Robot motion control method and device, robot and storage medium

Abstract

The invention provides a robot motion control method and device, a robot and a storage medium, the robot is a wheel-foot composite robot, the wheel-foot composite robot comprises at least one environment sensing sensor, and the method comprises the steps that the environment sensing sensor is controlled to obtain surrounding environment information; determining a target motion mode of the wheel-foot composite robot according to the surrounding environment information; and controlling the motion of the wheel-foot composite robot according to the target motion mode. According to the application, the motion mode of the robot can be flexibly adjusted according to the motion environment, so that the robot not only can move in an environment with a relatively flat terrain, but also can move in an environment with a relatively complex terrain, and thus the adaptability of the robot in different motion environments is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of robotics technology, and in particular to a robot motion control method, device, robot, and storage medium. Background Art

[0002] At present, mobile robots include: wheeled robots and legged robots. Wheeled robots move by controlling the wheels on the robot body to roll, while legged robots move by controlling the leg mechanisms on the robot body to walk alternately.

[0003] Although wheeled robots move faster, they are only suitable for relatively flat terrain environments and cannot be used in environments with more complex terrain. Although legged robots do not have high requirements for the environment and can adapt to environments with more complex terrain, they move slowly. Summary of the Invention

[0004] The embodiments of the present application provide a robot motion control method, device, robot and storage medium, which can flexibly adjust the robot's motion mode according to the motion environment, so that the robot can move not only in an environment with relatively flat terrain, but also in an environment with relatively complex terrain, thereby improving the robot's adaptability in different motion environments.

[0005] In a first aspect, an embodiment of the present application provides a robot motion control method, wherein the robot is a wheel-leg composite robot, and the wheel-leg composite robot includes at least one environmental perception sensor, and the method includes:

[0006] Controlling the environment perception sensor to obtain surrounding environment information;

[0007] Determining a target motion mode of the wheel-leg hybrid robot according to the surrounding environment information;

[0008] The movement of the wheel-leg hybrid robot is controlled according to the target motion mode.

[0009] In a second aspect, an embodiment of the present application provides a robot motion control device, wherein the robot is a wheel-leg composite robot, and the wheel-leg composite robot includes at least one environmental perception sensor, including:

[0010] An information acquisition module, configured to control the environment perception sensor to acquire surrounding environment information;

[0011] A mode determination module, configured to determine a target motion mode of the wheel-leg hybrid robot based on the surrounding environment information;

[0012] A motion control module is used to control the motion of the wheel-leg composite robot according to the target motion mode.

[0013] In a third aspect, an embodiment of the present application provides a robot, comprising:

[0014] At least one environmental perception sensor, used to obtain information about the robot's surrounding environment;

[0015] A processor and a memory, the memory being used to store a computer program, and the processor being used to call and run the computer program stored in the memory to execute the robot motion control method as described in the embodiment of the first aspect.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium for storing a computer program, wherein the computer program enables a computer to execute the robot motion control method as described in the embodiment of the first aspect.

[0017] In a fifth aspect, an embodiment of the present application provides a computer program product comprising program instructions, which, when executed on a robot, enables the robot to execute the robot motion control method as described in the embodiment of the first aspect.

[0018] The technical solution disclosed in the embodiment of the present application obtains the surrounding environment information of the wheel-leg composite robot based on the environmental perception sensor, determines the target motion mode of the wheel-leg composite robot based on the surrounding environment information, and then controls the movement of the wheel-leg composite robot based on the target motion mode. In this way, the motion mode of the robot can be flexibly adjusted according to the motion environment, so that the robot can move not only in an environment with relatively flat terrain, but also in an environment with relatively complex terrain, thereby improving the robot's adaptability in different motion environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 A schematic structural diagram of a wheel-leg composite robot provided in an embodiment of the present application;

[0021] Figure 2 A flowchart of a robot motion control method provided in an embodiment of the present application;

[0022] Figure 3 A flowchart of another robot motion control method provided in an embodiment of the present application;

[0023] Figure 4 A schematic block diagram of a robot motion control device provided in an embodiment of the present application;

[0024] Figure 5 A schematic block diagram of a robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0027] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or solution described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or solutions. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0028] In the description of the embodiments of the present application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "layout", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances and in combination with the existing technology. In addition, the features in the embodiments of the present application can be combined with each other unless there is a conflict. And one or more of the components in the diagram may be necessary or non-essential, and the relative positional relationship between the components in the above diagram can be adjusted according to actual needs.

[0029] In the description of the embodiments of the present application, unless otherwise specified, "a plurality of" refers to two or more than two, that is, at least two. "At least one" refers to one or more than one.

[0030] At present, mobile robots include wheeled robots and legged robots. Although wheeled robots move faster, they are only suitable for relatively flat terrain environments and cannot be used in environments with more complex terrain. Although legged robots do not have high requirements for the environment and can adapt to environments with more complex terrain, they move slowly, making them unable to adapt to complex and diverse motion environments.

[0031] In order to solve the above technical problems, the inventive concept of this application is: by combining the efficient movement characteristics of a wheeled robot on flat terrain and the high adaptability characteristics of a footed robot on complex terrain, a robot with a wheel-foot composite structure is obtained, namely a wheel-foot composite robot. The wheel-foot composite robot can dynamically adjust its own movement mode based on the surrounding environment information obtained by the environmental perception sensor during movement, so that the robot can not only move in an environment with relatively flat terrain, but also move in an environment with relatively complex terrain, thereby improving the robot's adaptability in different movement environments.

[0032] The technical solution of the present application is described in detail below through some embodiments. The embodiments described below can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0033] First, the wheel-foot composite robot structure in the embodiment of the present application is described in detail. Figure 1 As shown, the wheel-leg hybrid robot 10 includes: a robot body 11 and four motion mechanisms arranged on the robot body 11, wherein the four motion mechanisms include two rear rollers 121 and two front leg mechanisms 122.

[0034] In the present application, the two front leg mechanisms 122 include a left front leg mechanism and a right front leg mechanism. Each front leg mechanism 122 includes a front thigh mechanism 1221, a front calf mechanism 1222, and a roller 1223 disposed at the end of each front calf mechanism. The roller 1223 at the end of the front calf mechanism can be understood as a passive wheel. Figure 1 The connecting part between the middle front thigh mechanism 1221 and the robot body 11 is the hip joint 13, the connecting part between the front thigh mechanism 1221 and the front calf mechanism 1222 is the knee joint 14, and the connecting part between the front calf mechanism 1222 and the roller 1223 is the ankle joint 15.

[0035] In some optional embodiments, the two rear rollers 121 are provided at both ends of the rotatable connecting member 16, and the rotatable end of the connecting member 16 is connected to one end of the rear calf mechanism 123, the other end of the rear calf mechanism 123 is connected to one end of the rear thigh mechanism 124, and the other end of the rear thigh mechanism 124 is connected to the robot body 11. For details, see Figure 1 Among them, the two rear rollers 121 can be understood as driving wheels.

[0036] That is, the motion mechanism provided on the robot body 11 in the present application includes a hind leg mechanism, wherein the hind leg mechanism includes a hind thigh mechanism 124, a hind shank mechanism 123, a connecting component 16, and two rear rollers 121 provided at both ends of the connecting component 16. In the present application, the connection between the hind thigh mechanism 124 and the robot body 11 is the hip joint 13, the connection between the hind thigh mechanism 124 and the hind shank mechanism 123 is the knee joint 14, and the connection between the hind shank mechanism 124 and each rear roller 121 is the ankle joint 15. In other words, the hind leg mechanism in the present application includes a hip joint 13, a knee joint 14, and two ankle joints 15.

[0037] In addition, the above-mentioned hip joint 13, knee joint 14 and ankle joint 15 are all correspondingly provided with motors, specifically hip joint motors, knee joint motors and ankle joint motors, so that the corresponding torque is output by the hip joint motor, knee joint motor and / or ankle joint motor to drive the changes of the hip joint 13, knee joint 14 and / or ankle joint 15, thereby achieving the purpose of motion mode switching of the wheel-foot composite robot.

[0038] Each of the aforementioned joints can be understood as indicating that at least two components of the wheel-leg hybrid robot can be flexibly connected. Furthermore, each joint can move under the control of the torque output by the joint motor. For example, rotating a joint by a certain angle can cause other joints and related mechanisms to move a certain amount within space, thereby achieving a change in the robot's motion mode.

[0039] Furthermore, in order to detect different motion environments and whether there are obstacles in the motion environments, the present application can set at least one environmental perception sensor at the front end of the robot body 11 of the wheel-leg composite robot 10, and set at least one environmental perception sensor at the rear end of the robot body 11, so that the wheel-leg composite robot can realize autonomous obstacle avoidance and mapping navigation and other functions based on the environmental perception sensors.

[0040] Among them, environmental perception sensors may include but are not limited to: laser sensors, visual sensors, infrared sensors, ultrasonic sensors and lidar sensors.

[0041] As an optional implementation, you can Figure 1 A visual sensor is set in the middle position of the front end of the robot body 11 shown, a laser radar sensor is set on the left and right sides of the middle respectively, and a laser sensor is set in the middle position of the rear end of the robot body 11, and an ultrasonic sensor is set on the left and right sides of the middle respectively (not shown in the figure).

[0042] It should be noted that Figure 1 The number, position and type of environmental perception sensors provided on the robot body 11 are only exemplary and can be flexibly adjusted according to actual application needs. This application does not impose any restrictions on this.

[0043] After describing the structure of the wheel-leg hybrid robot, the robot motion control method, device, robot, and storage medium provided in the embodiments of the present application are described in detail below. The robot here is the wheel-leg hybrid robot described above.

[0044] Figure 2 This is a flow chart of a robot motion control method provided in an embodiment of the present application. The robot motion control method provided in an embodiment of the present application can be executed by a robot motion control device, which can be composed of hardware and / or software and can be integrated into the wheel-leg hybrid robot described above.

[0045] like Figure 2 As shown, the method may include the following steps:

[0046] S101, controlling the environment perception sensor to obtain surrounding environment information.

[0047] Optionally, when the wheel-foot composite robot is performing any work task triggered by the user, the controller in the wheel-foot composite robot can control the environmental perception sensor to collect the surrounding environment information in real time, so as to determine whether there are obstacles in the motion path of the wheel-foot composite robot and the motion road surface conditions based on the surrounding environment information collected by the environmental perception sensor. Among them, when determining whether there are obstacles in the motion path of the wheel-foot composite robot, if it is determined that there are obstacles, the size, shape, position and other information of the obstacles can be determined. In the present application, the above-mentioned motion road surface conditions can be a relatively flat road surface or an uneven road surface, etc., and the present application does not impose any restrictions on this.

[0048] In some optional embodiments, after the environmental perception sensor of the present application obtains the surrounding environment information, it can also send the surrounding environment information to the controller in real time, so that the controller can fuse the surrounding environment information obtained by each environmental perception sensor based on the environmental perception algorithm, and obtain the environmental parameters of whether there are obstacles in the motion path of the wheel-foot composite robot and the conditions of the moving road surface, thereby improving the perception accuracy of the motion environment of the wheel-foot composite robot.

[0049] S102: Determine a target motion mode of the wheel-leg hybrid robot based on surrounding environment information.

[0050] S103, controlling the motion of the wheel-leg hybrid robot according to the target motion mode.

[0051] Based on the above Figure 1 It can be seen from the structure of the wheel-leg composite robot shown that the target motion mode of the wheel-leg composite robot in this application includes: one of: a wheel motion mode and a wheel-leg composite motion mode.

[0052] Among them, the wheeled motion mode can be understood as pure wheeled motion, while the wheel-foot combined motion mode can be understood as a motion mode that is a mixture of wheeled motion and footed motion.

[0053] It should be understood that the above-mentioned motion mode refers to the motion mode of the wheel-leg composite robot.

[0054] In some optional embodiments, the present application may first obtain the movement direction (i.e., moving direction) of the wheel-leg hybrid robot, and then, based on the movement direction and the surrounding environment information obtained by the environmental perception sensor, determine the area to be moved that the wheel-leg hybrid robot is about to pass through and the state information of the area to be moved (i.e., the state of the area to be moved). Then, based on the state information of the area to be moved, determine the target motion mode of the wheel-leg hybrid robot.

[0055] The above-mentioned status information of the area to be moved may include that the terrain of the area to be moved is flat and has no obstacles, or that the terrain of the area to be moved is uneven, or that there are obstacles in the area to be moved, or that the terrain of the area to be moved is uneven and there are obstacles.

[0056] Considering that the wheeled motion mode can be applied to a flat terrain and an obstacle-free environment to provide a stable and efficient translational motion, and the wheel-foot composite motion mode can be applied to a complex terrain (i.e., an uneven terrain and / or the presence of obstacles) environment, the wheel-foot composite robot can move smoothly in a complex terrain environment. Therefore, when the present application determines that the state of the area to be moved is a flat terrain area and there are no obstacles, the wheeled motion mode can be determined as the target motion mode of the wheel-foot composite robot. When the state of the area to be moved is determined to be an uneven terrain and / or the presence of obstacles, the wheel-foot composite motion mode can be determined as the target motion mode of the wheel-foot composite robot.

[0057] Then, the motion of the wheel-leg hybrid robot is controlled by the controller based on the determined target motion mode.

[0058] In some optional embodiments, the movement of the wheel-foot composite robot is controlled, and optionally, a controller is used to determine whether the current motion mode of the wheel-foot composite robot is the same as the target motion mode. If they are the same, the wheel-foot composite robot is controlled to continue moving along a motion path pre-planned based on the work task based on the current motion mode. If they are not the same, it means that the current motion mode of the wheel-foot composite robot does not meet the motion requirements. At this time, the current motion mode of the wheel-foot composite robot is adjusted to the target motion mode, so that the wheel-foot composite robot moves along a motion path pre-planned based on the work task based on the target motion mode. In this way, the wheel-foot composite robot can be compatible with the advantages of efficient movement of wheeled robots in flat terrain environments, and the advantages of obstacle avoidance, motion balance and stability of footed robots in complex terrain environments, thereby ensuring that the wheel-foot composite robot has good motion performance in various motion environments.

[0059] The technical solution disclosed in the embodiment of the present application obtains the surrounding environment information of the wheel-leg composite robot based on the environmental perception sensor, determines the target motion mode of the wheel-leg composite robot based on the surrounding environment information, and then controls the movement of the wheel-leg composite robot based on the target motion mode. In this way, the motion mode of the robot can be flexibly adjusted according to the motion environment, so that the robot can move not only in an environment with relatively flat terrain, but also in an environment with relatively complex terrain, thereby improving the robot's adaptability in different motion environments.

[0060] In some optional implementation scenarios, it is considered that the four motion mechanisms of the wheel-foot compound robot include two rear rollers and two front leg mechanisms. Among them, the rear roller is always a wheel motion mode, and the front leg mechanism can include a wheel motion mode and a foot motion mode. Therefore, the wheel-foot compound motion mode corresponding to the wheel-foot compound robot in the present application can be divided into three modes, namely, the first wheel-foot compound motion mode obtained based on the wheel motion mode of the two rear rollers, the foot motion mode of the left front leg mechanism and the wheel motion mode of the right front leg mechanism; the second wheel-foot compound motion mode obtained based on the wheel motion mode of the two rear rollers, the wheel motion mode of the left front leg mechanism and the foot motion mode of the right front leg mechanism; the third wheel-foot compound motion mode obtained based on the wheel motion mode of the two rear rollers and the foot motion mode of the two front leg mechanisms. Then, based on the above three wheel-foot compound motion modes, the robot motion control method disclosed in the embodiment of the present application is further explained, as shown below. Figure 3 shown.

[0061] like Figure 3 As shown, the method may include the following steps:

[0062] S201, controlling the environment perception sensor to obtain surrounding environment information.

[0063] S202: Determine the motion task to be executed by the wheel-leg hybrid robot.

[0064] S203 , determining a target motion mode of the wheel-leg hybrid robot according to the surrounding environment information and the motion task to be performed.

[0065] S204, controlling the motion of the wheel-leg hybrid robot according to the target motion mode.

[0066] Considering that a wheel-leg hybrid robot can perform a task by executing multiple motion tasks, that is, one task corresponds to multiple motion tasks. Therefore, the wheel-leg hybrid robot executes the task by following the execution order of the multiple motion tasks, executing each motion task in turn until the task is completed.

[0067] Therefore, the aforementioned motion task to be executed can be selected as a motion task to be executed among multiple motion tasks corresponding to a certain work task.

[0068] In the present application, the multiple motion tasks corresponding to the above-mentioned work task can be input by the user, or generated by the wheeled robot using a task planning algorithm based on the work task. This application does not impose any restrictions on this.

[0069] In some optional embodiments, after obtaining information about the wheel-leg hybrid robot's surrounding environment, the present application may also obtain the next motion task to be executed based on the motion task currently being executed by the wheel-leg hybrid robot. Then, based on the surrounding environment and the motion task to be executed, the target motion mode of the wheel-leg hybrid robot is jointly determined. By controlling the motion of the wheel-leg hybrid robot based on the motion environment and motion task, the wheel-leg hybrid robot can flexibly switch motion modes according to different motion environments and motion task requirements, thereby improving the motion flexibility and adaptability of the wheel-leg hybrid robot.

[0070] As an optional implementation, the above-mentioned determination of the target motion mode of the wheel-leg composite robot may include the following steps:

[0071] Step S1: determining the area to be moved of the wheel-leg hybrid robot and the state of the area to be moved based on the movement direction of the wheel-leg hybrid robot and the surrounding environment information.

[0072] Step S2: determining the target motion state of the wheel-leg hybrid robot according to the state of the area to be moved and the type of the motion task to be performed.

[0073] In some optional embodiments, the target motion state of the wheel-leg hybrid robot may include one of the following:

[0074] First, when it is determined based on the surrounding environment information that the state of the area to be moved by the wheel-leg compound robot is flat and without obstacles, and the movement task to be performed is a moving task, the target movement mode of the wheel-leg compound robot is determined to be the wheeled movement mode.

[0075] The movement task may include one of a forward task, a backward task, and a turning task. In this application, the turning task may be understood as a left turning task or a right turning task.

[0076] Taking into account that the wheeled motion mode can achieve rapid passage through areas with flat terrain and no obstacles, when it is determined that the state of the area to be moved by the wheel-foot composite robot is flat terrain and no obstacles, and the motion task to be performed is a moving task, the present application can fix each joint in the left and right front leg mechanisms of the wheel-foot composite robot at the corresponding position through the controller according to the motion task to be performed, so that the two front leg mechanisms are in the wheeled motion mode, thereby obtaining the overall motion mode of the wheel-foot composite robot based on the wheeled motion mode of the front leg mechanism and the wheeled motion mode of the rear roller, and the overall motion mode is the wheeled motion mode.

[0077] As an optional implementation, in this application, each joint in the left and right front leg mechanisms of the wheel-leg composite robot is fixed at a corresponding position according to the motion task to be performed, which can be achieved by a joint torque control algorithm, wherein the joint torque control algorithm can be expressed as follows:

[0078]

[0079] Among them, τ i is the fixed position of the i-th joint in the left and right foreleg mechanisms, kp i is the control gain of the i-th joint position, is the expected position of the i-th joint, is the actual position of the i-th joint, kd i is the velocity control gain of the i-th joint, is the expected velocity of the i-th joint, is the actual velocity of the i-th joint.

[0080] Furthermore, the above-mentioned joint position control gain kp i , and the i-th joint velocity control gain kd i These are all adjustable parameters and can be flexibly set according to actual application needs. This application does not impose any restrictions on this.

[0081] Since each joint in the two front leg mechanisms is fixed at the corresponding position, the expected speed of the joint is 0. Based on this, the present application can transform the above formula (1) to obtain the following formula (2):

[0082]

[0083] Since the actual velocity of each joint in the two front leg mechanisms can be calculated based on the actual position of the joint, the above formula (2) can be transformed to obtain the following formula (3):

[0084]

[0085] in, is the actual velocity of the i-th joint, and the actual velocity of the i-th joint is obtained by the actual position of the i-th joint Perform differential operation to obtain .

[0086] Based on the above Figure 1It can be seen that the two front leg mechanisms of the wheel-foot composite robot include: hip joint, knee joint and ankle joint respectively. Then identification information can be set for these six joints so that the identity information of the joints can be determined based on the identification information. As an optional implementation method, the present application can set the following identification information for the joints of the left front leg mechanism and the right front leg mechanism in the order of left front leg mechanism first and right leg mechanism second: left hip joint 1, left knee joint 2, left ankle joint 3, right hip joint 4, right knee joint 5 and right ankle joint 6; or, the present application can set the following identification information for the joints of the left front leg mechanism and the right front leg mechanism in the order of right front leg mechanism first and left front leg mechanism second: right hip joint 1, right knee joint 2, right ankle joint 3, left hip joint 4, left knee joint 5 and left ankle joint 6, etc., and this application does not impose any restrictions on this. That is, the above i∈[1,6].

[0087] And, the expected position of the i-th joint The inverse kinematics algorithm can be used to calculate the actual position of the i-th joint. The present application does not impose any restrictions on the specific algorithm for calculating the expected position based on the actual position.

[0088] It should be understood that the above inverse kinematics is based on the actual position of the i-th joint The expected position of the i-th joint is calculated, specifically, the expected angle of the i-th joint is calculated, and the expected angle is determined as the expected position of the i-th joint.

[0089] Among them, the actual position of the i-th joint It can be understood as a target three-dimensional position in the real physical space input when performing a motion task. And the actual position of the i-th joint It can be obtained by reading from the joint encoder corresponding to the i-th joint.

[0090] It should be noted that what is usually stored in the joint encoder is the joint angle, so the actual position read from the joint encoder in this application is specifically the actual joint angle.

[0091] In an embodiment of the present application, when the target motion mode is a wheeled motion mode, the control method of the two rear rollers of the wheel-foot composite robot under the wheeled motion mode is a differential wheel system, so that by controlling the speed of the left and right rear rollers, the wheel-foot composite robot can perform forward tasks, backward tasks and left and right turning tasks.

[0092] For example, if the speed of the left rear roller is controlled to be greater than that of the right rear roller, the wheel-leg hybrid robot will perform a right turn task. For another example, if the left and right rear rollers are controlled to rotate forward at the same speed, the wheel-leg hybrid robot will perform a forward movement task. For another example, if the left and right rear rollers are controlled to rotate backward at the same speed, the wheel-leg hybrid robot will perform a backward movement task.

[0093] The second type is that when it is determined based on the surrounding environment information that the state of the area to be moved by the wheel-foot compound robot is uneven terrain and / or there are obstacles, and the movement task to be performed is a moving task, the target motion mode of the wheel-foot compound robot is determined to be the first wheel-foot compound motion mode, the second wheel-foot compound motion mode or the third wheel-foot compound motion mode.

[0094] Considering that the complex terrain area may be an uneven terrain area and / or an obstacle area, and the uneven terrain position and / or the obstacle position may be located at a certain direction in the area to be moved. Therefore, the present application can determine the target motion mode of the wheel-foot compound robot from the first wheel-foot compound motion mode, the second wheel-foot compound motion mode or the third wheel-foot compound motion mode according to the direction of the uneven terrain position and / or the obstacle position in the area to be moved. Furthermore, the target motion mode can be used to drive the rolling motion of the wheel-foot compound robot through wheel motion, and adapt to the motion environment with complex terrain through foot motion, so as to ensure that the wheel-foot compound robot can avoid obstacles during the efficient motion process, thereby improving the motion stability and balance of the wheel-foot compound robot.

[0095] In some optional embodiments, when the terrain is uneven and / or the position of the obstacle in the area to be moved is located in the direction of the left front leg mechanism of the wheel-leg composite robot, then in order to smoothly pass through the uneven terrain and / or avoid the obstacle, the present application may determine that the target motion mode of the wheel-leg composite robot is the first wheel-leg composite motion mode. That is, when it is determined that the terrain is uneven and / or there is an obstacle in front of the left side of the wheel-leg composite robot, the left front leg mechanism of the wheel-leg composite robot is controlled to be in foot-type motion, and the remaining three motion mechanisms are in wheel-type motion, so that the wheel-leg composite robot can cross the obstacle based on the left front leg mechanism in foot-type motion, thereby improving its obstacle-crossing ability while efficiently passing through the area to be moved.

[0096] When the uneven terrain and / or the obstacle are located in the area to be moved, in a direction that is biased toward the location of the right front leg mechanism of the wheel-leg hybrid robot, the present application can determine that the target motion mode of the wheel-leg hybrid robot is the second wheel-leg hybrid motion mode. That is, when it is determined that the terrain is uneven and / or there is an obstacle in front of the right side of the wheel-leg hybrid robot, the right front leg mechanism of the wheel-leg hybrid robot is controlled to be in foot-type motion, while the remaining three motion mechanisms are in wheel-type motion, so that the wheel-leg hybrid robot can cross the obstacle with the right front leg mechanism in foot-type motion.

[0097] When the uneven terrain and / or the obstacle are located in the area to be moved, in the locations of the left and right front leg mechanisms of the wheel-leg hybrid robot, the target motion mode of the wheel-leg hybrid robot is determined to be the third wheel-leg hybrid motion mode. That is, when it is determined that the terrain is uneven and / or there are obstacles in front of both the left and right sides of the wheel-leg hybrid robot, the left and right front leg mechanisms of the wheel-leg hybrid robot are controlled to operate in foot-type motion, while the remaining two motion mechanisms operate in wheel-type motion, so that the wheel-leg hybrid robot can traverse the obstacle using the left and right front leg mechanisms in foot-type motion.

[0098] In the present application, the motors provided at the ankle joints of the left and right front leg mechanisms of the wheel-leg composite robot can be optionally linear motors. Then, when it is necessary to control the motion mode of any front leg mechanism and switch from a wheeled motion mode to a footed motion mode, the passive wheels in the front leg mechanism can be locked by the linear motor, so that the passive wheels in the front leg mechanism become the feet in contact with the ground in the front leg mechanism. Conversely, when it is necessary to control the motion mode of any front leg mechanism and switch from a footed motion mode to a wheeled motion mode, the locked passive wheels can be released by the linear motor, so that the feet in contact with the ground in the front leg mechanism become the passive wheels.

[0099] The third type is when, based on the surrounding environment information, it is determined that the state of the area to be moved by the wheel-leg compound robot is a flat terrain with no obstacles or an uneven terrain and / or there are obstacles, and the movement task to be performed is an interactive task, the target motion mode of the wheel-leg compound robot is determined to be the third wheel-leg compound motion mode.

[0100] The aforementioned interactive tasks can be understood as tasks involving interaction with objects or people, such as controlling a wheel-leg hybrid robot to press an elevator button or to shake hands with a person.

[0101] In some optional embodiments, when it is determined that the motion task to be performed by the wheel-leg compound robot is an interactive task, it is required that any one of the front leg mechanisms of the wheel-leg compound robot is in a vacant state, and the remaining one front leg mechanism and the two rear rolling wheels are in contact with the ground and in a supporting state. Then, in order to enable the wheel-leg compound robot to maintain itself in a static equilibrium state when performing an interactive task based on the front leg mechanism in the vacant state, the present application achieves this by controlling the center of mass projection position of the wheel-leg compound robot to be located within the support polygon area formed by the supporting legs and the two rear roller support points. Among them, the center of mass projection position can be understood as the projection position when the center of mass is projected onto the plane where the support polygon area is located.

[0102] Considering that the positions of the two rear roller support points are known, in order to make the projection position of the center of mass of the wheel-foot composite robot be located within the support polygon area formed by the support legs and the two rear roller support points, this application needs to control the landing point position of the support legs. As an optional implementation method, two constraints can be set for the landing point position of the support legs. The first constraint is to control the projection position of the center of mass of the wheel-foot composite robot to be located within the support polygon area formed by the support legs and the two rear roller support points. The second constraint is that the landing point position of the support leg needs to be located within the collection area of ​​the physical limits of the corresponding joints of the support legs. Among them, the physical limits of the corresponding joints of the support legs are set based on the physical structure of the wheel-foot composite robot, and this application does not impose any restrictions on this.

[0103] Furthermore, the controller in the wheel-leg composite robot can calculate the landing point position of the support leg based on the above two constraints, so that the projection position of the center of mass of the wheel-leg composite robot can be located within the support polygon area formed by the support leg and the two rear roller support points.

[0104] In some optional embodiments, after determining the target motion mode of the wheel-leg composite robot, the present application can control the wheel-leg composite robot to move based on the target motion mode to perform the corresponding work task.

[0105] The technical solution disclosed in the embodiment of the present application obtains the surrounding environment information of the wheel-leg composite robot based on the environmental perception sensor, determines the target motion mode of the wheel-leg composite robot based on the surrounding environment information, and then controls the movement of the wheel-leg composite robot based on the target motion mode. In this way, the motion mode of the robot can be flexibly adjusted according to the motion environment, so that the robot can move not only in an environment with relatively flat terrain, but also in an environment with relatively complex terrain, thereby improving the robot's adaptability in different motion environments.

[0106] Please refer to the attached Figure 4 , a robot motion control device proposed in an embodiment of the present application is described. Figure 4A schematic block diagram of a robot motion control device provided in an embodiment of the present application. The robot in this application is Figure 1 The wheel-leg hybrid robot shown includes at least one environmental perception sensor.

[0107] like Figure 4 As shown, the robot motion control device 500 includes: an information acquisition module 510 , a modality determination module 520 and a motion control module 530 .

[0108] The information acquisition module 510 is used to control the environment perception sensor to acquire surrounding environment information;

[0109] A mode determination module 520 is configured to determine a target motion mode of the wheel-leg hybrid robot based on the surrounding environment information;

[0110] The motion control module 530 is used to control the motion of the wheel-leg hybrid robot according to the target motion mode.

[0111] In an optional implementation of the embodiment of the present application, the target motion mode includes: one of a wheeled motion mode and a wheel-foot combined motion mode.

[0112] In an optional implementation of the embodiment of the present application, the modality determination module 520 includes:

[0113] A first determining unit is configured to determine a state of a waiting movement area of ​​the wheel-leg hybrid robot according to the surrounding environment information;

[0114] The second determination unit is used to determine that the target motion mode of the wheel-foot composite robot is the wheeled motion mode if the state of the area to be moved is that the terrain is flat and there are no obstacles; if the state of the area to be moved is that the terrain is uneven and / or there are obstacles, then the target motion mode of the wheel-foot composite robot is determined to be the wheel-foot composite motion mode.

[0115] In an optional implementation of the embodiment of the present application, the wheel-leg composite robot further includes four motion mechanisms, the four motion mechanisms including two rear rollers and two front leg mechanisms, wherein a roller is provided at the end of each front leg mechanism;

[0116] Accordingly, the wheel-foot composite motion mode includes:

[0117] Based on the wheel motion of the two rear rollers, the foot motion of the left front leg mechanism, and the wheel motion of the right front leg mechanism, a first wheel-foot compound motion mode is obtained; or,

[0118] Based on the wheel motion of the two rear rollers, the wheel motion of the left front leg mechanism, and the foot motion of the right front leg mechanism, a second wheel-foot compound motion mode is obtained; or,

[0119] Based on the wheel motion of the two rear rollers and the foot motion of the two front leg mechanisms, a third wheel-foot composite motion mode is obtained.

[0120] In an optional implementation of the embodiment of the present application, the apparatus 500 further includes:

[0121] A task determination module, used to determine the motion task to be performed by the wheel-leg hybrid robot;

[0122] The mode determination module 520 is specifically configured to determine the target motion mode of the wheel-leg hybrid robot according to the surrounding environment information and the motion task to be performed.

[0123] In an optional implementation of the embodiment of the present application, the mode determination module 520 is further configured to:

[0124] When it is determined based on the surrounding environment information that the state of the area to be moved by the wheel-leg composite robot is flat and without obstacles, and the movement task to be performed is a moving task, determining the target movement mode of the wheel-leg composite robot to be the wheeled movement mode;

[0125] When it is determined based on the surrounding environment information that the state of the area to be moved by the wheel-leg composite robot is uneven terrain and / or there are obstacles, and the movement task to be performed is a moving task, determining the target motion mode of the wheel-leg composite robot to be the first wheel-leg composite motion mode, the second wheel-leg composite motion mode, or the third wheel-leg composite motion mode;

[0126] When it is determined based on the surrounding environment information that the state of the area to be moved by the wheel-leg compound robot is flat terrain without obstacles or uneven terrain and / or there are obstacles, and the motion task to be performed is an interactive task, the target motion mode of the wheel-leg compound robot is determined to be the third wheel-leg compound motion mode.

[0127] In an optional implementation of the embodiment of the present application, the movement task includes: one of a forward task, a backward task, and a turning task.

[0128] It should be understood that the device embodiment and the aforementioned method embodiment may correspond to each other, and similar descriptions may refer to the method embodiment. To avoid repetition, they will not be described here. Specifically, Figure 4 The apparatus 500 shown may perform Figure 2 The corresponding method embodiments, and the aforementioned and other operations and / or functions of each module in the apparatus 500 are respectively to implement Figure 2For the sake of brevity, the corresponding processes in each method are not repeated here.

[0129] The above describes the device 500 of the embodiment of the present application from the perspective of functional modules in conjunction with the accompanying drawings. It should be understood that the functional module can be implemented in hardware form, can be implemented by instructions in software form, and can also be implemented by a combination of hardware and software modules. Specifically, the steps of the first aspect method embodiment in the embodiment of the present application can be completed by the hardware integrated logic circuit and / or software form instructions in the processor, and the steps of the first aspect method disclosed in conjunction with the embodiment of the present application can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. Optionally, the software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps in the above-mentioned first aspect method embodiment in conjunction with its hardware.

[0130] Figure 5 A schematic block diagram of a robot provided in an embodiment of the present application. The robot in this application is Figure 1 The wheel-foot composite robot shown in Figure 1 is a wheel-foot composite robot. Figure 5 As shown, the robot 600 may include:

[0131] At least one environment perception sensor 610, used to obtain information about the robot's surrounding environment;

[0132] The memory 620 and the processor 630 are configured to store computer programs and transmit the program code to the processor 630. In other words, the processor 630 can call and run the computer program from the memory 620 to implement the robot motion control method in the embodiment of the present application.

[0133] For example, the processor 630 may be configured to execute the aforementioned robot motion control method according to instructions in the computer program.

[0134] In some embodiments of the present application, the processor 630 may include but is not limited to:

[0135] General-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc.

[0136] In some embodiments of the present application, the memory 620 includes but is not limited to:

[0137] Volatile memory and / or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus random access memory (DR RAM).

[0138] In some embodiments of the present application, the computer program may be divided into one or more modules, which are stored in the memory 620 and executed by the processor 630 to implement the robot motion control method provided by the present application. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in the robot.

[0139] like Figure 5 As shown, the robot 600 may further include:

[0140] The transceiver 640 may be connected to the processor 630 or the memory 620 .

[0141] The processor 630 may control the transceiver 640 to communicate with other devices. Specifically, the processor 630 may send information or data to other devices or receive information or data sent by other devices. The transceiver 640 may include a transmitter and a receiver. The transceiver 640 may further include an antenna, which may be one or more.

[0142] It should be understood that the various components in the robot are connected via a bus system, wherein the bus system includes not only a data bus but also a power bus, a control bus and a status signal bus.

[0143] The present application also provides a computer storage medium having a computer program stored thereon. When the computer program is executed by a computer, the computer is enabled to execute the robot motion control method of the above method embodiment.

[0144] An embodiment of the present application further provides a computer program product comprising program instructions, which, when executed on a robot, enables the robot to execute the robot motion control method of the above method embodiment.

[0145] When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a digital video disc (DVD)), or a semiconductor medium (e.g., a solid state drive (SSD)).

[0146] Those skilled in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0147] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the modules is merely a logical function division. In actual implementation, there may be other division methods, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0148] Modules described as separate components may or may not be physically separate, and components displayed as modules may or may not be physical modules, i.e., they may be located in one place or distributed across multiple network elements. Some or all of the modules may be selected based on actual needs to achieve the purpose of the present embodiment. For example, the functional modules in the various embodiments of the present application may be integrated into a processing module, or each module may exist physically separately, or two or more modules may be integrated into a single module.

[0149] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program that has a predetermined function and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories) or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0150] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A robot motion control method, characterized in that: The robot is a wheel-leg composite robot, and the wheel-leg composite robot includes at least one environment perception sensor. The method includes: Controlling the environment perception sensor to obtain surrounding environment information; Determining a target motion mode of the wheel-leg hybrid robot according to the surrounding environment information; The movement of the wheel-leg hybrid robot is controlled according to the target motion mode.

2. The method according to claim 1, characterized in that The target motion mode includes: one of a wheeled motion mode and a wheel-foot combined motion mode.

3. The method according to claim 2, characterized in that Determining the target motion mode of the wheel-leg composite robot according to the surrounding environment information includes: Determining a state of a waiting movement area of ​​the wheel-leg composite robot according to the surrounding environment information; If the state of the area to be moved is that the terrain is flat and there are no obstacles, determining that the target motion mode of the wheel-leg composite robot is a wheeled motion mode; If the state of the area to be moved is that the terrain is uneven and / or there are obstacles, the target motion mode of the wheel-leg composite robot is determined to be the wheel-leg composite motion mode.

4. The method according to claim 2, characterized in that The wheel-leg composite robot further comprises four motion mechanisms, which include two rear rollers and two front leg mechanisms, wherein a roller is provided at the end of each front leg mechanism; Accordingly, the wheel-foot composite motion mode includes: Based on the wheel motion of the two rear rollers, the foot motion of the left front leg mechanism, and the wheel motion of the right front leg mechanism, a first wheel-foot compound motion mode is obtained; or, Based on the wheel motion of the two rear rollers, the wheel motion of the left front leg mechanism, and the foot motion of the right front leg mechanism, a second wheel-foot compound motion mode is obtained; or, Based on the wheel motion of the two rear rollers and the foot motion of the two front leg mechanisms, a third wheel-foot composite motion mode is obtained.

5. The method according to claim 4, characterized in that The method further comprises: Determining a motion task to be performed by the wheel-leg composite robot; The target motion mode of the wheel-leg hybrid robot is determined according to the surrounding environment information and the motion task to be performed.

6. The method according to claim 5, characterized in that The step of determining a target motion mode of the wheel-leg composite robot according to the surrounding environment information and the motion task to be performed includes: When it is determined based on the surrounding environment information that the state of the area to be moved by the wheel-leg composite robot is flat and without obstacles, and the movement task to be performed is a moving task, determining the target movement mode of the wheel-leg composite robot to be the wheeled movement mode; When it is determined based on the surrounding environment information that the state of the area to be moved by the wheel-leg composite robot is uneven terrain and / or there are obstacles, and the movement task to be performed is a moving task, determining the target motion mode of the wheel-leg composite robot to be the first wheel-leg composite motion mode, the second wheel-leg composite motion mode, or the third wheel-leg composite motion mode; When it is determined based on the surrounding environment information that the state of the area to be moved by the wheel-leg compound robot is flat terrain without obstacles or uneven terrain and / or there are obstacles, and the motion task to be performed is an interactive task, the target motion mode of the wheel-leg compound robot is determined to be the third wheel-leg compound motion mode.

7. The method according to claim 6, characterized in that The movement task includes: one of a forward task, a backward task and a turning task.

8. A robot motion control device, characterized in that: The robot is a wheel-foot composite robot, and the wheel-foot composite robot includes at least one environmental perception sensor, including: An information acquisition module, configured to control the environment perception sensor to acquire surrounding environment information; A mode determination module, configured to determine a target motion mode of the wheel-leg hybrid robot based on the surrounding environment information; A motion control module is used to control the motion of the wheel-leg composite robot according to the target motion mode.

9. A robot, characterized in that: include: At least one environmental perception sensor, used to obtain information about the robot's surrounding environment; A processor and a memory, the memory being used to store a computer program, and the processor being used to call and run the computer program stored in the memory to execute the robot motion control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that Used to store a computer program, wherein the computer program causes a computer to execute the robot motion control method according to any one of claims 1 to 7.

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