parametric equation to determine the U-shaped hump curve;

[0110] Fit the preset U-shaped curve into the U-shaped hump curve;

[0111] The parametric equation of the U-shaped hump curve is:

[0112]

[0113] r is the fitting curve radius, s is the complete curve arc length, h is the hump height, σ is the influencing hump width, x, y, and z are the x-coordinate, y-coordinate, and z-coordinate of the U-shaped hump curve respectively, s 0 is the curve arc length of the contact position, and e is a constant.

[0114] Specifically, according to the preset U-shaped curve, determine the fitting curve radius of the robot. This radius is a basic parameter of the U-shaped curve and determines the bending degree of the robot during normal rolling. Then, use the curve arc length of the contact position, the complete curve arc length, the fitting curve radius, the hump height, and the parameter of the influencing hump width to perform fitting through the U-shaped hump curve parametric equation to determine the final U-shaped hump curve. This parametric equation combines the motion characteristics of the robot and the geometric characteristics of the obstacle, enabling the robot to generate a trajectory that not only conforms to its own motion ability but also can effectively cross the obstacle. Finally, fit the preset U-shaped curve into the U-shaped hump curve according to the above parametric equation to guide the robot to complete the obstacle-crossing action.

[0115] The parametric equation of the U-shaped hump curve is:

[0116]

[0117] r is the fitting curve radius, s is the complete curve arc length, h is the hump height, σ is the influencing hump width, x, y, and z are the x-coordinate, y-coordinate, and z-coordinate of the U-shaped hump curve respectively, s 0 is the curve arc length of the contact position, and e is a constant.

[0118] In the embodiments of the present invention, the obstacle-crossing trajectory of the robot is described by fitting a parametric equation, so that the robot can dynamically adjust its movement path according to the specific conditions of different obstacles, improving the success rate and efficiency of obstacle crossing to adapt to different environmental and task requirements, and enhancing the adaptability and flexibility of the robot.

[0119] Optionally, controlling the multi-joint bionic robot to perform hump rolling along the rolling direction according to the U-shaped hump curve until the multi-joint bionic robot completes obstacle crossing includes:

[0120] By fitting the preset U-shaped curve to the U-shaped hump curve, controlling the multi-joint bionic robot to perform hump rolling along the rolling direction according to the U-shaped hump curve;

[0121] When the multi-joint bionic robot performs hump rolling, determining the hump position of the multi-joint bionic robot according to the contact position;

[0122] According to the hump position, obtaining the surface pressure of each rolling plane in the preset range centered on the hump position in the module;

[0123] Judging whether the multi-joint bionic robot has completed obstacle crossing according to the surface pressure.

[0124] Specifically, in the process of controlling the multi-joint bionic robot to perform hump rolling according to the U-shaped hump curve, first, by fitting the preset U-shaped curve to the U-shaped hump curve, the robot can roll along this curve. Then, when the robot starts hump rolling, the hump position of the robot is determined according to the contact position. This position is the key area where the robot raises itself during the rolling process to cross the obstacle. Then, centered on the hump position, the surface pressure of each rolling plane in the preset range in the module is obtained. These pressure data are used to monitor the contact situation between the robot and the ground in real time. If the surface pressure of the module near the hump position gradually decreases, it indicates that the robot is crossing the obstacle; on the contrary, if the pressure increases, it may mean that the robot is gradually crossing the obstacle. In this way, the robot can adjust its motion state in real time to ensure the smooth completion of the obstacle-crossing action.

[0125] In the embodiments of the present invention, by monitoring the pressure change near the hump position, a real-time feedback and adjustment mechanism is realized to ensure that the robot can accurately and safely complete the obstacle-crossing action.

[0126] Optionally, the controlling the multi-joint bionic robot to perform hump rolling along the rolling direction according to the U-shaped hump curve by fitting the preset U-shaped curve to the U-shaped hump curve includes:

[0127] Perform linear interpolation on the U-shaped hump curve according to the hump height and the influencing hump width to obtain a plurality of transitional U-shaped hump curves;

[0128] Control the multi-joint bionic robot to sequentially pass through all the transitional U-shaped hump curves for hump rolling according to a preset transition time;

[0129] After completing the hump rolling of all the transitional U-shaped hump curves, perform hump rolling along the rolling direction according to the U-shaped hump curve.

[0130] Specifically, first perform linear interpolation on the U-shaped hump curve according to the hump height and the influencing hump width to generate a plurality of transitional U-shaped hump curves, so as to ensure that the robot can smoothly transition from the preset U-shaped curve to the final U-shaped hump curve, and avoid excessive mechanical stress or control difficulty during sudden shape changes. By linearly interpolating the parameters of the hump height and the influencing hump width, a series of smoothly transitioning curves can be obtained. These transitional curves enable the robot to maintain a stable motion state during the shape change process, reducing the risk of instability or loss of control caused by sudden changes. Then, control the robot to sequentially pass through all the transitional U-shaped hump curves for hump rolling according to the preset transition time, which requires precise time control and joint coordination to ensure that the robot moves smoothly along the predetermined trajectory. Finally, when the robot completes the rolling of all the transitional curves, perform hump rolling along the rolling direction according to the final U-shaped hump curve until the obstacle is overcome.

[0131] In a preferred embodiment of the present invention, in order to prevent sudden changes in the control of the angles of each joint when the shape of the robot suddenly changes from a normal U-shaped curve to a U-shaped hump curve, curve interpolation is performed between the two curves, and a plurality of transitional U-shaped hump curves are obtained by linearly interpolating the hump height h and the influencing hump width σ. Assume h end and σ end are the curve parameters required finally, and the transition time between the two curves is from 0 to t total , then at the t-th moment, the curve parameter calculation formula is:

[0132]

[0133] where h(t) represents the hump height at time t; h end represents the hump height that needs to be finally reached; t totalis the total transition time from start to end; t represents the current time; σ(t) represents the parameter that affects the hump width at time t. σ(0) = 1e-9 is to ensure that the parameter σ is always non-zero and prevent the denominator from being zero in subsequent formula calculations. In robot control, control instructions are generated every time period T, so the curve parameters h and σ show discrete linear changes, that is, in the form of linear interpolation. To facilitate the conversion with obstacle parameters, referring to the "sigma principle" in the normal distribution, the obstacle width w o = 2σ, and the corresponding curve height h and obstacle height h o The relationship is h o = 0.6065h.

[0134] In the embodiment of the present invention, a transition curve is generated by linear interpolation, significantly improving the stability and safety of the robot during the obstacle-crossing process. The smooth transition curve reduces the mechanical impact of the robot during shape change, reduces the wear of joints and structures, and extends the service life of the robot. At the same time, the accurate transition time and joint control ensure that the robot can move stably along the predetermined trajectory, improving the success rate and efficiency of obstacle crossing.

[0135] Optionally, determining whether the multi-joint bionic robot has completed obstacle crossing according to the surface pressure change includes:

[0136] When the number of modules with gradually increasing surface pressure on the rolling plane is greater than or equal to a preset number threshold, it is determined that the multi-joint bionic robot has completed obstacle crossing;

[0137] When the number of modules with gradually increasing surface pressure on the rolling plane is less than the preset number threshold, it is determined that the multi-joint bionic robot has not completed obstacle crossing.

[0138] Specifically, whether the robot has completely crossed the obstacle is determined by the number of pressure sensors in contact with the ground in the non-hump area of the robot. Combining Figure 4As shown, when the raised hump of the robot crosses an obstacle, due to the rigidity limitation of the robot joints, the obstacle will slightly lift the joints on both sides of the robot hump, thereby weakening or even canceling the contact between the joints on both sides of the hump and the ground. As a result, the number of pressure sensors detecting pressure pulses in the non-hump area decreases. Conversely, if the number of pressure sensors detecting pressure pulses in the non-hump area increases, it can be determined that the robot has successfully crossed the obstacle. Therefore, when the robot is performing hump rolling, it will monitor the data of the pressure sensors on the rolling plane in real time. If the number of modules with gradually increasing surface pressure on the rolling plane is greater than or equal to the preset number threshold, this indicates that the robot has successfully crossed the obstacle, because this means that the contact area and contact force between the robot and the ground are increasing, indicating that it has smoothly passed over the obstacle and returned to the normal rolling state. For example, when the number of pressure sensors in the non-hump area of the robot increases and the detected pressure pulses also increase, it can be determined that the robot has successfully crossed the obstacle. On the contrary, if the number of modules with gradually increasing surface pressure is less than the preset threshold, this may mean that the robot has not fully crossed the obstacle, or has encountered new obstacles or unstable factors during the crossing process, and needs to continue the obstacle-crossing action or adjust the strategy.

[0139] In an embodiment of the present invention, the present invention provides a simple and effective real-time feedback mechanism, enabling the robot to autonomously judge the completion of the task during the obstacle-crossing process. By setting the number threshold, the robot can make quick decisions without external intervention, improving the automation degree and efficiency of the obstacle-crossing process.

[0140] Combined with Figure 5 As shown, the present invention also provides a robot lateral autonomous obstacle-crossing system, which is applied to a multi-joint bionic robot. The multi-joint bionic robot is composed of multiple modules connected in sequence; when the multi-joint bionic robot rolls laterally, pressure sensors are arranged on the rolling plane where each module can contact the ground;

[0141] The robot lateral autonomous obstacle-crossing system includes:

[0142] A pressure acquisition unit, configured to obtain the surface pressure of each module through the pressure sensor of each module when the multi-joint bionic robot performs ordinary lateral rolling according to a preset U-shaped curve;

[0143] A judgment unit, configured to determine the rolling direction of the multi-joint bionic robot according to the surface pressure of the module, and combine the rolling direction to judge whether the multi-joint bionic robot contacts an obstacle;

[0144] An obstacle positioning unit, configured to obtain the contact position between the multi-joint bionic robot and the obstacle when the multi-joint bionic robot contacts the obstacle;

[0145] A fitting unit, configured to fit the preset U-shaped curve into a U-shaped hump curve according to the contact position;

[0146] A control unit, configured to control the multi-joint bionic robot to perform hump rolling along the rolling direction according to the U-shaped hump curve until the multi-joint bionic robot completes obstacle crossing.

[0147] The robot lateral autonomous obstacle crossing system of the present invention can obtain the surface pressure data of each module in real time when the robot performs ordinary lateral rolling by setting pressure sensors on the rolling plane of each module of the multi-joint bionic robot. Based on the obtained surface pressure data of each module, the rolling direction of the robot itself can be accurately judged, and then the side surface in contact with the obstacle can be predicted in advance, so as to realize the early perception of the obstacle, enabling the robot to independently judge its own movement direction and posture without the assistance of external vision or lidar. When the robot contacts the obstacle, it can quickly determine the contact position and fit the preset U-shaped curve into a U-shaped hump curve adapted to the obstacle according to the contact position, so as to ensure that when contacting the obstacle, the robot can timely adjust the rolling posture according to the contact position. By controlling the robot to roll along the hump curve, the robot can effectively raise the joints in contact with the obstacle and their adjacent joints, so as to successfully cross the obstacle. The present invention effectively detects the obstacle information through the measurement and analysis of the pressure data, not only improves the perception ability and response speed of the robot to the obstacle during lateral movement, but also enhances its obstacle crossing flexibility and accuracy, enabling the robot to more efficiently and stably complete the lateral obstacle crossing task in a complex environment, and significantly improving the obstacle crossing effect of the multi-joint bionic robot during lateral movement.

[0148] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will all fall within the protection scope of the present invention.

Claims

1. A robot lateral autonomous obstacle crossing method, characterized in that: The method is applied to a multi-joint bionic robot, which is composed of a plurality of modules connected in sequence; when the multi-joint bionic robot rolls laterally, a pressure sensor is arranged on a rolling plane of each module that can contact the ground; The robot lateral autonomous obstacle crossing method comprises: When the multi-joint bionic robot performs a normal lateral roll according to a preset U-shaped curve, the surface pressure of each module is obtained through the pressure sensor of each module; Determining the rolling direction of the multi-joint bionic robot according to the surface pressure of the module, and judging whether the multi-joint bionic robot contacts an obstacle in combination with the rolling direction; When the multi-joint bionic robot contacts the obstacle, obtaining a contact position between the multi-joint bionic robot and the obstacle; According to the contact position, fitting the preset U-shaped curve into a U-shaped hump curve; The multi-joint bionic robot is controlled to perform hump rolling along the rolling direction according to the U-shaped hump curve until the multi-joint bionic robot completes the obstacle crossing.

2. The robot lateral autonomous obstacle surmounting method according to claim 1, characterized in that: Determining the rolling direction of the multi-joint bionic robot according to the surface pressure of the module, and judging whether the multi-joint bionic robot contacts an obstacle in combination with the rolling direction, comprises: When the multi-joint bionic robot performs a normal lateral roll according to a preset U-shaped curve, the time sequence of pulse signals generated when the pressure sensors on each plane in each module monitor the surface pressure is obtained; According to the time sequence, determining the contact sequence between the rolling plane of each module and the ground; The rolling direction of the multi-joint bionic robot is determined according to the contact sequence of all the modules.

3. The robot lateral autonomous obstacle surmounting method according to claim 1, characterized in that: Determining the rolling direction of the multi-joint bionic robot according to the surface pressure of the module, and judging whether the multi-joint bionic robot contacts an obstacle in combination with the rolling direction, comprises: According to the rolling direction of each module, determine the next rolling plane of the module in contact with the ground, and use the rolling plane as the plane to be contacted; Determining, by means of the pressure sensor on the plane to be contacted, whether the surface pressure exists on the plane to be contacted; If yes, it is determined that the multi-joint bionic robot contacts the obstacle; If not, it is determined that the multi-joint bionic robot does not contact the obstacle.

4. The robot lateral autonomous obstacle surmounting method according to claim 3, characterized in that: When the multi-joint bionic robot contacts the obstacle, obtaining the contact position between the multi-joint bionic robot and the obstacle comprises: When the multi-joint bionic robot contacts the obstacle, obtaining the setting position of the pressure sensor on the plane to be contacted; The contact position between the multi-joint bionic robot and the obstacle is determined according to the setting position.

5. The robot lateral autonomous obstacle surmounting method according to claim 1, characterized in that: The step of fitting the preset U-shaped curve into a U-shaped hump curve according to the contact position includes: Determining a hump height and an impact hump width of the obstacle according to the contact position; Determining the arc length of a complete curve of the multi-joint bionic robot according to the motion control parameters of the multi-joint bionic robot; Determine the arc length of the curve at the contact position according to the contact position combined with the arc length of the complete curve; According to the arc length of the curve, combined with the hump height and the impact hump width, the preset U-shaped curve is fitted into a U-shaped hump curve.

6. The robot lateral autonomous obstacle surmounting method according to claim 5, characterized in that: The step of fitting the preset U-shaped curve into a U-shaped hump curve according to the arc length of the curve at the contact position, in combination with the hump height and the impact hump width, comprises: Determining the fitting curve radius of the multi-joint bionic robot according to the preset U-shaped curve; Determine the U-shaped hump curve by fitting the U-shaped hump curve parameter equation according to the arc length of the curve, the arc length of the complete curve, the radius of the fitting curve, the hump height and the impact hump width; Fitting the preset U-shaped curve into the U-shaped hump curve; The parametric equation of the U-shaped hump curve is: r is the radius of the fitting curve, s is the arc length of the complete curve, h is the hump height, σ is the impact hump width, x, y, z are the x-coordinate, y-coordinate and z-coordinate of the U-shaped hump curve respectively, s0 is the arc length of the curve at the contact position, and e is a constant.

7. The robot lateral autonomous obstacle surmounting method according to claim 6, characterized in that: The controlling the multi-joint bionic robot to perform hump rolling along the rolling direction according to the U-shaped hump curve until the multi-joint bionic robot completes the obstacle crossing comprises: By fitting the preset U-shaped curve into the U-shaped hump curve, the multi-joint bionic robot is controlled to perform hump rolling along the rolling direction according to the U-shaped hump curve; When the multi-joint bionic robot performs hump rolling, determining the hump position of the multi-joint bionic robot according to the contact position; According to the hump position, acquiring the surface pressure of each rolling plane in the module within a preset range centered on the hump position; Whether the multi-joint bionic robot has completed the obstacle crossing is determined based on the surface pressure.

8. The robot lateral autonomous obstacle surmounting method according to claim 7, characterized in that: The method of fitting the preset U-shaped curve to the U-shaped hump curve and controlling the multi-joint bionic robot to perform hump rolling along the rolling direction according to the U-shaped hump curve comprises: According to the hump height and the impact hump width, linear interpolation is performed on the U-shaped hump curve to obtain a plurality of transitional U-shaped hump curves; According to the preset transition time, the multi-joint bionic robot is controlled to sequentially pass through all the transition U-shaped hump curves to perform hump rolling; After the hump rolling of all the transitional U-shaped hump curves is completed, hump rolling is performed along the rolling direction according to the U-shaped hump curves.

9. The robot lateral autonomous obstacle surmounting method according to claim 7, characterized in that: The step of judging whether the multi-joint bionic robot has completed the obstacle crossing according to the surface pressure change comprises: When the number of the modules whose surface pressure of the rolling plane gradually increases is greater than or equal to a preset number threshold, it is determined that the multi-joint bionic robot has completed the obstacle crossing; When the number of the modules whose surface pressure of the rolling plane gradually increases is less than a preset number threshold, it is determined that the multi-joint bionic robot has not completed the obstacle crossing.

10. A robot lateral autonomous obstacle crossing system, characterized in that: The system is applied to a multi-joint bionic robot, which is composed of a plurality of modules connected in sequence; when the multi-joint bionic robot rolls laterally, a pressure sensor is arranged on the rolling plane where each module can contact the ground; The robot lateral autonomous obstacle crossing system comprises: A pressure acquisition unit, used for acquiring the surface pressure of each module through the pressure sensor of each module when the multi-joint bionic robot performs a normal lateral roll according to a preset U-shaped curve; A judging unit, used to determine the rolling direction of the multi-joint bionic robot according to the surface pressure of the module, and judge whether the multi-joint bionic robot contacts an obstacle in combination with the rolling direction; An obstacle locating unit, used for obtaining a contact position between the multi-joint bionic robot and the obstacle when the multi-joint bionic robot contacts the obstacle; A fitting unit, used for fitting the preset U-shaped curve into a U-shaped hump curve according to the contact position; The control unit is used to control the multi-joint bionic robot to perform hump rolling along the rolling direction according to the U-shaped hump curve until the multi-joint bionic robot completes the obstacle crossing.

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