State information sending method and device, computer equipment, storage medium and program product

Abstract

The invention relates to a state information sending method and device, computer equipment, a storage medium and a program product. Acquiring first state information of the wheel-foot type robot, which is acquired by a sensor on the wheel-foot type robot at the current time, and determining an information deviation between the first state information and second state information of the wheel-foot type robot, which is acquired at the last time, and according to the information deviation, the first state information, the second state information, a positive definite symmetric matrix, a preset threshold upper limit value and a preset threshold lower limit value, judging whether a judgment condition for sending the first state information to the control terminal is satisfied, and if the judgment condition is satisfied, sending the first state information to the control terminal. The energy utilization efficiency of the wheel-foot type robot is improved, the requirement for outdoor long-time-consuming tasks is met, and the energy consumption of the robot is reduced on the premise that the ideal stability and performance of the robot are not sacrificed.

Description

Technical Field

[0001] The present application relates to the technical field of robot control, and particularly to a method and device for sending status information, a computer device, a storage medium, and a program product. Background Art

[0002] The walking mechanism of a bipedal humanoid robot is similar to that of the human lower limbs and can cross obstacles with a human-like walking gait, having high flexibility and environmental adaptability. However, its movement efficiency on flat roads is relatively low. For wheeled robots, they can move smoothly and quickly on flat roads, but their lack of flexibility makes it impossible to drive forward on complex roads. By combining the advantages of legged robots and wheeled robots, the development of a wheel-legged humanoid robot can make up for the lack of movement ability of single-form robots, making use of both the speed and efficiency of wheels and the ability of legs to overcome uneven terrain and obstacles. Therefore, the research on wheel-legged humanoid robots is of great significance for improving the movement efficiency of mobile robots.

[0003] The wheel-legged robot is powered by a battery and executes tasks through a remote control mode or by pre-programmed tasks and remote adjustment. The wheel-legged robot is equipped with sensors for measuring the status information of the robot and sends the measured status information in real time. However, the existing control mode has the problem of high energy consumption of the robot. Therefore, how to reduce the energy consumption of the robot without sacrificing the ideal stability and performance of the robot has become an urgent problem to be solved in this field. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide a method and device for sending status information, a computer device, a storage medium, and a program product that can reduce the energy consumption of the robot without sacrificing the ideal stability and performance of the robot.

[0005] In a first aspect, the present application provides a method for sending status information, including:

[0006] Obtain the first status information of the wheel-legged robot collected by the sensor on the wheel-legged robot for the current time;

[0007] Determine the information deviation between the first status information and the second status information of the wheel-legged robot collected last time;

[0008] According to the information deviation, the first status information, the second status information, a positive definite symmetric matrix, a preset upper threshold value, and a lower threshold value, determine whether the judgment condition for sending the first status information to the control terminal is satisfied; the positive definite symmetric matrix is determined according to the approximate linear dynamic model equation of the wheel-legged robot;

[0009] If the judgment condition is satisfied, send the first status information to the control terminal.

[0010] In one embodiment, determining whether the judgment condition for sending the first status information to the control terminal is satisfied according to the information deviation, the first status information, the second status information, the positive definite symmetric matrix, the preset upper threshold value, and the lower threshold value includes:

[0011] Determine the target threshold according to the information deviation, the second status information, the upper threshold value, and the lower threshold value;

[0012] Determine whether the judgment condition for sending the first status information to the control terminal is satisfied according to the target threshold, the first status information, the information deviation, and the positive definite symmetric matrix.

[0013] In one embodiment, determining the target threshold according to the information deviation, the second status information, the upper threshold value, and the lower threshold value includes:

[0014] Determine the transposed matrix of the information deviation, and calculate the first product among the transposed matrix, the information deviation, and the sensitivity parameter;

[0015] Determine the second product of the second status information and the transposed matrix of the second status information, and determine the first summation result of the second product and the first preset parameter;

[0016] Determine the hyperbolic tangent value of the ratio of the first product to the first summation result;

[0017] Determine the target threshold according to the upper threshold value, the lower threshold value, and the hyperbolic tangent value.

[0018] In one embodiment, determining the target threshold according to the upper threshold value, the lower threshold value, and the hyperbolic tangent value includes:

[0019] Determine the first difference between the upper threshold value and the lower threshold value, and determine the third product of the first difference and the hyperbolic tangent value;

[0020] Determine the second difference between the upper threshold value and the third product, and determine the target threshold according to the second difference.

[0021] In one embodiment, determining whether the judgment condition for sending the first status information to the control terminal is satisfied according to the target threshold, the first status information, the information deviation, and the positive definite symmetric matrix includes:

[0022] Determine the fourth product of the target threshold, the first status information, the transposed matrix of the first status information, and the positive definite symmetric matrix;

[0023] Determine the second summation result of the fourth product and the second preset parameter;

[0024] Determine the information deviation, the transposed matrix of the information deviation, and the fifth product of the positive definite symmetric matrix. If the fifth product is not less than the second summation result, determine that the judgment condition for sending the first status information to the control terminal is satisfied.

[0025] In one embodiment, the method further includes:

[0026] Receive a control instruction generated by the control terminal based on the sixth product of the first status information and the control gain matrix. The control instruction is used to control the wheel-legged robot;

[0027] Wherein, the control gain matrix is determined according to the approximate linear dynamics model equation, and the sixth product is used to characterize the control vector of the wheel-legged robot. The control vector includes the output torque of the hip joint of the wheel-legged robot and the output torque of the driving wheel.

[0028] In a second aspect, the present application also provides a status information sending device, including:

[0029] The device includes:

[0030] An acquisition module, configured to acquire the first status information of the wheel-legged robot collected by the sensor on the wheel-legged robot for the current time;

[0031] A determination module, configured to determine the information deviation between the first status information and the second status information of the wheel-legged robot collected last time;

[0032] A judgment module, configured to judge whether the judgment condition for sending the first status information to the control terminal is satisfied according to the information deviation, the first status information, the second status information, the positive definite symmetric matrix, the preset upper threshold value and the lower threshold value; the positive definite symmetric matrix is determined according to the approximate linear dynamics model equation of the wheel-legged robot;

[0033] A sending module, configured to send the first status information to the control terminal if the judgment condition is satisfied.

[0034] In a third aspect, the present application also provides a computer device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0035] Acquire the first status information of the wheel-legged robot collected by the sensor on the wheel-legged robot for the current time;

[0036] Determine the information deviation between the first status information and the second status information of the wheel-legged robot collected last time;

[0037] Based on the information deviation, the first state information, the second state information, a positive definite symmetric matrix, a preset upper threshold value, and a lower threshold value, determine whether the judgment condition for sending the first state information to the control terminal is satisfied; the positive definite symmetric matrix is determined according to the approximate linear dynamic model equation of the wheel-legged robot;

[0038] If the judgment condition is satisfied, send the first state information to the control terminal.

[0039] Fourthly, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0040] Obtain the first state information of the wheel-legged robot collected by the sensor on the wheel-legged robot for the current time;

[0041] Determine the information deviation between the first state information and the second state information of the wheel-legged robot collected last time;

[0042] Based on the information deviation, the first state information, the second state information, a positive definite symmetric matrix, a preset upper threshold value, and a lower threshold value, determine whether the judgment condition for sending the first state information to the control terminal is satisfied; the positive definite symmetric matrix is determined according to the approximate linear dynamic model equation of the wheel-legged robot;

[0043] If the judgment condition is satisfied, send the first state information to the control terminal.

[0044] Fifthly, the present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, the following steps are implemented:

[0045] Obtain the first state information of the wheel-legged robot collected by the sensor on the wheel-legged robot for the current time;

[0046] Determine the information deviation between the first state information and the second state information of the wheel-legged robot collected last time;

[0047] Based on the information deviation, the first state information, the second state information, a positive definite symmetric matrix, a preset upper threshold value, and a lower threshold value, determine whether the judgment condition for sending the first state information to the control terminal is satisfied; the positive definite symmetric matrix is determined according to the approximate linear dynamic model equation of the wheel-legged robot;

[0048] If the judgment condition is satisfied, send the first state information to the control terminal.

[0049] The above-mentioned state information sending method, device, computer device, storage medium and program product obtain the first state information of the wheeled-leg robot collected by the sensor on the wheeled-leg robot for the current time, determine the information deviation between the first state information and the second state information of the wheeled-leg robot collected last time, and judge whether the judgment condition for sending the first state information to the control terminal is satisfied according to the information deviation, the first state information, the second state information, the positive definite symmetric matrix, the preset upper threshold value and the lower threshold value. If the judgment condition is satisfied, the first state information is sent to the control terminal. Since the hybrid event triggering mechanism, that is, the judgment condition, effectively combines the advantages of the relative and fixed event triggering mechanisms, constructs a verification condition that takes into account both the signal transmission frequency and the task execution accuracy of the wheeled-leg robot, achieves a good balance between energy consumption and performance, reduces the transmission frequency of the state information of the wheeled-leg robot, thereby reducing the energy consumption of the wheeled-leg robot, improving the energy utilization efficiency of the wheeled-leg robot, meeting the requirements of long-duration tasks in the wild, and realizing the reduction of the robot's energy consumption without sacrificing the ideal stability and performance of the robot. Brief Description of the Drawings

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0051] Figure 1 It is an application environment diagram of the state information sending method in an embodiment;

[0052] Figure 2 It is a schematic diagram of the dynamic model of a wheeled-leg robot provided by an embodiment of the present application;

[0053] Figure 3 It is a schematic flowchart of a state information sending method provided by an embodiment of the present application;

[0054] Figure 4 It is a schematic flowchart of a method for judging a judgment condition provided by an embodiment of the present application;

[0055] Figure 5 It is a schematic flowchart of a method for determining a target threshold provided by an embodiment of the present application;

[0056] Figure 6 It is a schematic flowchart of another method for determining a target threshold provided by an embodiment of the present application;

[0057] Figure 7 It is a schematic flowchart of another method for judging a judgment condition provided by an embodiment of the present application;

[0058] Figure 8 It is a schematic flowchart of another method for sending status information provided by an embodiment of the present application;

[0059] Figure 9 It is a schematic diagram of a system status curve provided by an embodiment of the present application;

[0060] Figure 10 It is a schematic diagram of a control input curve provided by an embodiment of the present application;

[0061] Figure 11 It is a schematic diagram of a curve of a target threshold provided by an embodiment of the present application;

[0062] Figure 12 It is a schematic diagram of the instant and interval of status information release provided by an embodiment of the present application;

[0063] Figure 13 It is a structural block diagram of a status information sending device provided by an embodiment of the present application;

[0064] Figure 14 It is an internal structure diagram of a computer device in one embodiment. Specific embodiments

[0065] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0066] The method for sending status information provided by the embodiments of the present application can be applied to, for example Figure 1In the application environment shown. Among them, the wheel-legged robot 11 communicates with the control terminal 12 through a network. The sensors of the wheel-legged robot 11 can collect the status information of the wheel-legged robot and store the status information in the register. The event generator of the wheel-legged robot 11 can obtain the status information from the register, compare the first status information obtained this time with the second status information of the wheel-legged robot obtained last time to determine the information deviation between the status information obtained twice, and judge whether the judgment condition for sending the first status information to the control terminal is satisfied according to the information deviation, the first status information, the second status information, the positive definite symmetric matrix, the preset upper threshold value and the lower threshold value. If the judgment condition for sending the first status information to the control terminal is satisfied, the status information obtained this time is sent to the control terminal through the communication module in the control terminal, and the control instruction generated by the control terminal based on the status information obtained this time and the control gain matrix is received through the actuator. The control instruction is used to control the wheel-legged robot. Among them, the control terminal 12 can be but is not limited to various personal computers, laptop computers, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, etc. The portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc.

[0067] To introduce the embodiments of the present application more clearly, the process of obtaining the approximate linear dynamic model equation of the wheel-legged robot and determining the positive definite symmetric matrix and the control gain matrix according to the approximate linear dynamic model equation of the wheel-legged robot will be introduced first. Among them, those with a T added to the upper right corner of the matrix represent the transpose matrix of the matrix. For example represents the transpose matrix of.

[0068] In this embodiment, the Newton-Euler equation can be used to establish the non-linear dynamic model equation of the wheel-legged robot, and the non-linear dynamic model equation is linearized to obtain the approximate linear dynamic model equation.

[0069] As Figure 2 shown, Figure 2 is a schematic diagram of the dynamic model of a wheel-legged robot provided by an embodiment of the present application. It is assumed that all parts of the wheel-legged robot are rigid bodies, and the Newton-Euler equation is used for dynamic analysis and modeling. The dynamic model equation of the wheel-legged robot is shown in Equation (1) as follows:

[0070]

[0071] Among them, is the horizontal component of the force of the lower swing of the wheel-legged robot on the body, is the body mass of the wheel-legged robot's body is the horizontal displacement of the driving wheel of the wheel-legged robot is the distance between the center of mass 21 of the lower swing and the center 22 of the driving wheel is the distance between the center of mass 21 of the lower swing and the hip joint 23 is the angle between the lower swing and the direction perpendicular to the earth system is the distance from the center of mass 24 of the body to its rotation axis, i.e., the hip joint 23 is the angle between the body and the horizontal direction is the vertical component of the force of the lower swing on the body is the acceleration due to gravity is the moment of inertia of the body is the output torque of the hip joint 23 is the horizontal component of the force of the driving wheel on the swing rod is the mass of the swing rod is the vertical component of the force of the driving wheel on the lower swing's swing rod is the moment of inertia of the lower swing rotating about its center of mass is the output torque of the driving wheel is the mass of the rotor of the driving wheel is the frictional force of the ground on the driving wheel is the moment of inertia of the rotor of the driving wheel is the radius of the driving wheel

[0072] Next, define the state vector and the control vector , where represents the derivative of represents the derivative of represents the derivative of. The above dynamic model equation (1) can be transformed into a nonlinear dynamic model equation, and the nonlinear dynamic model equation is shown as Equation (2) below:

[0073]

[0074] Linearize the above nonlinear dynamic model equation by Taylor expansion at the system equilibrium point, and the approximate linear dynamic model equation (3) of the wheel-legged robot can be obtained:

[0075]

[0076] where , , and ( are all known parameters, is system interference, is a known matrix.

[0077] To ensure the effectiveness of the control strategy for controlling the wheeled-legged robot, a composite energy function in the following form can be selected. The composite energy function is shown in the following formula (4):

[0078]

[0079] where, is a Lyapunov variable.

[0080] Calculate the derivative of and consider performance. Combining with the above approximate linear dynamic model equation (3), the following formula (5) can be obtained:

[0081]

[0082] where, , represents the performance level, is a known matrix.

[0083] Substitute the event-triggered state feedback controller, i.e., the control vector and the hybrid event-triggered sampling mechanism, i.e., the judgment condition, into formula (5), and the following formula (6) can be obtained:

[0084]

[0085] Select and use the Schur complement lemma to obtain the following formula (7):

[0086]

[0087]

[0088] where, . The judgment condition is , , is the first state information of the wheeled-legged robot collected by the sensor on the wheeled-legged robot this time, is the second state information of the wheeled-legged robot collected by the sensor last time. The element in the second row and the first column of represents the transpose of the element in the first row and the second column of , and the element in the third row and the first column of represents the transpose of the element in the first row and the third column of The element in the fourth row and the first column of Indicating the one in the first row and the fourth column The transpose of, the one in the third row and the second column Indicating the transpose of the 0 in the second row and the third column, the one in the fourth row and the second column Indicating the transpose of the 0 in the second row and the fourth column, the one in the fourth row and the third column Indicating the transpose of the 0 in the third row and the fourth column. If the above formula (8) is satisfied, the wheel-legged inverted pendulum robot is bounded stable under the hybrid event-triggered state feedback control method designed in the present invention. Based on the above formula (8), the positive definite symmetric matrix 、 and the control gain matrix .

[0089] In an exemplary embodiment, as Figure 3 shown Figure 3 is a schematic flowchart of a state information sending method provided by an embodiment of the present application. Taking the wheel-legged robot 11 in Figure 1 as an example for illustration, it includes the following steps S301 - S304:

[0090] S301, Obtain the first state information of the wheel-legged robot collected by the sensors on the wheel-legged robot this time.

[0091] The sensors may include angle sensors, angular velocity sensors, displacement sensors, and speed sensors. Among them, multiple angle sensors can respectively collect and , multiple angular velocity sensors can respectively collect and , the displacement sensor can collect , the speed sensor can collect , the sensors can collect the state information of the wheel-legged robot in real time or periodically. The first state information of the wheel-legged robot collected this time refers to the state information collected most recently. The state information collected each time includes , , , , and . The state information collected by the sensors can be stored in the register of the wheel-legged robot, and the event generator can obtain the state information from the register.

[0092] S302, Determine the information deviation between the first state information and the second state information of the wheel-legged robot collected last time.

[0093] Among them, the information deviation is represented by , .

[0094] S303. Determine whether the judgment condition for sending the first state information to the control terminal is satisfied according to the information deviation, the first state information, the second state information, the positive definite symmetric matrix, the preset upper threshold value, and the lower threshold value. The positive definite symmetric matrix is determined according to the approximate linear dynamic model equation of the wheel-legged robot.

[0095] The target threshold can be determined according to the information deviation, the second state information, the upper threshold value, and the lower threshold value. Then, according to the target threshold, the first state information, the information deviation, and the positive definite symmetric matrix, determine whether the judgment condition for sending the first state information to the control terminal is satisfied. Among them, the target threshold can be calculated using the following formula (9):

[0096]

[0097] Among them, represents the target threshold, represents the upper threshold value, represents the lower threshold value, is the hyperbolic tangent function, is a positive constant, is the sensitivity parameter.

[0098] In one embodiment, the target threshold can also be calculated based on the deformation formula of the above formula (9). For example, the product obtained by multiplying the above by a preset coefficient is used as the target threshold.

[0099] The judgment condition is shown in the following formula (10):

[0100]

[0101] Among them, is a positive constant. If it is determined that the above formula (10) holds according to the target threshold, the first state information, the information deviation, and the positive definite symmetric matrix, then it is determined that the judgment condition for sending the first state information to the control terminal is satisfied.

[0102] In one embodiment, the judgment condition can also be determined based on the deformation formula of the above formula (10). For example, the judgment condition is .

[0103] S304. If the judgment condition is satisfied, send the first state information to the control terminal.

[0104] It should be noted that if the judgment condition is satisfied, the first status information is sent to the control terminal. That is to say, only when the judgment condition is satisfied, the first status information is sent to the control terminal. If the judgment condition is not satisfied, the first status information is not sent to the control terminal, but the execution steps S301 - S303 are returned. Among them, in S301, the first status information of the wheeled - legged robot collected by the sensor on the wheeled - legged robot at the current time is obtained, and the first status information of the wheeled - legged robot collected at the current time is the most recent (i.e., the status information).

[0105] The status - information sending method provided in this embodiment obtains the first status information of the wheeled - legged robot collected by the sensor on the wheeled - legged robot at the current time, determines the information deviation between the first status information and the second status information of the wheeled - legged robot collected last time, and judges whether the judgment condition for sending the first status information to the control terminal is satisfied according to the information deviation, the first status information, the second status information, the positive - definite symmetric matrix, the preset upper - threshold value, and the lower - threshold value. If the judgment condition is satisfied, the first status information is sent to the control terminal. Since the hybrid event - triggering mechanism (i.e., the judgment condition) effectively combines the advantages of the relative and fixed event - triggering mechanisms, constructs a verification condition that takes into account both the signal - transmission frequency and the task - execution accuracy of the wheeled - legged robot, achieves a good balance between energy consumption and performance, reduces the transmission frequency of the status information of the wheeled - legged robot, thereby reducing the energy consumption of the wheeled - legged robot, improving the energy - utilization efficiency of the wheeled - legged robot, meeting the requirements of long - duration tasks in the wild, and realizing the reduction of the robot's energy consumption without sacrificing the ideal stability and performance of the robot.

[0106] In an exemplary embodiment, as Figure 4 shown Figure 4 is a schematic flowchart of a method for judging a judgment condition provided in an embodiment of the present application. On the basis of the above - mentioned embodiment, in the above - mentioned S303, judging whether the judgment condition for sending the first status information to the control terminal is satisfied according to the information deviation, the first status information, the second status information, the positive - definite symmetric matrix, the preset upper - threshold value, and the lower - threshold value may include the following steps S401 - S402:

[0107] S401, determine a target threshold according to the information deviation, the second status information, the upper - threshold value, and the lower - threshold value.

[0108] S402, judge whether the judgment condition for sending the first status information to the control terminal is satisfied according to the target threshold, the first status information, the information deviation, and the positive - definite symmetric matrix.

[0109] The method provided in this embodiment determines the target threshold according to the information deviation, the second state information, the upper threshold value, and the lower threshold value, and determines whether the judgment condition for sending the first state information to the control terminal is satisfied according to the target threshold, the first state information, the information deviation, and the positive definite symmetric matrix, thereby achieving a good balance between the energy consumption and performance of the wheel-legged robot, reducing the transmission frequency of the state information of the wheel-legged robot, thereby reducing the energy consumption of the wheel-legged robot, improving the energy utilization efficiency of the wheel-legged robot, meeting the requirements of long-duration tasks in the wild, and realizing the reduction of the robot's energy consumption without sacrificing the ideal stability and performance of the robot.

[0110] In an exemplary embodiment, as Figure 5 shown, Figure 5 is a schematic flowchart of a method for determining a target threshold provided by an embodiment of the present application. On the basis of the above embodiment, the above S401 may include the following steps S501-S504:

[0111] S501, determine the transpose matrix of the information deviation, and calculate the first product among the transpose matrix, the information deviation, and the sensitivity parameter.

[0112] Referring to the above formula (9), the first product is equal to .

[0113] S502, determine the second product of the second state information and the transpose matrix of the second state information, and determine the first summation result of the second product and the first preset parameter.

[0114] Referring to the above formula (9), the first summation result is equal to . Wherein, is a positive constant, that is, the first preset parameter.

[0115] S503, determine the hyperbolic tangent value of the ratio of the first product to the first summation result.

[0116] The hyperbolic tangent value of the ratio of the first product to the first summation result can be calculated using the hyperbolic tangent function.

[0117] S504, determine the target threshold according to the upper threshold value, the lower threshold value, and the hyperbolic tangent value.

[0118] In a possible implementation manner, the first difference between the upper threshold value and the lower threshold value may be determined, the third product of the first difference and the hyperbolic tangent value may be determined, the second difference between the upper threshold value and the third product may be determined, and the target threshold may be determined according to the second difference, and the second difference may be used as the target threshold.

[0119] The method provided in this embodiment determines the transpose matrix of the information deviation, calculates the first product among the transpose matrix, the information deviation, and the sensitivity parameter, determines the second product between the second state information and the transpose matrix of the second state information, and determines the first summation result of the second product and the first preset parameter, determines the hyperbolic tangent value of the ratio of the first product to the first summation result, and determines the target threshold according to the upper threshold value, the lower threshold value, and the hyperbolic tangent value, so as to facilitate subsequent judgment based on the target threshold whether the judgment condition for sending the first state information to the control terminal is satisfied, and then, when the judgment condition is satisfied, send the first state information to the control terminal.

[0120] In an exemplary embodiment, as Figure 6 shown, Figure 6 is a schematic flowchart of another method for determining the target threshold provided by an embodiment of the present application. On the basis of the above embodiment, S504 may include the following steps S601 - S602:

[0121] S601, determine the first difference between the upper threshold value and the lower threshold value, and determine the third product of the first difference and the hyperbolic tangent value.

[0122] S602, determine the second difference between the upper threshold value and the third product, and determine the target threshold according to the second difference.

[0123] The method provided in this embodiment determines the first difference between the upper threshold value and the lower threshold value, determines the third product of the first difference and the hyperbolic tangent value, determines the second difference between the upper threshold value and the third product, and determines the target threshold according to the second difference, so as to facilitate subsequent judgment based on the target threshold whether the judgment condition for sending the first state information to the control terminal is satisfied, and then, when the judgment condition is satisfied, send the first state information to the control terminal.

[0124] In an exemplary embodiment, as Figure 7 shown, Figure 7 is a schematic flowchart of another method for judging the judgment condition provided by an embodiment of the present application. S402 above includes the following steps S701 - S703:

[0125] S701, determine the fourth product of the target threshold, the first state information, the transpose matrix of the first state information, and the positive definite symmetric matrix.

[0126] Referring to the above formula (10), the fourth product is .

[0127] S702, determine the second summation result of the fourth product and the second preset parameter.

[0128] Referring to the above formula (10), the second preset parameter is 。

[0129] S703, determine the information deviation, the transpose matrix of the information deviation, and the fifth product of the positive definite symmetric matrix. If the fifth product is not less than the second summation result, determine that the judgment condition for sending the first status information to the control terminal is satisfied.

[0130] Referring to the above formula (10), the fifth product is , if the fifth product is not less than the second summation result, determine that the judgment condition for sending the first status information to the control terminal is satisfied.

[0131] In this embodiment, since the target threshold is determined based on the information deviation, the second status information, the threshold upper limit value, and the threshold lower limit value, the target threshold is dynamically changing. The dynamic target threshold can effectively reduce the signal transmission frequency following the system stage. The static absolute threshold is also the second preset parameter used to avoid Zeno behavior; this solution can further reduce the working frequency of the communication module of the wheeled-legged robot, thereby reducing energy consumption, improving endurance, and achieving a good balance between the traveling distance and the operation accuracy.

[0132] The method provided in this embodiment determines the target threshold, the transpose matrix of the first status information, and the fourth product of the positive definite symmetric matrix by determining the fourth product and the second summation result of the fourth product and the second preset parameter, determining the information deviation, the transpose matrix of the information deviation, and the fifth product of the positive definite symmetric matrix. If the fifth product is not less than the second summation result, determine that the judgment condition for sending the first status information to the control terminal is satisfied, thereby realizing the determination of whether the judgment condition for sending the first status information to the control terminal is satisfied. Furthermore, when the judgment condition for sending the first status information to the control terminal is satisfied, send the first status information to the control terminal.

[0133] In an exemplary embodiment, after sending the first status information to the control terminal, the method further includes the following steps:

[0134] Receive the control command generated by the control terminal based on the sixth product of the first status information and the control gain matrix. The control command is used to control the wheeled-legged robot;

[0135] Among them, the control gain matrix is determined according to the approximate linear dynamics model equation, and the sixth product is used to represent the control vector of the wheeled-legged robot. The control vector includes the output torque of the hip joint and the output torque of the drive wheel of the wheeled-legged robot.

[0136] The sixth product is represented by , , and at the same time, since , therefore, it can be determined that and .

[0137] The method provided in this embodiment controls the wheel-legged robot by receiving a control instruction generated based on the sixth product of the first state information and the control gain matrix. This feedback control scheme can, based on the mathematical model of the wheel-legged robot, give appropriate torque application signals under the condition of receiving the robot state information at a low frequency, and at the same time does not depend on the real-time state information of the wheel-legged robot, avoiding frequent changes in the motor torque of the wheel-legged robot and improving the adaptability of the wheel-legged robot to the working environment.

[0138] In an exemplary embodiment, as Figure 8 shown, Figure 8 FIG. is a schematic flowchart of another state information sending method provided by an embodiment of the present application. The method includes the following steps S801-S806:

[0139] S801, obtain the first state information of the wheel-legged robot collected by the sensors on the wheel-legged robot for the current time.

[0140] S802, determine the information deviation between the first state information and the second state information of the wheel-legged robot collected last time.

[0141] S803, determine the target threshold according to the information deviation, the second state information, the threshold upper limit value, and the threshold lower limit value.

[0142] S804, determine whether the judgment condition for sending the first state information to the control terminal is satisfied according to the target threshold, the first state information, the information deviation, and the positive definite symmetric matrix.

[0143] S805, if the judgment condition is satisfied, send the first state information to the control terminal.

[0144] S806, receive the control instruction generated based on the sixth product of the first state information and the control gain matrix by the control terminal.

[0145] The method provided by the embodiment of the present application has been verified by simulation. The verification parameters are as follows:

[0146] Gravitational acceleration: ;

[0147] Rotor mass of the driving wheel: 0.5 kg;

[0148] Mass of the swing rod: 1 kg;

[0149] Mass of the body: 10 kg;

[0150] Moment of inertia of the body ;

[0151] Distance from the center of gravity of the body to its axis of rotation: 0.1 m

[0152] Moment of inertia of the drive wheel rotor ;

[0153] Radius of the drive wheel: 0.069 m

[0154] After simulation verification, the simulation curves are shown as follows Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 shown, Figure 9 is a schematic diagram of a system state curve provided by an embodiment of the present application, Figure 10 is a schematic diagram of a control input curve provided by an embodiment of the present application, Figure 11 is a schematic diagram of a curve of a target threshold provided by an embodiment of the present application, Figure 12 is a schematic diagram of the instant and interval of state information release provided by an embodiment of the present application.

[0155] Figure 9 The ordinate in [diagram] represents the error between the system state and the desired target state. From Figure 9 and Figure 10 it can be seen that the hybrid event-triggered control method effectively ensures the stable operation of the wheel-legged robot system under disturbances. From Figure 11 it can be seen that the designed target threshold is dynamically changing, that is, the target threshold is a dynamic threshold that changes with time, and the dynamic threshold can follow the system dynamics. From Figure 12 it can be seen that the designed hybrid event-triggered mechanism effectively reduces the communication frequency between the sensor and the controller.

[0156] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown sequentially according to the arrows, these steps do not necessarily have to be executed in the order indicated by the arrows. Unless otherwise clearly stated in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages, and these steps or stages do not necessarily have to be executed at the same moment, but can be executed at different moments, and the execution order of these steps or stages does not necessarily have to be sequential, but can be executed alternately or alternately with at least a part of the steps or steps in other steps.

[0157] Based on the same inventive concept, an embodiment of the present application further provides a status information sending device for implementing the status information sending method involved above. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the status information sending device provided below can refer to the limitations on the status information sending method in the above text, and will not be elaborated here.

[0158] In an exemplary embodiment, as Figure 13 shown, Figure 13 FIG. is a structural block diagram of a status information sending device provided by an embodiment of the present application. The device 1300 includes:

[0159] An acquisition module 1301, configured to acquire first status information of the wheel-legged robot collected by a sensor on the wheel-legged robot for the current time;

[0160] A determination module 1302, configured to determine an information deviation between the first status information and second status information of the wheel-legged robot collected last time;

[0161] A judgment module 1303, configured to judge whether the judgment condition for sending the first status information to the control terminal is satisfied according to the information deviation, the first status information, the second status information, a positive definite symmetric matrix, a preset upper threshold value, and a lower threshold value; the positive definite symmetric matrix is determined according to the approximate linear dynamic model equation of the wheel-legged robot;

[0162] A sending module 1304, configured to send the first status information to the control terminal if the judgment condition is satisfied.

[0163] In an embodiment, the judgment module 1303 includes:

[0164] A determination unit, configured to determine a target threshold according to the information deviation, the second status information, the upper threshold value, and the lower threshold value;

[0165] A judgment unit, configured to judge whether the judgment condition for sending the first status information to the control terminal is satisfied according to the target threshold, the first status information, the information deviation, and the positive definite symmetric matrix.

[0166] In an embodiment, the determination unit includes:

[0167] A first determination subunit, configured to determine a transpose matrix of the information deviation, and calculate a first product among the transpose matrix, the information deviation, and a sensitivity parameter;

[0168] A second determination subunit, configured to determine a second product of the second status information and the transpose matrix of the second status information, and determine a first summation result of the second product and a first preset parameter;

[0169] A third determination subunit, configured to determine the hyperbolic tangent value of the ratio of the first product to the first summation result;

[0170] A fourth determination subunit, configured to determine a target threshold according to an upper threshold value, a lower threshold value, and the hyperbolic tangent value.

[0171] In one embodiment, the fourth determination subunit is specifically configured to determine a first difference between the upper threshold value and the lower threshold value, and determine a third product of the first difference and the hyperbolic tangent value; determine a second difference between the upper threshold value and the third product, and determine the target threshold according to the second difference.

[0172] In one embodiment, the judgment unit is specifically configured to determine a fourth product of the target threshold, the first state information, the transposed matrix of the first state information, and the positive definite symmetric matrix; determine a second summation result of the fourth product and a second preset parameter; determine a fifth product of the information deviation, the transposed matrix of the information deviation, and the positive definite symmetric matrix. If the fifth product is not less than the second summation result, it is determined that the judgment condition for sending the first state information to the control terminal is satisfied.

[0173] In one embodiment, the apparatus 1300 further includes:

[0174] A receiving module, configured to receive a control instruction generated by the control terminal based on a sixth product of the first state information and a control gain matrix, where the control instruction is used to control the wheel-legged robot;

[0175] Wherein, the control gain matrix is determined according to an approximate linear dynamics model equation, and the sixth product is used to characterize the control vector of the wheel-legged robot, and the control vector includes the output torque of the hip joint of the wheel-legged robot and the output torque of the driving wheel.

[0176] Each module in the above state information sending apparatus can be implemented in whole or in part by software, hardware, and a combination thereof. The above modules can be embedded in the processor of the computer device in hardware form or be independent of it, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above respective modules.

[0177] In an exemplary embodiment, a computer device is provided. The computer device can be a terminal, and its internal structure diagram can be as Figure 14As shown in the figure. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for sending status information. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covered on the display screen, or a button, a trackball, or a touchpad set on the computer device housing, or an external keyboard, touchpad, or mouse, etc.

[0178] Those skilled in the art can understand that Figure 14 the structure shown in the figure is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0179] In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, it implements the steps of the above method embodiment. The implementation principle and technical effect are similar to those of the above method embodiment, and will not be elaborated here.

[0180] In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, it implements the steps of the above method embodiment. The implementation principle and technical effect are similar to those of the above method embodiment, and will not be elaborated here.

[0181] In an embodiment, a computer program product is provided, including a computer program. When the computer program is executed by the processor, it implements the steps of the above method embodiment. The implementation principle and technical effect are similar to those of the above method embodiment, and will not be elaborated here.

[0182] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data that have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0183] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., and are not limited thereto. The processors involved in the embodiments provided in this application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., and are not limited thereto.

[0184] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0185] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A method for sending status information, characterized in that, The method includes: Obtaining first state information of the wheel-legged robot collected by a sensor on the wheel-legged robot in the current acquisition; Determining an information deviation between the first state information and second state information of the wheel-legged robot collected in the previous acquisition; Judging whether a judgment condition for sending the first state information to a control terminal is satisfied according to the information deviation, the first state information, the second state information, a positive definite symmetric matrix, a preset upper threshold value, and a preset lower threshold value; the positive definite symmetric matrix is determined according to an approximate linear dynamics model equation of the wheel-legged robot; If the judgment condition is satisfied, sending the first state information to the control terminal.

2. The method according to claim 1, wherein The judging whether the judgment condition for sending the first state information to the control terminal is satisfied according to the information deviation, the first state information, the second state information, the positive definite symmetric matrix, the preset upper threshold value, and the preset lower threshold value includes: Determining a target threshold according to the information deviation, the second state information, the upper threshold value, and the lower threshold value; Judging whether the judgment condition for sending the first state information to the control terminal is satisfied according to the target threshold, the first state information, the information deviation, and the positive definite symmetric matrix.

3. The method according to claim 2, wherein The determining the target threshold according to the information deviation, the second state information, the upper threshold value, and the lower threshold value includes: Determining a transpose matrix of the information deviation, and calculating a first product among the transpose matrix, the information deviation, and a sensitivity parameter; Determining a second product of the second state information and a transpose matrix of the second state information, and determining a first summation result of the second product and a first preset parameter; Determining a hyperbolic tangent value of a ratio of the first product to the first summation result; Determining the target threshold according to the upper threshold value, the lower threshold value, and the hyperbolic tangent value.

4. The method according to claim 3, characterized in that, The determining the target threshold according to the upper threshold value, the lower threshold value, and the hyperbolic tangent value includes: Determining a first difference between the upper threshold value and the lower threshold value, and determining a third product of the first difference and the hyperbolic tangent value; Determining a second difference between the upper threshold value and the third product, and determining the target threshold according to the second difference.

5. The method according to any one of claims 2-4, characterized in that, The judging whether the judgment condition for sending the first state information to the control terminal is satisfied according to the target threshold, the first state information, the information deviation, and the positive definite symmetric matrix includes: Determining a fourth product of the target threshold, the first state information, a transpose matrix of the first state information, and the positive definite symmetric matrix; Determining a second summation result of the fourth product and a second preset parameter; Determining a fifth product of the information deviation, a transpose matrix of the information deviation, and the positive definite symmetric matrix, and if the fifth product is not less than the second summation result, determining that the judgment condition for sending the first state information to the control terminal is satisfied.

6. The method according to any one of claims 1-4, characterized in that, The method further includes: Receive the control instruction generated by the control terminal based on the sixth product of the first state information and the control gain matrix, where the control instruction is used to control the wheel-legged robot; Among them, the control gain matrix is determined according to the approximate linear dynamics model equation, and the sixth product is used to characterize the control vector of the wheel-legged robot, and the control vector includes the output torque of the hip joint and the output torque of the driving wheel of the wheel-legged robot.

7. A state information sending device, characterized in that, The device includes: An acquisition module, configured to acquire the first state information of the wheel-legged robot collected by a sensor on the wheel-legged robot for the current time; A determination module, configured to determine the information deviation between the first state information and the second state information of the wheel-legged robot collected last time; A judgment module, configured to judge whether the judgment condition for sending the first state information to the control terminal is satisfied according to the information deviation, the first state information, the second state information, a positive definite symmetric matrix, a preset threshold upper limit value, and a threshold lower limit value; the positive definite symmetric matrix is determined according to the approximate linear dynamics model equation of the wheel-legged robot; A sending module, configured to send the first state information to the control terminal if the judgment condition is satisfied.

8. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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