Pneumatic robot and steering method of pneumatic robot

Abstract

The invention relates to the technical field of robot control, in particular to a pneumatic robot and a steering method of the pneumatic robot. The method comprises the steps that the obstacle position of an obstacle in the moving direction of the pneumatic robot is obtained; determining the steering direction of the pneumatic robot according to the obstacle position; a target air chamber with the steering air chamber position opposite to the steering direction relative to the direction of the center line of the pneumatic robot is selected from the at least four steering air chambers; and the inflator pump is controlled to inflate the target air chamber to extend and unfold the movable folds of the target air chamber so as to control the steering of the pneumatic robot body. According to the method, the problems of low steering precision and dynamic response lag caused by lack of a perfect model in the prior art are effectively solved, and the steering control precision and the response speed of the gas robot in a complex environment are remarkably improved.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to a pneumatic robot and a pneumatic robot steering method. Background Art

[0002] Pneumatic robots are automated equipment that use compressed air as a power source. They convert air pressure energy into mechanical motion through pneumatic actuators (such as cylinders and air motors) to complete tasks such as grasping, handling, and assembly.

[0003] However, the starting robot in the existing technology fails to build a complete kinematic and dynamic model, resulting in a lack of precise guidance for the steering control of the pneumatic robot and an inability to accurately calculate and predict the steering action. As a result, the pneumatic robot is prone to large deviations during the steering process, seriously affecting the control accuracy and autonomous operation capability of the pneumatic robot, making it difficult to meet high-precision task requirements. Summary of the Invention

[0004] Based on this, it is necessary to provide a pneumatic robot and a pneumatic robot steering method that can accurately complete the steering of the pneumatic robot in response to the above technical problems.

[0005] In a first aspect, the present application provides a pneumatic robot, comprising:

[0006] Pneumatic robot body; the pneumatic robot body is a cylindrical air arm;

[0007] Main air chamber; the main air chamber is connected to the pneumatic robot body, and at least one air pump is provided in the main air chamber;

[0008] At least four steering air chambers; each of the steering air chambers is evenly arranged on the outer surface of the pneumatic robot body, and each of the steering air chambers is evenly spaced apart on a side away from the pneumatic robot body;

[0009] A controller, connected to the air pump, is used to:

[0010] Obtaining the obstacle position of the obstacle in the moving direction of the pneumatic robot;

[0011] determining a turning direction of the pneumatic robot according to the position of the obstacle;

[0012] Selecting a target air chamber from at least four steering air chambers, the target air chamber having a position relative to the center line of the pneumatic robot and a direction opposite to the steering direction;

[0013] The air pump is controlled to inflate the target air chamber to extend and flatten the movable folds of the target air chamber, so as to control the steering of the pneumatic robot body.

[0014] In one embodiment, the movable fold of each steering air chamber is provided with a steering control latch;

[0015] The steering control latch includes a first latch and a second latch; the first latch and the second latch are in a locked state of being hooked to each other when the steering air chamber in which they are located is not inflated; the first latch and the second latch are in an active state of being unhooked when the steering air chamber in which they are located is inflated; when the first latch and the second latch are in the locked state, the movable fold cannot be extended and flattened.

[0016] In one embodiment, the first door latch and the second door latch are both L-shaped structures.

[0017] In one embodiment, the pneumatic robot further comprises:

[0018] An environment perception unit is used to obtain image information of obstacles in front of the pneumatic robot body and send the image information of obstacles to the controller so that the controller can determine the obstacle position of the obstacles according to the image information of obstacles.

[0019] In one embodiment, the environment perception unit is an optical camera.

[0020] In one embodiment, the film material of the plastic film constituting the pneumatic robot body is polyethylene high-pressure plastic.

[0021] In one embodiment, the distance between two adjacent movable folds of the steering air chamber is between ten centimeters and twenty centimeters.

[0022] In one embodiment, the length of the movable pleats after being stretched and flattened is two centimeters.

[0023] In a second aspect, the present application further provides a pneumatic robot steering method, which is applied to a controller in the pneumatic robot, and the method comprises:

[0024] Obtaining the obstacle position of the obstacle in the moving direction of the pneumatic robot;

[0025] determining a turning direction of the pneumatic robot according to the position of the obstacle;

[0026] Selecting a target air chamber from at least four steering air chambers, the target air chamber having a position relative to the center line of the pneumatic robot and a direction opposite to the steering direction;

[0027] The air pump is controlled to inflate the target air chamber to extend and flatten the movable folds of the target air chamber, so as to control the steering of the pneumatic robot body.

[0028] In one embodiment, controlling the air pump to inflate the target air chamber includes:

[0029] Predicting the steering angle of the pneumatic robot body;

[0030] Predicting an extension length of movable folds required for the pneumatic robot body to turn according to the turning angle and the body diameter of the pneumatic robot body;

[0031] According to the extended length of the movable pleats, the air pump is controlled to inflate the target air chamber.

[0032] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are performed:

[0033] Obtaining the obstacle position of the obstacle in the moving direction of the pneumatic robot;

[0034] determining a turning direction of the pneumatic robot according to the position of the obstacle;

[0035] Selecting a target air chamber from at least four steering air chambers, the target air chamber having a position relative to the center line of the pneumatic robot and a direction opposite to the steering direction;

[0036] The air pump is controlled to inflate the target air chamber to extend and flatten the movable folds of the target air chamber, so as to control the steering of the pneumatic robot body.

[0037] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the following steps:

[0038] Obtaining the obstacle position of the obstacle in the moving direction of the pneumatic robot;

[0039] determining a turning direction of the pneumatic robot according to the position of the obstacle;

[0040] Selecting a target air chamber from at least four steering air chambers, the target air chamber having a position relative to the center line of the pneumatic robot and a direction opposite to the steering direction;

[0041] The air pump is controlled to inflate the target air chamber to extend and flatten the movable folds of the target air chamber, so as to control the steering of the pneumatic robot body.

[0042] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the following steps:

[0043] Obtaining the obstacle position of the obstacle in the moving direction of the pneumatic robot;

[0044] determining a turning direction of the pneumatic robot according to the position of the obstacle;

[0045] Selecting a target air chamber from at least four steering air chambers, the target air chamber having a position relative to the center line of the pneumatic robot and a direction opposite to the steering direction;

[0046] The air pump is controlled to inflate the target air chamber to extend and flatten the movable folds of the target air chamber, so as to control the steering of the pneumatic robot body.

[0047] The above-mentioned pneumatic robot and pneumatic robot steering method, the pneumatic robot includes a pneumatic robot body, a main air chamber, at least four steering air chambers and a controller, wherein the controller is connected to the inflation pump and is used to: obtain the obstacle position of the obstacle in the moving direction of the pneumatic robot; determine the steering direction of the pneumatic robot according to the obstacle position; select a target air chamber from the at least four steering air chambers, whose position of the steering air chamber relative to the center line of the pneumatic robot is opposite to the steering direction; and then, control the inflation pump to inflate the target air chamber to extend and flatten the movable folds of the target air chamber to control the steering of the pneumatic robot body. According to the above content, it can be seen that during the steering process of the pneumatic robot, the present application will inflate the target air chamber through an air pump to make the movable folds of the target air chamber stretch and flatten, and then the inflated target air chamber drives the plastic film at the connection position with the pneumatic robot body to stretch at a second stretching speed greater than the first stretching speed of the plastic film at other positions, so as to achieve the purpose of controlling the steering of the pneumatic robot body. Therefore, the present application effectively solves the problems of low steering accuracy and dynamic response lag caused by the lack of a perfect model in the existing technology, and significantly improves the steering control accuracy and response speed of the gas robot in complex environments; and overcomes the shortcomings of traditional technology in adaptability to complex environments, so that the gas robot can stably and reliably complete the steering task under different working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A schematic structural diagram of the first pneumatic robot provided in an embodiment of the present application;

[0049] Figure 2 A schematic structural diagram of a second pneumatic robot provided in an embodiment of the present application;

[0050] Figure 3A schematic structural diagram of a third pneumatic robot provided in an embodiment of the present application;

[0051] Figure 4 A schematic structural diagram of a fourth pneumatic robot provided in an embodiment of the present application;

[0052] Figure 5 A schematic structural diagram of a fifth pneumatic robot provided in an embodiment of the present application;

[0053] Figure 6 A schematic structural diagram of a sixth pneumatic robot provided in an embodiment of the present application;

[0054] Figure 7 A diagram illustrating an application environment of a pneumatic robot steering method provided in an embodiment of the present application;

[0055] Figure 8 A schematic flow chart of a first pneumatic robot steering method provided in an embodiment of the present application;

[0056] Figure 9 A structural block diagram of a pneumatic robot steering device provided in an embodiment of the present application;

[0057] Figure 10 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0059] Pneumatic robots are automated equipment that use compressed air as a power source. They convert air pressure energy into mechanical motion through pneumatic actuators (such as cylinders and air motors) to complete tasks such as grasping, handling, and assembly.

[0060] However, existing gas robot steering control has the following problems:

[0061] (1) Most existing studies have not established a complete kinematic and dynamic model, resulting in a lack of precise guidance for robot steering control and the inability to accurately calculate and predict steering movements. Robots are prone to large deviations, which seriously affects control accuracy and autonomous operation capabilities, making it difficult to meet high-precision task requirements.

[0062] (2) Current research does not adequately consider environmental factors such as different terrains and obstacles. The steering performance of gas robots is greatly reduced in complex environments, and their stability is poor, making it impossible to reliably complete steering operations, which limits their scope of application and reliability.

[0063] (3) Existing gas robots have slow dynamic responses when facing emergencies or rapid steering requirements and are unable to adjust their posture in a timely manner. At the same time, the steering accuracy is difficult to meet the requirements of fine operation, resulting in operational errors and reduced work efficiency and safety.

[0064] The present invention addresses many problems of steering control of existing gas robots and proposes a pneumatic robot, which includes:

[0065] Pneumatic robot body; the pneumatic robot body is a cylindrical air arm;

[0066] The main air chamber is connected to the pneumatic robot body, and at least one air pump is provided in the main air chamber;

[0067] At least four steering air chambers; each steering air chamber is evenly arranged on the outer surface of the pneumatic robot body, and each steering air chamber is evenly spaced with movable folds on a side away from the pneumatic robot body;

[0068] The controller is connected to the air pump and is used to: obtain the obstacle position of the obstacle in the moving direction of the pneumatic robot; determine the turning direction of the pneumatic robot based on the obstacle position; select a target air chamber from at least four turning air chambers, the direction of the turning air chamber relative to the center line of the pneumatic robot being opposite to the turning direction; and control the air pump to inflate the target air chamber to extend and flatten the movable folds of the target air chamber, so as to control the turning direction of the pneumatic robot body.

[0069] In one embodiment of the present application, Figure 1 As shown, the pneumatic robot can be divided into a basic state and an extended state. In the basic state, the main air chamber contains a storage pipe reel, which is a reel formed by compressing and curling the pneumatic robot body. When the pneumatic robot needs to extend and move, the air pump can be used to restart the pneumatic robot body so that the air applies pressure (p) to the pneumatic robot body from the inside, so that the pneumatic robot is transformed from the basic state to the extended state; in the extended state, the storage pipe reel controls the lengthening of the pneumatic robot body by rotating the reel, releasing a new part of the pneumatic robot body to ensure that the pneumatic robot body will continue to extend as the air pump continues to inflate.

[0070] It should be noted that the pneumatic robot also includes: an environmental perception unit, which is used to obtain obstacle image information in front of the pneumatic robot body and send the obstacle image information to the controller so that the controller can determine the obstacle position of the obstacle based on the obstacle image information.

[0071] Among them, the environment perception unit is an optical camera;

[0072] Further, such as Figure 2As shown, the optical camera can be connected to the controller via a photoelectric cable, which passes through the inside of the pneumatic robot body.

[0073] In another embodiment of the present application, when it is necessary to control the steering of the pneumatic robot body, the following can be done: Figure 3 As shown in Parts 1 to 4, after the optical camera obtains image information of an obstacle in front of the pneumatic robot body, the obstacle image information is sent to the controller, so that the controller determines the obstacle position of the obstacle based on the obstacle image information; then, the controller selects a target air chamber from at least four steering air chambers, whose position relative to the center line of the pneumatic robot is opposite to the steering direction; and controls the air pump to inflate the target air chamber to extend and flatten the movable folds of the target air chamber to control the steering of the pneumatic robot body.

[0074] It should be noted that a steering control latch is provided at the movable fold of each steering air chamber;

[0075] The steering control latch includes a first latch and a second latch; the first latch and the second latch are in a locked state of being hooked to each other when the steering air chamber in which they are located is not inflated; the first latch and the second latch are in an active state of being unhooked when the steering air chamber in which they are located is inflated; when the first latch and the second latch are in the locked state, the movable fold cannot be extended or flattened.

[0076] Wherein, the first door latch and the second door latch are both L-shaped structures.

[0077] The distance between two adjacent movable folds of the steering air chamber is between ten centimeters and twenty centimeters, and the length of the movable folds after being stretched and flattened is two centimeters.

[0078] In one embodiment of the present application, when the pneumatic robot is in an extended state, the first latch and the second latch of the steering control latch in each steering air chamber are in a locked state that is hooked to each other; when the pneumatic robot needs to turn, after determining the target air chamber, the first latch and the second latch in the target air chamber are in an unhooked active state.

[0079] Specifically, when the steering chamber is not inflated, as Figure 4 As shown, the surface of the steering chamber is relatively close to the surface of the pneumatic robot body. At this time, the surface of the steering chamber and the surface of the pneumatic robot body will press the first latch and the second latch, so that the first latch and the second latch are in a locked state of mutual hooking. When the steering chamber is inflated as the target chamber, as shown in FIG. Figure 5 As shown, by inflating the target air chamber, the distance between the surface of the target air chamber and the surface of the pneumatic robot body is increased, so that the first latch and the second latch will not be compressed. At this time, the first latch and the second latch are in an unhooked active state.

[0080] As an example, when the steering air chamber on the right is inflated, the right side of the newly grown air arm in front extends quickly, while the left side extends relatively slowly; due to the difference in extension speed on both sides, the robot as a whole bends toward the side that extends slower to complete the steering action.

[0081] As another example, when bypassing an obstacle ahead, the steering control system quickly inflates the steering air chamber on one side, and the steering air chamber on this side quickly extends. The L-shaped short side buckle of the steering control latch at the front end of the steering air chamber on this side is loosened, and the folds here are completely opened, while the steering control latch of the steering air chamber on the other side is still in a locked state under the pressure of the main air chamber film; when the gas robot body turns at the front end, the gas arm that has been extended before maintains its original position, and all the steering control latches and folds that have been extended remain unchanged.

[0082] In one embodiment of the present application, in order to ensure the effective steering operation of the pneumatic robot body, it is necessary to evenly arrange at least four steering air chambers on the outer surface of the pneumatic robot body. Taking a total of four steering air chambers as an example, the relationship between the four steering air chambers and the pneumatic robot body is as follows: Figure 6 shown.

[0083] Among them, the film material of the plastic film that constitutes the pneumatic robot body is polyethylene high-pressure plastic.

[0084] As an example, the relevant structural features of a pneumatic robot can be shown as follows: the gas robot body is made of two layers of PE plastic film hot-pressed to form a cylindrical air arm; a main air chamber is set in the center with a diameter of 10-15 cm, and its length is greater than 10 meters when fully expanded; steering air chambers are evenly distributed in four directions around it, and the air cavity thickness is about 2 cm when fully expanded; the inner sides of the four steering air chambers are evenly spaced at intervals of 10-20 cm, with inward-concave movable folds hot-pressed at equal distances, and the total length of the folds is about 2 cm.

[0085] The above-mentioned pneumatic robot includes a pneumatic robot body, a main air chamber, at least four steering air chambers and a controller, wherein the controller is connected to the air pump and is used to: obtain the obstacle position of the obstacle in the moving direction of the pneumatic robot; determine the steering direction of the pneumatic robot according to the obstacle position; select a target air chamber from at least four steering air chambers, whose position of the steering air chamber relative to the center line of the pneumatic robot is opposite to the steering direction; and then control the air pump to inflate the target air chamber to extend and flatten the movable folds of the target air chamber to control the steering of the pneumatic robot body. According to the above content, it can be seen that during the steering process of the pneumatic robot, the present application will inflate the target air chamber through an air pump to make the movable folds of the target air chamber stretch and flatten, and then the inflated target air chamber drives the plastic film at the connection position with the pneumatic robot body to stretch at a second stretching speed greater than the first stretching speed of the plastic film at other positions, so as to achieve the purpose of controlling the steering of the pneumatic robot body. Therefore, the present application effectively solves the problems of low steering accuracy and dynamic response lag caused by the lack of a perfect model in the existing technology, and significantly improves the steering control accuracy and response speed of the gas robot in complex environments; and overcomes the shortcomings of traditional technology in adaptability to complex environments, so that the gas robot can stably and reliably complete the steering task under different working conditions.

[0086] The pneumatic robot steering method provided in the embodiment of the present application can be applied to Figure 7 In the application environment shown. The terminal 102 communicates with the server 104 via a network. The data storage system can store data that the server 104 needs to process. The data storage system can be integrated on the server 104, or placed on the cloud or other network servers. Obtain the obstacle position of the obstacle in the direction of movement of the pneumatic robot; determine the turning direction of the pneumatic robot based on the obstacle position; select a target air chamber from at least four steering air chambers whose position relative to the centerline of the pneumatic robot is opposite to the turning direction; control the air pump to inflate the target air chamber to extend and flatten the movable folds of the target air chamber to control the steering of the pneumatic robot body. The terminal 102 can be, but is not limited to, various personal computers, laptops, smart phones, tablets, Internet of Things devices, and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The server 104 can be implemented as a standalone server or a server cluster consisting of multiple servers.

[0087] In one embodiment, Figure 8 As shown, a pneumatic robot steering method is provided, which is applied to a controller in the pneumatic robot and includes the following steps:

[0088] S801, obtaining the obstacle position of the obstacle in the moving direction of the pneumatic robot.

[0089] In one embodiment of the present application, an environmental perception unit provided on the pneumatic robot can be used to obtain image information of obstacles in front of the pneumatic robot body, and the obstacle image information can be sent to the controller so that the controller can determine the obstacle position of the obstacle based on the obstacle image information.

[0090] Among them, the environmental perception unit is an optical camera.

[0091] S802: Determine the turning direction of the pneumatic robot according to the position of the obstacle.

[0092] In one embodiment of the present application, when it is necessary to determine the turning direction of the pneumatic robot, the movable range of the pneumatic robot and the size of the obstacle can be obtained in advance, and then, candidate directions in which the pneumatic robot can avoid obstacles can be planned within the movable range; and a candidate direction with a larger movable range is selected from each candidate direction as the turning direction of the pneumatic robot.

[0093] S803 , selecting a target air chamber from at least four steering air chambers, the steering air chamber having a position relative to the center line of the pneumatic robot and a direction opposite to the steering direction.

[0094] In one embodiment of the present application, when the steering air chamber on the right side is inflated, the right side of the newly grown air arm in front extends rapidly, while the left side extends relatively slowly; due to the difference in extension speed on both sides, the robot as a whole bends toward the side that extends slower to complete the steering action.

[0095] S804, controlling the air pump to inflate the target air chamber to extend and flatten the movable folds of the target air chamber, so as to control the steering of the pneumatic robot body.

[0096] It should be noted that when it is necessary to control the air pump to inflate the target air chamber, the following contents may be included: predicting the steering angle of the pneumatic robot body; predicting the extension length of the movable pleats required for the steering of the pneumatic robot body based on the steering angle and the body diameter of the pneumatic robot body; and controlling the air pump to inflate the target air chamber based on the extension length of the movable pleats.

[0097] In one embodiment of the present application, the steering angle can be expressed as Here, l is the length of the movable pleats required for the pneumatic robot to turn, and d is the diameter of the pneumatic robot. Therefore, based on the intended turning direction, the target chamber in the opposite direction is rapidly inflated, while the steering chambers in other directions are temporarily inflated. After the intended turn is completed, the steering control system evenly inflates all steering chambers, allowing them to continue extending in a straight line.

[0098] The above-mentioned pneumatic robot steering method, the pneumatic robot includes a pneumatic robot body, a main air chamber, at least four steering air chambers and a controller, wherein the controller is connected to the inflation pump and is used to: obtain the obstacle position of the obstacle in the moving direction of the pneumatic robot; determine the steering direction of the pneumatic robot according to the obstacle position; select a target air chamber from the at least four steering air chambers, whose position of the steering air chamber relative to the center line of the pneumatic robot is opposite to the steering direction; and then control the inflation pump to inflate the target air chamber to extend and flatten the movable folds of the target air chamber to control the steering of the pneumatic robot body. According to the above content, it can be seen that during the steering process of the pneumatic robot, the present application will inflate the target air chamber through an air pump to make the movable folds of the target air chamber stretch and flatten, and then the inflated target air chamber drives the plastic film at the connection position with the pneumatic robot body to stretch at a second stretching speed greater than the first stretching speed of the plastic film at other positions, so as to achieve the purpose of controlling the steering of the pneumatic robot body. Therefore, the present application effectively solves the problems of low steering accuracy and dynamic response lag caused by the lack of a perfect model in the existing technology, and significantly improves the steering control accuracy and response speed of the gas robot in complex environments; and overcomes the shortcomings of traditional technology in adaptability to complex environments, so that the gas robot can stably and reliably complete the steering task under different working conditions.

[0099] It should be understood that, although the steps in the flowcharts of the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the flowcharts of the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0100] Based on the same inventive concept, embodiments of the present application also provide a pneumatic robot steering device for implementing the pneumatic robot steering method described above. The solution provided by this device is similar to the solution described in the method described above. Therefore, the specific limitations of one or more pneumatic robot steering device embodiments provided below can be found in the limitations of the pneumatic robot steering method described above and will not be repeated here.

[0101] In one embodiment, Figure 9 As shown, a pneumatic robot steering device is provided, comprising: an acquisition module 10, a determination module 20, a selection module 30 and a control module 40, wherein:

[0102] The acquisition module 10 is used to acquire the obstacle position of the obstacle in the moving direction of the pneumatic robot.

[0103] The determination module 20 is used to determine the turning direction of the pneumatic robot according to the position of the obstacle.

[0104] The selection module 30 is used to select a target air chamber from at least four steering air chambers, the steering air chamber having a position relative to the center line of the pneumatic robot and a direction opposite to the steering direction.

[0105] The control module 40 is used to control the air pump to inflate the target air chamber to extend and flatten the movable folds of the target air chamber, so as to control the steering of the pneumatic robot body.

[0106] In one embodiment, the steering angle of the pneumatic robot body is predicted;

[0107] According to the steering angle and the body diameter of the pneumatic robot body, the elongation length of the movable folds required for the pneumatic robot body to turn is predicted;

[0108] According to the elongated length of the movable pleats, the air pump is controlled to inflate the target air chamber.

[0109] The above-mentioned pneumatic robot steering device, the pneumatic robot includes a pneumatic robot body, a main air chamber, at least four steering air chambers and a controller, wherein the controller is connected to the air pump and is used to: obtain the obstacle position of the obstacle in the moving direction of the pneumatic robot; determine the steering direction of the pneumatic robot according to the obstacle position; select a target air chamber from the at least four steering air chambers, whose position of the steering air chamber relative to the center line of the pneumatic robot is opposite to the steering direction; and then control the air pump to inflate the target air chamber to extend and flatten the movable folds of the target air chamber to control the steering of the pneumatic robot body. According to the above content, it can be seen that during the steering process of the pneumatic robot, the present application will inflate the target air chamber through an air pump to make the movable folds of the target air chamber stretch and flatten, and then the inflated target air chamber drives the plastic film at the connection position with the pneumatic robot body to stretch at a second stretching speed greater than the first stretching speed of the plastic film at other positions, so as to achieve the purpose of controlling the steering of the pneumatic robot body. Therefore, the present application effectively solves the problems of low steering accuracy and dynamic response lag caused by the lack of a perfect model in the existing technology, and significantly improves the steering control accuracy and response speed of the gas robot in complex environments; and overcomes the shortcomings of traditional technology in adaptability to complex environments, so that the gas robot can stably and reliably complete the steering task under different working conditions.

[0110] Each module in the pneumatic robotic steering device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in hardware form, or stored in a computer device memory in software form, so that the processor can call and execute the corresponding operations of each module.

[0111] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 10As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. 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 an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a pneumatic robot steering method is implemented. 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, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse.

[0112] Those skilled in the art will understand that Figure 10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0113] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0114] Obtain the obstacle position of the obstacle in the moving direction of the pneumatic robot;

[0115] Determine the steering direction of the pneumatic robot based on the location of the obstacle;

[0116] Selecting a target air chamber from the at least four steering air chambers, the target air chamber being located in a direction opposite to the steering direction relative to the center line of the pneumatic robot;

[0117] The air pump is controlled to inflate the target air chamber to extend and flatten the movable folds of the target air chamber, thereby controlling the steering of the pneumatic robot body.

[0118] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0119] Predict the steering angle of the pneumatic robot body;

[0120] According to the steering angle and the body diameter of the pneumatic robot body, the elongation length of the movable folds required for the pneumatic robot body to turn is predicted;

[0121] According to the elongated length of the movable pleats, the air pump is controlled to inflate the target air chamber.

[0122] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0123] Obtain the obstacle position of the obstacle in the moving direction of the pneumatic robot;

[0124] Determine the steering direction of the pneumatic robot based on the location of the obstacle;

[0125] Selecting a target air chamber from the at least four steering air chambers, the target air chamber being located in a direction opposite to the steering direction relative to the center line of the pneumatic robot;

[0126] The air pump is controlled to inflate the target air chamber to extend and flatten the movable folds of the target air chamber, thereby controlling the steering of the pneumatic robot body.

[0127] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0128] Predict the steering angle of the pneumatic robot body;

[0129] According to the steering angle and the body diameter of the pneumatic robot body, the elongation length of the movable folds required for the pneumatic robot body to turn is predicted;

[0130] According to the elongated length of the movable pleats, the air pump is controlled to inflate the target air chamber.

[0131] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0132] Obtain the obstacle position of the obstacle in the moving direction of the pneumatic robot;

[0133] Determine the steering direction of the pneumatic robot based on the location of the obstacle;

[0134] Selecting a target air chamber from the at least four steering air chambers, the target air chamber being located in a direction opposite to the steering direction relative to the center line of the pneumatic robot;

[0135] The air pump is controlled to inflate the target air chamber to extend and flatten the movable folds of the target air chamber, thereby controlling the steering of the pneumatic robot body.

[0136] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0137] Predict the steering angle of the pneumatic robot body;

[0138] According to the steering angle and the body diameter of the pneumatic robot body, the elongation length of the movable folds required for the pneumatic robot body to turn is predicted;

[0139] According to the elongated length of the movable pleats, the air pump is controlled to inflate the target air chamber.

[0140] 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 used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions.

[0141] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and 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-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may 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). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0142] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, 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, they should be considered to be within the scope of this specification.

[0143] The above embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art may make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A pneumatic robot, characterized in that: The pneumatic robot comprises: Pneumatic robot body; the pneumatic robot body is a cylindrical air arm; Main air chamber; the main air chamber is connected to the pneumatic robot body, and at least one air pump is provided in the main air chamber; At least four steering air chambers; each of the steering air chambers is evenly arranged on the outer surface of the pneumatic robot body, and each of the steering air chambers is evenly spaced apart on a side away from the pneumatic robot body; A controller, connected to the air pump, is used to: Obtaining the obstacle position of the obstacle in the moving direction of the pneumatic robot; determining a turning direction of the pneumatic robot according to the position of the obstacle; Selecting a target air chamber from at least four steering air chambers, the target air chamber having a position relative to the center line of the pneumatic robot and a direction opposite to the steering direction; The air pump is controlled to inflate the target air chamber to extend and flatten the movable folds of the target air chamber, so as to control the steering of the pneumatic robot body.

2. The pneumatic robot according to claim 1, characterized in that: The movable folds of each steering air chamber are provided with a steering control latch; The steering control latch includes a first latch and a second latch; the first latch and the second latch are in a locked state of being hooked to each other when the steering air chamber in which they are located is not inflated; the first latch and the second latch are in an active state of being unhooked when the steering air chamber in which they are located is inflated; when the first latch and the second latch are in the locked state, the movable fold cannot be extended and flattened.

3. The pneumatic robot according to claim 2, characterized in that: The first door latch and the second door latch are both L-shaped structures.

4. The pneumatic robot according to claim 1, characterized in that: The pneumatic robot further comprises: An environment perception unit is used to obtain image information of obstacles in front of the pneumatic robot body and send the image information of obstacles to the controller so that the controller can determine the obstacle position of the obstacles according to the image information of obstacles.

5. The pneumatic robot according to claim 4, characterized in that: The environment perception unit is an optical camera.

6. The pneumatic robot according to claim 1, characterized in that: The film material of the plastic film constituting the pneumatic robot body is polyethylene high-pressure plastic.

7. The pneumatic robot according to claim 1, characterized in that: The distance between two adjacent movable folds of the steering air chamber is between ten centimeters and twenty centimeters.

8. The pneumatic robot according to claim 1, characterized in that: The length of the movable folds after being stretched and flattened is two centimeters.

9. A pneumatic robot steering method, characterized in that: The controller used in the pneumatic robot comprises: Obtaining the obstacle position of the obstacle in the moving direction of the pneumatic robot; determining a turning direction of the pneumatic robot according to the position of the obstacle; Selecting a target air chamber from at least four steering air chambers, the target air chamber having a position relative to the center line of the pneumatic robot and a direction opposite to the steering direction; The air pump is controlled to inflate the target air chamber to extend and flatten the movable folds of the target air chamber, so as to control the steering of the pneumatic robot body.

10. The method according to claim 9, characterized in that The controlling the air pump to inflate the target air chamber includes: Predicting the steering angle of the pneumatic robot body; Predicting an extension length of movable folds required for the pneumatic robot body to turn according to the turning angle and the body diameter of the pneumatic robot body; According to the extended length of the movable pleats, the air pump is controlled to inflate the target air chamber.

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