A robot lateral autonomous obstacle crossing method and system

Abstract

The application provides a robot transverse autonomous obstacle-crossing method and system, and relates to the technical field of robots.The method comprises the following steps: when a multi-joint bionic robot performs normal transverse rolling according to a preset U-shaped curve, the surface pressure of each module is obtained through the pressure sensor of each module; the rolling direction of the multi-joint bionic robot is determined according to the surface pressure of the module, and whether the multi-joint bionic robot contacts an obstacle is judged in combination with the rolling direction; when the multi-joint bionic robot contacts the obstacle, the contact position of the multi-joint bionic robot and the obstacle is obtained; the preset U-shaped curve is fitted into a U-shaped hump curve according to the contact position; 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 obstacle crossing.The application effectively detects obstacle information through measurement and analysis of pressure data, and improves the obstacle-crossing effect of the multi-joint bionic robot during transverse movement.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a method and system for autonomous lateral obstacle crossing by a robot. Background Technology

[0002] Currently, multi-joint bionic robots, due to their unique structure and flexibility, possess super-redundant degrees of freedom and can work in various complex environments, such as snake robots. Typically, multi-joint bionic robots perceive and detect the external environment through cameras or lidar mounted on their heads.

[0003] In related technologies, multi-joint bionic robots require their heads to be as stable as possible to ensure the effectiveness of the sensing and detection information. This limits the robot's ability to overcome obstacles in complex environments, especially during lateral tumbling, where the robot cannot effectively detect obstacle information, making it difficult to autonomously cross obstacles with irregular shapes. Summary of the Invention

[0004] The problem addressed by this invention is how to improve the obstacle-crossing performance of multi-joint bionic robots during lateral movement.

[0005] To address the above problems, this invention provides a method and system for autonomous lateral obstacle crossing by a robot.

[0006] In a first aspect, the present invention provides a method for autonomous obstacle crossing by a robot in the lateral direction. The method is applied to a multi-joint bionic robot, which is composed of multiple modules connected in sequence. When the multi-joint bionic robot rolls laterally, a pressure sensor is provided on the rolling plane of each module that can contact the ground.

[0007] The robot's lateral autonomous obstacle-crossing method includes:

[0008] 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;

[0009] Based on the surface pressure of the module, the rolling direction of the multi-joint bionic robot is determined, and the rolling direction is used to determine whether the multi-joint bionic robot comes into contact with an obstacle.

[0010] When the multi-joint bionic robot comes into contact with the obstacle, the contact position between the multi-joint bionic robot and the obstacle is obtained;

[0011] Based on the contact position, the preset U-shaped curve is fitted into a U-shaped hump curve;

[0012] The multi-joint bionic robot is controlled to roll 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 based on the surface pressure of the module, and determining whether the multi-joint bionic robot contacts an obstacle based on the rolling direction, includes:

[0014] When the multi-joint bionic robot performs a normal lateral roll according to a preset U-shaped curve, the time sequence of the pulse signals generated by the pressure sensors on each plane of each module when they detect the surface pressure is obtained.

[0015] Based on the time sequence, determine the contact sequence between the rolling plane of each module and the ground;

[0016] The rolling direction of the multi-joint bionic robot is determined based on the contact sequence of all the modules.

[0017] Optionally, determining the rolling direction of the multi-joint bionic robot based on the surface pressure of the module, and determining whether the multi-joint bionic robot contacts an obstacle based on the rolling direction, includes:

[0018] Based on the rolling direction of each module, determine the next rolling plane that the module will contact the ground, and use the rolling plane as the contact plane;

[0019] The presence of surface pressure on the surface to be contacted is determined by the pressure sensor on the surface to be contacted.

[0020] If so, it is determined that the multi-jointed bionic robot has come into contact with the obstacle;

[0021] If not, it is determined that the multi-jointed bionic robot has not come into contact with 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 comes into contact with the obstacle, the position of the pressure sensor on the plane to be contacted is obtained;

[0024] The contact position between the multi-joint bionic robot and the obstacle is determined based on the set position.

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

[0026] Based on the contact location, determine the hump height of the obstacle and the width of the hump that it affects;

[0027] The complete curve arc length of the multi-joint bionic robot is determined based on the motion control parameters of the multi-joint bionic robot.

[0028] The arc length of the curve at the contact position is determined based on the contact position and the arc length of the complete curve.

[0029] Based on the arc length of the curve, combined with the height of the hump and the width of the hump, the preset U-shaped curve is fitted into a U-shaped hump curve.

[0030] Optionally, fitting the preset U-shaped curve into a U-shaped hump curve based on the arc length of the curve at the contact position, combined with the hump height and the influence on the hump width, includes:

[0031] The radius of the fitting curve for the multi-joint bionic robot is determined based on the preset U-shaped curve.

[0032] The U-shaped hump curve is determined by fitting the U-shaped hump curve parametric equation based on the curve arc length, the complete curve arc length, the fitted curve radius, the hump height, and the hump width.

[0033] The preset U-shaped curve is fitted into the U-shaped hump curve;

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

[0035]

[0036] r is the radius of the fitted curve, s is the arc length of the complete curve, h is the height of the hump, σ is the width of the hump, x, y, and z are the x, y, and z coordinates of the U-shaped hump curve, s0 is the arc length of the curve at the contact position, and e is a constant.

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

[0038] By fitting the preset U-shaped curve into the U-shaped hump curve, the multi-joint bionic robot is controlled to roll along the rolling direction according to the U-shaped hump curve.

[0039] When the multi-joint bionic robot performs hump rolling, the hump position of the multi-joint bionic robot is determined according to the contact position.

[0040] Based on the hump position, obtain the surface pressure of each rolling plane in the module within a preset range centered on the hump position;

[0041] Based on the surface pressure, it is determined whether the multi-joint bionic robot has successfully overcome the obstacle.

[0042] Optionally, the step of fitting the preset U-shaped curve to the U-shaped hump curve and controlling the multi-joint bionic robot to roll along the rolling direction according to the U-shaped hump curve includes:

[0043] Based on the hump height and the hump width, linear interpolation is performed on the U-shaped hump curve to obtain multiple transitional U-shaped hump curves.

[0044] According to the preset transition time, the multi-joint bionic robot is controlled to roll through all the transition U-shaped camel hump curves in sequence.

[0045] After all the transition U-shaped hump curves have been rolled, the hump is rolled along the rolling direction according to the U-shaped hump curve.

[0046] Optionally, determining whether the multi-joint bionic robot has successfully overcome the obstacle based on the surface pressure change includes:

[0047] When the number of modules whose surface pressure on the rolling plane gradually increases is greater than or equal to a preset threshold, it is determined that the multi-joint bionic robot has successfully overcome the obstacle.

[0048] When the number of modules whose surface pressure on the rolling plane gradually increases is less than a preset threshold, it is determined that the multi-joint bionic robot has failed to overcome the obstacle.

[0049] Secondly, the present invention provides a lateral autonomous obstacle-crossing system for robots. The system is applied to a multi-joint bionic robot, which is composed of multiple modules connected in sequence. When the multi-joint bionic robot rolls laterally, each module is provided with a pressure sensor on the rolling plane that can contact the ground.

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

[0051] The pressure acquisition unit is used to acquire 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.

[0052] The judgment unit is used to determine the rolling direction of the multi-joint bionic robot based on the surface pressure of the module, and to determine whether the multi-joint bionic robot has contacted an obstacle based on the rolling direction.

[0053] An obstacle localization unit is used to obtain the contact position between the multi-joint bionic robot and the obstacle when the multi-joint bionic robot comes into contact with the obstacle;

[0054] A fitting unit is used to fit the preset U-shaped curve into a U-shaped hump curve based on the contact position.

[0055] The control unit is used to control the multi-joint bionic robot to roll along the rolling direction according to the U-shaped hump curve until the multi-joint bionic robot completes obstacle crossing.

[0056] The present invention relates to a method and system for autonomous lateral obstacle crossing in robots. By placing pressure sensors on the rolling plane of each module of a multi-joint bionic robot, surface pressure data of each module can be acquired in real time during normal lateral tumbling. Based on the acquired surface pressure data of each module, the robot's tumbling direction can be accurately determined, thereby predicting the side that will contact the obstacle in advance. This enables early obstacle perception, allowing the robot to autonomously determine its own movement direction and posture without external vision or lidar assistance. When the robot contacts an obstacle, the contact position can be quickly determined, and a preset U-shaped curve can be fitted to adapt to the obstacle's U-shaped hump curve based on the contact position. This ensures that when contacting the obstacle, the robot can adjust its tumbling posture in a timely manner according to the contact position. By controlling the robot to tumble along the hump curve, the robot can effectively raise the joint in contact with the obstacle and its adjacent joints, thus successfully crossing the obstacle. This invention effectively detects obstacle information by measuring and analyzing pressure data. This not only improves the robot's ability to perceive and respond to obstacles during lateral movement, but also enhances its flexibility and accuracy in overcoming obstacles. This enables the robot to complete lateral obstacle-crossing tasks more efficiently and stably in complex environments, significantly improving the obstacle-crossing performance of multi-joint bionic robots during lateral movement. Attached Figure Description

[0057] Figure 1 This is a flowchart of a robot's lateral autonomous obstacle crossing method according to an embodiment of the present invention;

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

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

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

[0061] Figure 5 This is a schematic diagram of the structure of a robot's lateral autonomous obstacle-crossing system in another embodiment of the present invention. Detailed Implementation

[0062] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below 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 set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0063] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0064] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "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"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0065] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

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

[0067] To address the problems existing in the aforementioned related technologies, this embodiment provides a method and system for a robot to autonomously overcome obstacles laterally.

[0068] This invention provides a method for autonomous obstacle crossing in the lateral direction for a robot. The method is applied to a multi-joint bionic robot, which is composed of multiple modules connected in sequence. When the multi-joint bionic robot rolls laterally, a pressure sensor is provided on the rolling plane of each module that can contact the ground.

[0069] Specifically, the multi-joint bionic robot is composed of multiple modules connected sequentially. In a preferred embodiment of the present invention, it is combined with... Figure 2 As shown, the multi-joint bionic robot is a snake-like robot. The modules that make up the snake-like robot are a head module, a tail module, and multiple joint modules. The connection directions of adjacent modules are orthogonal. When the snake-like robot rolls laterally, a thin-film pressure sensor is provided on the rolling plane of each module that can contact the ground. In another preferred embodiment of the invention, each module is a cuboid, and the pressure sensor is installed on its four sides. The four sides are regarded as the rolling surface, and the front and rear surfaces of the module are used to connect adjacent modules in front and behind.

[0070] The robot's lateral autonomous obstacle-crossing method includes:

[0071] 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.

[0072] Specifically, when the multi-jointed bionic robot performs a normal lateral roll according to a preset U-shaped curve, the surface pressure is acquired through pressure sensors in each module. These pressure sensors can monitor in real time the pressure changes on the rolling surface when the robot is in contact with the ground, as well as the pressure changes on other surfaces when not in contact with the ground, providing the robot with direct feedback on its interaction with the environment. By collecting this pressure data, the robot can build a preliminary perception model of its own motion state and the surrounding environment, providing data support for subsequent orientation determination and obstacle detection.

[0073] Based on the surface pressure of the module, the rolling direction of the multi-joint bionic robot is determined, and the rolling direction is used to determine whether the multi-joint bionic robot comes into contact with an obstacle.

[0074] Specifically, the rolling direction of the multi-joint bionic robot is determined based on the surface pressure of the module, and this rolling direction is used to determine whether the robot has contacted an obstacle. By analyzing the surface pressure generated by pressure sensors, the robot's own rolling direction can be accurately determined. Once the rolling direction is determined, pressure changes on specific sides can be monitored to detect the presence of obstacles in a timely manner. This method improves the robot's obstacle perception efficiency, enabling it to respond at the initial stage of obstacle contact and buying time for subsequent obstacle-crossing actions.

[0075] When the multi-joint bionic robot comes into contact with the obstacle, the contact position between the multi-joint bionic robot and the obstacle is obtained.

[0076] Specifically, when a multi-jointed bionic robot comes into contact with an obstacle, the contact position between the robot and the obstacle is obtained. In a preferred embodiment of the invention, by identifying the installation location of the pressure sensor that contacts the obstacle, the robot can accurately determine the point of impact of the obstacle on its own structure. This allows the robot to adjust its motion posture and power output accordingly, ensuring the effectiveness and safety of obstacle-crossing actions. Accurate contact position information helps the robot optimize its obstacle-crossing path, reducing unnecessary energy consumption and structural damage.

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

[0078] Specifically, based on the contact position, a preset U-shaped curve is fitted into a U-shaped hump curve. 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 joint in contact with the obstacle and its adjacent joints while maintaining rolling motion, thereby achieving passage over the obstacle. This dynamic curve fitting capability gives the robot greater adaptability and flexibility, enabling it to find suitable obstacle-crossing paths when facing obstacles of different shapes and sizes.

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

[0080] Specifically, the multi-joint bionic robot is controlled to roll along a U-shaped curve in the direction of tumbling until it successfully overcomes an obstacle. During this process, precise control of the movement of each joint is required to ensure smooth rolling along the curve. By monitoring data from pressure sensors in real time, the robot can dynamically adjust its motion parameters to ensure stability while crossing obstacles. Once the robot successfully overcomes the obstacle, it resumes its normal U-shaped tumbling motion. This process endows the robot with precise motion control capabilities and allows for rapid adjustments based on real-time feedback, ensuring the successful completion of the obstacle-crossing maneuver.

[0081] The present invention provides a method for autonomous lateral obstacle crossing in robotics. By placing pressure sensors on the rolling plane of each module of a multi-joint bionic robot, surface pressure data of each module can be acquired in real time during normal lateral tumbling. Based on the acquired surface pressure data of each module, the robot's tumbling direction can be accurately determined, thereby predicting the side that will contact the obstacle in advance. This enables early obstacle perception, allowing the robot to autonomously determine its own movement direction and posture without external vision or lidar assistance. When the robot contacts an obstacle, the contact position can be quickly determined, and a preset U-shaped curve can be fitted to adapt to the obstacle's U-shaped hump curve based on the contact position. This ensures that when contacting an obstacle, the robot can adjust its tumbling posture in a timely manner according to the contact position. By controlling the robot to tumble along the hump curve, the robot can effectively raise the joint in contact with the obstacle and its adjacent joints, thus successfully crossing the obstacle. This invention effectively detects obstacle information by measuring and analyzing pressure data. This not only improves the robot's ability to perceive and respond to obstacles during lateral movement, but also enhances its flexibility and accuracy in overcoming obstacles. This enables the robot to complete lateral obstacle-crossing tasks more efficiently and stably in complex environments, significantly improving the obstacle-crossing performance of multi-joint bionic robots during lateral movement.

[0082] Optionally, determining the rolling direction of the multi-joint bionic robot based on the surface pressure of the module, and determining whether the multi-joint bionic robot contacts an obstacle based on the rolling direction, includes:

[0083] When the multi-joint bionic robot performs a normal lateral roll according to a preset U-shaped curve, the time sequence of the pulse signals generated by the pressure sensors on each plane of each module when they detect the surface pressure is obtained.

[0084] Based on the time sequence, determine the contact sequence between the rolling plane of each module and the ground;

[0085] The rolling direction of the multi-joint bionic robot is determined based on the contact sequence of all the modules.

[0086] Specifically, when a multi-joint bionic robot performs a normal lateral roll, the timing sequence of pulse signals generated by pressure sensors on each plane of each module when they detect surface pressure allows for precise determination of the contact sequence between the rolling plane of each module and the ground. For example, during the roll, the pressure sensors on the robot's four sides sequentially contact the ground and generate pressure pulse signals. By analyzing the timing sequence of these signals, the robot can determine its own roll direction relative to itself. Specifically, if pressure sensor A generates a pulse signal before pressure sensor B, it can be inferred that side A contacts the ground before side B during the roll. By combining the contact sequences of all modules, the overall roll direction of the robot can be determined. This method utilizes the time-series data of the pressure sensors to provide the robot with an environmental perception method based on its own motion state, enabling the robot to autonomously determine its own motion direction and attitude without the assistance of external vision or LiDAR.

[0087] In this embodiment of the invention, by accurately determining the rolling direction, the robot can predict in advance the side that may come into contact with the obstacle, thereby adjusting the motion strategy in a timely manner. This not only reduces the dependence on external sensors and lowers the complexity and cost of the system, but also enhances the robot's adaptability and flexibility in dynamic environments.

[0088] Optionally, determining the rolling direction of the multi-joint bionic robot based on the surface pressure of the module, and determining whether the multi-joint bionic robot contacts an obstacle based on the rolling direction, includes:

[0089] Based on the rolling direction of each module, determine the next rolling plane that the module will contact the ground, and use the rolling plane as the contact plane;

[0090] The presence of surface pressure on the surface to be contacted is determined by the pressure sensor on the surface to be contacted.

[0091] If so, it is determined that the multi-jointed bionic robot has come into contact with the obstacle;

[0092] If not, it is determined that the multi-jointed bionic robot has not come into contact with the obstacle.

[0093] Specifically, in combination Figure 3As shown, during the lateral tumbling process of the multi-joint bionic robot, the next rolling plane that will contact the ground is first determined based on the tumbling direction of each module, and this plane is marked as the contact plane. For example, when the robot performs a U-shaped tumble, the tumbling direction can be determined by analyzing the timing sequence of pressure pulse signals generated by the pressure sensors. If the robot tumbles from left to right, the pressure sensor on the left will generate a signal before the pressure sensor on the right. Based on this tumbling direction, the next rolling plane that will contact the ground can be predicted. Next, the presence of surface pressure is monitored by the pressure sensors on the contact plane. If the pressure sensors on the contact plane detect pressure, it means that the robot is about to or has already contacted the obstacle; conversely, if no pressure is detected, it means that the robot has not contacted the obstacle. By utilizing the real-time monitoring function of the pressure sensors, combined with the robot's movement direction, a rapid and accurate judgment of obstacle contact is achieved.

[0094] In this embodiment of the invention, by pre-determining the surface to be contacted and monitoring its pressure changes in real time, the robot can make a judgment the instant it contacts the obstacle, thereby taking timely measures to overcome the obstacle. This not only improves the robot's obstacle-crossing efficiency but also enhances its survivability and task execution capabilities 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 comes into contact with the obstacle, the position of the pressure sensor on the plane to be contacted is obtained;

[0097] The contact position between the multi-joint bionic robot and the obstacle is determined based on the set position.

[0098] Specifically, when a multi-jointed bionic robot comes into contact with an obstacle during lateral tumbling, the contact position is determined by acquiring the placement of pressure sensors on the contact surface. Specifically, pressure sensors are installed on the rolling surface of each module, and their positions are pre-set. Thin-film pressure sensors are installed on the four sides of each module of the robot. When the robot comes into contact with an obstacle, a specific pressure sensor detects a pressure change. 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 to be in a specific area of ​​the left module. This method utilizes the spatial distribution information of the pressure sensors, combining the pressure signals with the robot's physical structure to achieve precise positioning of the contact point.

[0099] In this embodiment of the invention, by accurately obtaining the contact position, the robot can more effectively adjust its motion posture and force output, ensuring the effectiveness and safety of obstacle-crossing actions. The precise contact position perception capability also reduces the damage that the robot may suffer during obstacle crossing, improving the robot's service life and reliability.

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

[0101] Based on the contact location, determine the hump height of the obstacle and the width of the hump that it affects;

[0102] The complete curve arc length of the multi-joint bionic robot is determined based on the motion control parameters of the multi-joint bionic robot.

[0103] The arc length of the curve at the contact position is determined based on the contact position and the arc length of the complete curve.

[0104] Based on the arc length of the curve, combined with the height of the hump and the width of the hump, the preset U-shaped curve is fitted into a U-shaped hump curve.

[0105] Specifically, after a multi-joint bionic robot comes into contact with an obstacle, fitting a U-shaped hump curve based on the contact position is a key step in achieving effective obstacle crossing. First, the hump height and the width of the hump are determined based on the contact position. When the robot contacts the obstacle, the height and width of the obstacle are estimated by analyzing pressure sensor data at the contact position. Next, the full curve arc length is determined based on the robot's motion control parameters, which involve the robot's physical dimensions and range of motion. Then, combining the contact position and the full curve arc length, the curve arc length at the contact position is determined. Finally, based on the curve arc length, hump height, and the width of the hump, a preset U-shaped curve is fitted to adapt to the obstacle. Specifically, parametric equations can be used to describe the hump curve, where the hump height and width parameters are dynamically adjusted according to the actual contact situation. For example, if the obstacle is high, the hump height parameter will increase accordingly to ensure the robot can successfully cross the obstacle. In a preferred embodiment of the invention, if the obstacle is a regular shape such as a cylinder or rectangle, the hump height and the width of the hump can be inferred from the known contact position.

[0106] In this embodiment of the invention, by accurately fitting a hump curve, the robot can dynamically adjust its trajectory according to the shape and size of the actual obstacle, thereby achieving more flexible and efficient obstacle crossing, and improving the success rate and safety of obstacle crossing. This enhances the robot's adaptability in complex environments, enabling it to cope with obstacles of various shapes and sizes.

[0107] Optionally, fitting the preset U-shaped curve into a U-shaped hump curve based on the arc length of the curve at the contact position, combined with the hump height and the influence on the hump width, includes:

[0108] The radius of the fitting curve for the multi-joint bionic robot is determined based on the preset U-shaped curve.

[0109] The U-shaped hump curve is determined by fitting the U-shaped hump curve parametric equation based on the curve arc length, the complete curve arc length, the fitted curve radius, the hump height, and the hump width.

[0110] The preset U-shaped curve is fitted into the U-shaped hump curve;

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

[0112]

[0113] r is the radius of the fitted curve, s is the arc length of the complete curve, h is the height of the hump, σ is the width of the hump, x, y, and z are the x, y, and z coordinates of the U-shaped hump curve, s0 is the arc length of the curve at the contact position, and e is a constant.

[0114] Specifically, based on a pre-defined U-shaped curve, the radius of the robot's fitted curve is determined. This radius is a fundamental parameter of the U-shaped curve, determining the degree of bending during normal tumbling. Next, using the arc length of the curve at the contact point, the arc length of the complete curve, the radius of the fitted curve, the hump height, and parameters affecting the hump width, a U-shaped hump curve parametric equation is fitted to determine the final U-shaped hump curve. This parametric equation integrates the robot's motion characteristics and the geometric features of the obstacle, enabling the robot to generate a trajectory that both conforms to its own motion capabilities and effectively crosses obstacles. Finally, the pre-defined U-shaped curve is fitted into a U-shaped hump curve according to the above parametric equation, thereby guiding the robot to complete obstacle-crossing maneuvers.

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

[0116]

[0117] r is the radius of the fitted curve, s is the arc length of the complete curve, h is the height of the hump, σ is the width of the hump, x, y, and z are the x, y, and z coordinates of the U-shaped hump curve, s0 is the arc length of the curve at the contact position, and e is a constant.

[0118] In this embodiment of the invention, the obstacle-crossing trajectory of the robot is described by fitting parametric equations, thereby enabling the robot to dynamically adjust its movement path according to the specific circumstances of different obstacles, improving the success rate and efficiency of obstacle crossing, adapting to different environments and task requirements, and enhancing the robot's adaptability and flexibility.

[0119] Optionally, controlling the multi-joint bionic robot to roll along the tumbling 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 into the U-shaped hump curve, the multi-joint bionic robot is controlled to roll along the rolling direction according to the U-shaped hump curve.

[0121] When the multi-joint bionic robot performs hump rolling, the hump position of the multi-joint bionic robot is determined according to the contact position.

[0122] Based on the hump position, obtain the surface pressure of each rolling plane in the module within a preset range centered on the hump position;

[0123] Based on the surface pressure, it is determined whether the multi-joint bionic robot has successfully overcome the obstacle.

[0124] Specifically, in controlling the multi-joint bionic robot to roll along a U-shaped hump curve, the process begins by first fitting a preset U-shaped curve to a U-shaped hump curve, enabling the robot to roll along this curve. Then, as the robot begins rolling, the hump position is determined based on the contact point. This position is crucial for the robot to rise and overcome obstacles during the roll. Next, the surface pressure of each rolling plane within a preset range of the hump position is acquired. This pressure data is used to monitor the robot's contact with the ground in real time. If the surface pressure of the module near the hump position gradually decreases, it indicates that the robot is overcoming the obstacle; conversely, if the pressure increases, it may mean that the robot is gradually overcoming the obstacle. In this way, the robot can adjust its motion state in real time to ensure successful obstacle-crossing.

[0125] In this embodiment of the invention, a real-time feedback and adjustment mechanism is implemented by monitoring pressure changes near the hump, ensuring that the robot can complete obstacle-crossing actions accurately and safely.

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

[0127] Based on the hump height and the hump width, linear interpolation is performed on the U-shaped hump curve to obtain multiple transitional U-shaped hump curves.

[0128] According to the preset transition time, the multi-joint bionic robot is controlled to roll through all the transition U-shaped camel hump curves in sequence.

[0129] After all the transition U-shaped hump curves have been rolled, the hump is rolled along the rolling direction according to the U-shaped hump curve.

[0130] Specifically, firstly, the U-shaped hump curve is linearly interpolated based on the hump height and the parameters affecting the hump width to generate multiple transitional U-shaped hump curves. This ensures the robot can smoothly transition from the preset U-shaped curve to the final U-shaped hump curve, avoiding excessive mechanical stress or control difficulties during abrupt shape changes. By adjusting the hump height and the parameters affecting the hump width through linear interpolation, a series of smooth transition curves can be obtained. These transition curves enable the robot to maintain a stable motion state during shape changes, reducing the risk of instability or loss of control due to sudden changes. Next, according to the preset transition time, the robot is controlled to roll through all the transitional U-shaped hump curves sequentially. Precise timing control and joint coordination are required to ensure the robot moves smoothly along the predetermined trajectory. Finally, after the robot has completed rolling through all the transition curves, it rolls along the rolling direction according to the final U-shaped hump curve until it successfully overcomes the obstacle.

[0131] In a preferred embodiment of the present invention, to prevent abrupt changes in the control of joint angles when the robot's shape abruptly changes from a normal U-shaped curve to a U-shaped hump curve, curve interpolation is performed between the two curves. Multiple transitional U-shaped hump curves are obtained by linearly interpolating the hump height h and the hump width σ. Assuming h... end and σ end For the final required curve parameters, the transition time of the two curves is from 0 to t. total Then, at time t, the formula for calculating the curve parameters is:

[0132]

[0133] Where h(t) represents the height of the hump at time tt; h end This indicates the final hump height to be achieved; t totalLet be the total transition time from start to finish; t represents the current time; σ(t) represents the parameter affecting the hump width at time t. σ(0) = 1e-9 is used to ensure that the parameter σ is never zero, preventing the denominator from being zero in subsequent formula calculations. In robot control, control commands are generated once every time period T, so the curve parameters h and σ exhibit discrete linear changes, i.e., linear interpolation. To facilitate conversion with obstacle parameters, referring to the "sigma principle" in normal distribution, the obstacle width w is taken. o =2σ, at which point the corresponding curve height h and obstacle height h o The relation is h o =0.6065h.

[0134] In this embodiment of the invention, a transition curve is generated through linear interpolation, which significantly improves the stability and safety of the robot during obstacle crossing. The smooth transition curve reduces mechanical impact during shape changes, decreases wear on joints and structures, and extends the robot's lifespan. Simultaneously, precise transition timing and joint control ensure that the robot can move stably along a predetermined trajectory, improving the success rate and efficiency of obstacle crossing.

[0135] Optionally, determining whether the multi-joint bionic robot has successfully overcome the obstacle based on the surface pressure change includes:

[0136] When the number of modules whose surface pressure on the rolling plane gradually increases is greater than or equal to a preset threshold, it is determined that the multi-joint bionic robot has successfully overcome the obstacle.

[0137] When the number of modules whose surface pressure on the rolling plane gradually increases is less than a preset threshold, it is determined that the multi-joint bionic robot has failed to overcome the obstacle.

[0138] Specifically, whether the robot has completely crossed an obstacle is determined by the number of pressure sensors in the non-hump area of ​​the robot that are in contact with the ground. Combined with... Figure 4As shown, when a robot rolls over an obstacle with its hump raised, the rigidity of the robot's joints slightly lifts the joints on both sides of the hump due to the rigidity of the robot's joints, thus weakening or even eliminating the contact between the joints on both sides of the hump and the ground. This reduces the number of pressure sensors detecting pressure pulses in the non-hump area. 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 rolling with its hump raised, it monitors the pressure sensor data on the rolling surface in real time. If the number of modules with gradually increasing surface pressure on the rolling surface is greater than or equal to a preset threshold, it 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 successfully passed over the obstacle and returned to normal rolling. For example, when the number of pressure sensors in the non-hump area of ​​the robot increases and the number of detected pressure pulses also increases, it can be determined that the robot has successfully crossed the obstacle. Conversely, if the number of modules with gradually increasing surface pressure is less than the preset threshold, it may mean that the robot has not completely crossed the obstacle, or that it has encountered new obstacles or unstable factors during the crossing process, requiring continued obstacle-crossing actions or adjustment of the strategy.

[0139] In this embodiment of the invention, a simple yet effective real-time feedback mechanism is provided, enabling the robot to autonomously assess the task completion status during obstacle crossing. By setting a threshold number, the robot can make quick decisions without external intervention, improving the automation and efficiency of the obstacle crossing process.

[0140] Combination 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, each module is provided with a pressure sensor on the rolling plane that can contact the ground.

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

[0142] The pressure acquisition unit is used to acquire 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.

[0143] The judgment unit is used to determine the rolling direction of the multi-joint bionic robot based on the surface pressure of the module, and to determine whether the multi-joint bionic robot has contacted an obstacle based on the rolling direction.

[0144] An obstacle localization unit is used to obtain the contact position between the multi-joint bionic robot and the obstacle when the multi-joint bionic robot comes into contact with the obstacle;

[0145] A fitting unit is used to fit the preset U-shaped curve into a U-shaped hump curve based on the contact position.

[0146] The control unit is used to control the multi-joint bionic robot to roll along the rolling direction according to the U-shaped hump curve until the multi-joint bionic robot completes obstacle crossing.

[0147] The lateral autonomous obstacle-crossing system for robots of this invention acquires surface pressure data of each module in real time during normal lateral rolls by placing pressure sensors on the rolling plane of each module of the multi-joint bionic robot. Based on the acquired surface pressure data of each module, the robot can accurately determine its own roll direction and predict the side that will contact the obstacle in advance, thus achieving early obstacle perception. This allows the robot to autonomously determine its own movement direction and posture without the assistance of external vision or lidar. When the robot comes into contact with an obstacle, it can quickly determine the contact position and fit a preset U-shaped curve to a U-shaped hump curve adapted to the obstacle. This ensures that when contacting the obstacle, the robot can adjust its roll posture in time according to the contact position. By controlling the robot to roll along the hump curve, the robot can effectively raise the joint in contact with the obstacle and its adjacent joints, thus successfully crossing the obstacle. This invention effectively detects obstacle information by measuring and analyzing pressure data. This not only improves the robot's ability to perceive and respond to obstacles during lateral movement, but also enhances its flexibility and accuracy in overcoming obstacles. This enables the robot to complete lateral obstacle-crossing tasks more efficiently and stably in complex environments, significantly improving the obstacle-crossing performance of multi-joint bionic robots during lateral movement.

[0148] While the present invention has been disclosed above, its scope of protection 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 all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A method for lateral autonomous obstacle crossing by a robot, characterized in that, The method is applied to a multi-joint bionic robot 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 capable of contacting the ground; The robot lateral autonomous obstacle crossing method comprises: When the multi-joint bionic robot normally rolls laterally according to a preset U-shaped curve, the surface pressure of each module is obtained through the pressure sensor of each module; 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 the obstacle is judged in combination with the rolling direction; wherein, specifically comprising: when the multi-joint bionic robot normally rolls laterally according to a preset U-shaped curve, the time sequence of the pulse signal generated when the surface pressure is monitored by the pressure sensor on each plane of each module is obtained; according to the time sequence, the contact sequence of the rolling plane of each module and the ground is judged; according to the contact sequence of all the modules, the rolling direction of the multi-joint bionic robot is determined; When the multi-joint bionic robot contacts the obstacle, the contact position of the multi-joint bionic robot and the obstacle is obtained; According to the contact position, the hump height and the influence hump width of the obstacle are determined, and the preset U-shaped curve is fitted into a U-shaped hump curve; The multi-joint bionic robot is controlled to roll along the rolling direction according to the U-shaped hump curve until the multi-joint bionic robot completes the obstacle crossing.

2. The method of claim 1, wherein, 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 the obstacle is judged in combination with the rolling direction, comprising: According to the rolling direction of each module, the rolling plane of the module next contacting the ground is determined, and the rolling plane is taken as a to-be-contacted plane; Whether the to-be-contacted plane has the surface pressure is judged through the pressure sensor on the to-be-contacted plane; If yes, it is determined that the multi-joint bionic robot contacts the obstacle; If no, it is determined that the multi-joint bionic robot does not contact the obstacle.

3. The method of claim 2, wherein, When the multi-joint bionic robot contacts the obstacle, the contact position of the multi-joint bionic robot and the obstacle is obtained, comprising: When the multi-joint bionic robot contacts the obstacle, the setting position of the pressure sensor on the to-be-contacted plane is obtained; According to the setting position, the contact position of the multi-joint bionic robot and the obstacle is determined.

4. The method of claim 1, wherein, According to the contact position, the hump height and the influence hump width of the obstacle are determined, and the preset U-shaped curve is fitted into a U-shaped hump curve, comprising: According to the motion control parameters of the multi-joint bionic robot, the complete curve arc length of the multi-joint bionic robot is determined; According to the contact position and the complete curve arc length, the curve arc length of the contact position is determined; According to the curve arc length, in combination with the hump height and the influence hump width, the preset U-shaped curve is fitted into a U-shaped hump curve.

5. The method of claim 4, wherein, According to the curve arc length, in combination with the hump height and the influence hump width, the preset U-shaped curve is fitted into a U-shaped hump curve. According to the preset U-shaped curve, a fitted curve radius of the multi-joint bionic robot is determined. According to the curve arc length, the complete curve arc length, the fitted curve radius, the hump height and the influence hump width, a U-shaped hump curve is determined through a U-shaped hump curve parameter equation. The preset U-shaped curve is fitted into the U-shaped hump curve. The U-shaped hump curve parameter equation is: ； r is the radius of the fitted curve, s is the arc length of the complete curve, h is the hump height, s is the influence hump width, x, y, z are the x, y, and z coordinates of the U-shaped hump curve, respectively, is the arc length of the curve at the contact position, and e is a constant.

6. The method of claim 5, wherein, The control of the multi-joint bionic robot to perform hump rolling along the tumbling direction according to the U-shaped hump curve until the multi-joint bionic robot completes obstacle crossing includes: The control of the multi-joint bionic robot to perform hump rolling along the tumbling direction according to the U-shaped hump curve until the multi-joint bionic robot completes obstacle crossing includes: According to the contact position, a hump position of the multi-joint bionic robot is determined when the multi-joint bionic robot performs hump rolling. According to the hump position, the surface pressure of each rolling plane in the module within a preset range centered on the hump position is obtained. According to the surface pressure, it is determined whether the multi-joint bionic robot completes obstacle crossing.

7. The method of claim 6, wherein, The control of the multi-joint bionic robot to perform hump rolling along the tumbling direction according to the U-shaped hump curve until the multi-joint bionic robot completes obstacle crossing includes: According to the hump height and the influence hump width, linear interpolation is performed on the U-shaped hump curve to obtain a plurality of transition U-shaped hump curves; According to a 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; When hump rolling of all the transition U-shaped hump curves is completed, hump rolling is performed along the tumbling direction according to the U-shaped hump curve.

8. The method of claim 6, wherein, The determination of whether the multi-joint bionic robot completes obstacle crossing according to the surface pressure change includes: When the number of 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 completes obstacle crossing; When the number of 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 does not complete obstacle crossing.

9. A robotic lateral autonomous obstacle crossing system, characterized in that, The system is applied to the robot transverse autonomous obstacle crossing method of any one of claims 1-8, the robot transverse autonomous obstacle crossing method is applied to a multi-joint bionic robot, the multi-joint bionic robot is composed of a plurality of modules connected in sequence; when the multi-joint bionic robot tumbles transversely, a pressure sensor is arranged on a rolling plane of each module capable of contacting the ground; The robot transverse autonomous obstacle crossing system includes: A pressure acquisition unit is configured to acquire surface pressure of each module by the pressure sensor of each module when the multi-joint bionic robot performs normal lateral rolling according to the preset U-shaped curve; A judgment unit is configured to determine a rolling direction of the multi-joint bionic robot according to the surface pressure of each module, and to judge whether the multi-joint bionic robot contacts an obstacle in combination with the rolling direction; specifically, when the multi-joint bionic robot performs normal lateral rolling according to the preset U-shaped curve, the time sequence of pulse signals generated when the surface pressure is monitored by the pressure sensor on each plane of each module is acquired; the contact sequence of the rolling plane of each module and the ground is determined according to the time sequence; and the rolling direction of the multi-joint bionic robot is determined according to the contact sequence of all the modules. An obstacle positioning unit is configured to acquire a contact position of the multi-joint bionic robot and the obstacle when the multi-joint bionic robot contacts the obstacle. A fitting unit is configured to fit the preset U-shaped curve into a U-shaped hump curve according to the contact position. A control unit is configured to control the multi-joint bionic robot to perform hump rolling in the rolling direction according to the U-shaped hump curve until the multi-joint bionic robot completes obstacle crossing.

Images