Robot control method and robot

Abstract

The invention relates to a robot control method and a robot. The method comprises the following steps: acquiring slip information data and inertial measurement data of a robot; performing slip judgment on the robot according to the slip information data to obtain a slip judgment result; under the condition that the slip judgment result represents that the robot is in the slip state, determining current pose data of the robot according to the inertial measurement data; and the suspension height of the robot is controlled according to the current pose data, so that the robot actively lifts the edge wheels or the universal wheels. By the adoption of the method, it can be ensured that the robot can quickly and effectively pass through the slipping ground or obstacles while the original basic structure of the robot is not affected.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and in particular to a robot control method, as well as robots, devices, computer equipment, computer-readable storage media, and computer program products. Background Technology

[0002] With the increasing popularity of home cleaning robots, cleaning robots that can absorb, sweep, and mop have emerged. However, when performing cleaning tasks in the home environment, they often encounter various types of floors and complex environments, which inevitably lead to tilting or slipping, or even an inability to actively escape from obstacles, which will affect the use of the robot. Summary of the Invention

[0003] Therefore, it is necessary to provide a robot control method, robot, device, computer equipment, computer-readable storage medium, and computer program product that can ensure the robot can quickly and effectively pass through slippery ground or obstacles without affecting the robot's original basic structure.

[0004] In a first aspect, this application provides a robot control method, including:

[0005] Acquire robot slippage information data and inertial measurement data;

[0006] Based on the slippage information data, the robot is judged to slip, and a slippage judgment result is obtained;

[0007] If the slippage determination result indicates that the robot is in a slippage state, the current pose data of the robot is determined based on the inertial measurement data;

[0008] The robot's suspension height is controlled based on the current pose data, so that the robot can actively raise its side wheels or omnidirectional wheels.

[0009] In one embodiment, the slippage information data includes: motion odometer information and actual positioning information; the robot is slipped based on the slippage information data to obtain a slippage determination result, including:

[0010] Based on the motion odometer information and the actual location information, motion data matching calculation is performed to obtain the degree of motion data matching.

[0011] The robot is judged to slip based on the degree of matching of the motion data, and the slip judgment result is obtained.

[0012] In one embodiment, controlling the suspension height of the robot based on the current pose data to enable the robot to actively raise its side wheels or casters includes:

[0013] When the current pose data indicates that the robot is not tilting left or right, the robot's overall suspension height is controlled so that the robot actively triggers the overall suspension height to decrease.

[0014] When the current pose data indicates that the robot is currently tilting left or right, the robot's independent suspension height is controlled based on the attitude angle information of the current pose data, so that the robot actively triggers a single-sided suspension height reduction; wherein, the single-sided suspension height reduction is used to raise the tire corresponding to the independent suspension.

[0015] In one embodiment, the method further includes:

[0016] Obtain obstacle detection data from the robot;

[0017] Based on a preset intelligent suspension control model, the obstacle detection data is analyzed to obtain the target obstacle crossing strategy.

[0018] The robot's independent suspension and tire speed are controlled to overcome obstacles according to the target obstacle-crossing strategy.

[0019] In one embodiment, the obstacle-crossing control of the robot's independent suspension and tire speed according to the target obstacle-crossing strategy includes:

[0020] When the target obstacle crossing strategy is the first obstacle strategy, the independent suspension device is alternately pressed down on one side, and the tire speed is alternately accelerated simultaneously; wherein, the synchronization means that when the independent suspension device is pressed down on one side, the tire speed corresponding to the side wheel with the lower center of gravity of the robot is accelerated.

[0021] In one embodiment, the robot control method further includes:

[0022] Obtain the robot's historical obstacle data and current navigation planning path;

[0023] When any obstacle from the historical obstacle data exists in the current navigation planning path, the obstacle is determined based on the navigation planning path and the historical obstacle data to obtain the target obstacle data;

[0024] The robot is controlled to overcome obstacles based on the target obstacle data, so that the robot can overcome obstacles in front of the target obstacle corresponding to the target obstacle data.

[0025] Secondly, this application also provides a robot control method, including:

[0026] Acquire environmental detection information and inertial measurement data for the robot;

[0027] When the environmental detection information meets the preset conditions, the current pose data of the robot is determined based on the inertial measurement data;

[0028] The robot's suspension height is controlled based on the current pose data and the environmental detection information, so that the robot can actively raise its side wheels or omnidirectional wheels.

[0029] In one embodiment, controlling the robot's suspension height based on the current pose data and the environmental detection information includes:

[0030] When the environmental detection information indicates that the robot has encountered a first obstacle, the robot's overall suspension height is controlled based on the current pose data, and the robot's tire speed is accelerated to enable the robot to actively raise its chassis and accelerate to overcome the obstacle.

[0031] In one embodiment, controlling the robot's suspension height based on the current pose data and the environmental detection information includes:

[0032] When the environmental detection information indicates that the robot has encountered a second obstacle, the robot's overall suspension height is controlled based on the current pose data so that the robot actively raises its chassis.

[0033] Thirdly, this application also provides a robot, including a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, performs the following steps:

[0034] Acquire robot slippage information data and inertial measurement data;

[0035] Based on the slippage information data, the robot is judged to slip, and a slippage judgment result is obtained;

[0036] If the slippage determination result indicates that the robot is in a slippage state, the current pose data of the robot is determined based on the inertial measurement data;

[0037] The robot's suspension height is controlled based on the current pose data, so that the robot can actively raise its side wheels or omnidirectional wheels.

[0038] or / and,

[0039] Acquire environmental detection information and inertial measurement data for the robot;

[0040] When the environmental detection information meets the preset conditions, the current pose data of the robot is determined based on the inertial measurement data;

[0041] The robot's suspension height is controlled based on the current pose data and the environmental detection information, so that the robot can actively raise its side wheels or omnidirectional wheels.

[0042] Fourthly, this application also provides a robot control device, comprising:

[0043] The acquisition module is used to acquire the robot's slippage information data and inertial measurement data;

[0044] The slippage determination module is used to determine whether the robot is slipping based on the slippage information data and obtain the slippage determination result.

[0045] The determination module is used to determine the current pose data of the robot based on the inertial measurement data when the slippage determination result indicates that the robot is in a slippage state.

[0046] The suspension height control module is used to control the suspension height of the robot based on the current pose data, so that the robot can actively raise the side wheels or omnidirectional wheels.

[0047] Fifthly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0048] Acquire robot slippage information data and inertial measurement data;

[0049] Based on the slippage information data, the robot is judged to slip, and a slippage judgment result is obtained;

[0050] If the slippage determination result indicates that the robot is in a slippage state, the current pose data of the robot is determined based on the inertial measurement data;

[0051] The robot's suspension height is controlled based on the current pose data, so that the robot can actively raise its side wheels or omnidirectional wheels.

[0052] Sixthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0053] Acquire robot slippage information data and inertial measurement data;

[0054] Based on the slippage information data, the robot is judged to slip, and a slippage judgment result is obtained;

[0055] If the slippage determination result indicates that the robot is in a slippage state, the current pose data of the robot is determined based on the inertial measurement data;

[0056] The robot's suspension height is controlled based on the current pose data, so that the robot can actively raise its side wheels or omnidirectional wheels.

[0057] In a seventh aspect, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0058] Acquire robot slippage information data and inertial measurement data;

[0059] Based on the slippage information data, the robot is judged to slip, and a slippage judgment result is obtained;

[0060] If the slippage determination result indicates that the robot is in a slippage state, the current pose data of the robot is determined based on the inertial measurement data;

[0061] The robot's suspension height is controlled based on the current pose data, so that the robot can actively raise its side wheels or omnidirectional wheels.

[0062] The aforementioned robot control method, robot, device, computer equipment, computer-readable storage medium, and computer program product acquire the robot's slippage information data and inertial measurement data; determine the robot's slippage based on the slippage information data to obtain a slippage determination result; when the slippage determination result indicates that the robot is in a slippage state, determine the robot's current pose data based on the inertial measurement data; and control the robot's suspension height based on the current pose data to actively raise the side wheels or omnidirectional wheels. Therefore, by controlling the robot's suspension height based on the current pose data when the slippage determination result indicates that the robot is in a slippage state, it is possible to ensure that the robot can quickly and effectively pass through slippery surfaces or obstacles without affecting the robot's original basic structure. Attached Figure Description

[0063] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0064] Figure 1 This is a diagram illustrating the application environment of a robot control method in one embodiment;

[0065] Figure 2 Here is a structural diagram of the robot in one embodiment;

[0066] Figure 3 This is a flowchart illustrating a robot control method in one embodiment;

[0067] Figure 4 This is a schematic diagram of the historical obstacle avoidance planning process of a robot control method in one embodiment;

[0068] Figure 5 This is a structural block diagram of a robot control device in one embodiment;

[0069] Figure 6 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0070] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0071] The robot control method provided in this application embodiment can be applied to, for example, Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or placed on a cloud or other network server. Server 104 acquires the robot's slippage information data and inertial measurement data; it determines the robot's slippage based on the slippage information data, obtaining a slippage determination result; if the slippage determination result indicates that the robot is in a slippage state, it determines the robot's current pose data based on the inertial measurement data; and it controls the robot's suspension height based on the current pose data to actively raise the side wheels or omnidirectional wheels. Terminal 102 can be, but is not limited to, various robots including personal computers, smartphones, tablets, and IoT devices. Figure 2 The illustrated robotic vacuum cleaner includes a drive wheel (220), a swivel wheel (212), and the main body (10). IoT devices can include smart speakers, smart TVs, smart air conditioners, smart vehicle devices, and projection equipment. Server 104 can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.

[0072] In one exemplary embodiment, such as Figure 3 As shown, a robot control method is provided, which can be applied to... Figure 1 Taking server 104 as an example, the explanation includes steps 302 to 308. Wherein:

[0073] Step 302: Obtain the robot's slippage information data and inertial measurement data.

[0074] The robot can be a cleaning robot or other household robot, but is not limited to these. The slip information data is the degree of motion data matching, which is used to determine whether the robot is slipping. The inertial measurement data is IMU data, which can be used to help determine whether the robot is in normal operating condition based on the slip information data and the inertial measurement data.

[0075] In some embodiments, the robot's slippage information data and inertial measurement data can be obtained in real time through a server, or the robot's slippage information data and inertial measurement data can be obtained at a certain time frequency, and this is not limited to these embodiments.

[0076] Step 304: Determine whether the robot is slipping based on the slipping information data, and obtain the slipping determination result.

[0077] The slippage determination is achieved by judging whether the degree of matching of motion data exceeds a preset experience threshold.

[0078] In some embodiments, the slippage information data includes: motion odometer information and actual positioning information; determining whether the robot is slipping based on the slippage information data and obtaining a slippage determination result includes: performing motion data matching calculation based on the motion odometer information and actual positioning information to obtain the motion data matching degree; and determining whether the robot is slipping based on the motion data matching degree to obtain a slippage determination result. For example, when the motion odometer information and actual positioning information do not match, it can be determined that the robot has slipped.

[0079] Among them, motion data matching calculation refers to the division operation between the actual positioning displacement over a period of time and the motion odometer displacement over a period of time.

[0080] In some embodiments, for slippage data, i.e., the degree of motion data matching, specifically the degree of matching between motion odometry information and actual positioning information, assuming the robot's motion data matching degree λ is 1.0 during normal operation, then the motion data matching degree will decrease during slippage. We take T=0.4 as the slippage threshold; when λ<0.4, it is considered that the robot is slipping. The slippage threshold is an empirical value set based on experience, where λ = actual positioning displacement over a period of time / motion odometry displacement over a period of time. Motion odometry information can determine the motion odometry displacement over a period of time, and actual positioning information can determine the actual positioning displacement over a period of time, but this is not limited to these two values.

[0081] Step 306, when the slip determination result indicates that the robot is in a slipping state, determine the current pose data of the robot based on the inertial measurement data.

[0082] Among them, the current pose data of the robot can be determined based on the inertial measurement data, i.e., IMU data. Two Euler angle information (pitch angle, roll angle) can be taken. Generally, when the robot is on the ground, the data of the pitch angle and the roll angle are both close to 0 degrees. When tilted, it can be roughly divided into four cases: the front of the robot is lifted (pitch angle > 0), the rear of the robot is lifted (pitch angle < 0), the left side of the robot is lifted (roll angle < 0), and the right side of the robot is lifted (roll angle > 0). Therefore, keeping the data acquisition frequency consistent with the motion command frequency is convenient for quickly controlling the suspension and the speed of the side wheels of the robot.

[0083] In some embodiments, when the collected robot slip data λ < T, it indicates that the slip determination result indicates that the robot is in a slipping state, that is, the robot is slipping. At this time, the intelligent suspension control algorithm model needs to intervene. After the algorithm model collects the IMU data, it judges the current pose data of the robot, such as the specific pitch angle and roll angle of the robot, and based on the pitch angle and the roll angle, it can determine the specific pose of the robot. The current pose data can be the position information, orientation information of the robot, and the angle information in various directions relative to the working surface, such as the rear, left, right, and front, such as the lift angle. In some examples, the lift angle is also referred to as the roll angle and the pitch angle.

[0084] Step 308, control the suspension height of the robot according to the current pose data, so that the robot actively lifts the side wheels or omnidirectional wheels.

[0085] Among them, the suspension height control is a control method that actively adjusts the suspension height to lift one side or multiple tires of the robot.

[0086] In some embodiments, controlling the suspension height of the robot according to the current pose data so that the robot actively lifts the side wheels or omnidirectional wheels includes: when the current pose data indicates that the robot does not tilt left and right currently, perform overall suspension height control on the robot so that the robot actively triggers the overall suspension height to press down; when the current pose data indicates that the robot tilts left and right currently, perform independent suspension height control on the robot according to the pose angle information of the current pose data so that the robot actively triggers the unilateral suspension height to press down; where the unilateral suspension height pressing down is used to lift the tire corresponding to the independent suspension.

[0087] In some embodiments, when the current pose data indicates that the robot is not currently tilting left or right, the overall suspension height is actively lowered to appropriately increase the sinking of the side wheels, thereby increasing the ground pressure and friction. When the current pose data indicates that the robot is currently tilting left or right, the attitude angle information of the current pose data can be used to determine which side wheel should be raised, and the suspension height of that side wheel can be independently controlled. This allows the robot to actively trigger a single-sided suspension height reduction, enabling the robot to maintain the ground pressure of the left side wheel and reduce slippage. For example, when the left side of the robot is raised, the right side suspension is lowered, thereby raising the right wheel and raising the right side wheel, allowing the robot to maintain the ground pressure of the left side wheel and reduce slippage. Similarly, when the right side of the robot is raised, the left side wheel can be actively raised.

[0088] In some embodiments, the robot control method further includes: acquiring obstacle detection data of the robot; performing obstacle crossing control analysis on the obstacle detection data according to a preset intelligent suspension control model to obtain a target obstacle crossing strategy; and performing obstacle crossing control on the robot's independent suspension device and tire speed according to the target obstacle crossing strategy.

[0089] The obstacle detection data can be from various sensors, such as radar data, image or video data, TOF (Time of Flight) sensors, line laser sensors, etc., which enables obstacle detection. The preset intelligent suspension control model is a pre-trained intelligent suspension control algorithm model that can analyze the distance, direction, and height information of obstacles based on sensor data. Based on this information, it can determine whether to traverse the obstacle and how to traverse it.

[0090] In some embodiments, various sensor data can be used to detect whether there are obstacles near the robot. The obstacle crossing control analysis is to determine the specific obstacle type based on the obstacle detection data according to the preset intelligent suspension control model, and obtain the corresponding obstacle crossing control strategy from the intelligent suspension control model based on the obstacle type.

[0091] In some embodiments, obstacle crossing control of the robot's independent suspension device and tire speed is performed according to the target obstacle crossing strategy, including: when the target obstacle crossing strategy is a first obstacle strategy, alternatingly pressing down on one side of the independent suspension device and simultaneously accelerating the tire speed alternately; wherein, synchronization means that when the independent suspension device presses down on one side, the tire speed corresponding to the side wheel with the lower center of gravity of the robot is accelerated.

[0092] Among them, the first obstacle strategy is an obstacle-crossing strategy set for higher obstacles such as thresholds or U-shaped bar stools.

[0093] In some embodiments, when the target obstacle-crossing strategy is the first obstacle strategy (i.e., when the robot encounters the first obstacle), the independent suspension device is alternately pressed down on one side while the tire speed is alternately accelerated. That is, when encountering a threshold, the robot can first lift one side tire, shifting the robot's center of gravity to the other side to increase the pressure on the ground, while the side wheel on the lower center of gravity begins to accelerate. After one action cycle (e.g., 1.2s), the suspension height is changed, shifting the robot's center of gravity to the other side, and the tire on the lower center of gravity begins to accelerate. This cycle of acceleration allows the robot to continuously creep forward and overcome obstacles.

[0094] In some embodiments, when the target obstacle-crossing strategy is the first obstacle strategy (i.e., when the robot encounters the first obstacle), the robot can be manipulated to simultaneously press down on both side wheel suspensions to increase the tire's ground pressure, and then attempt to reverse. If this action fails, the robot can briefly alternately press down on one side wheel suspension (200ms as a cycle) to continuously change the robot's center of gravity and creep backward, effectively increasing the probability of successfully escaping the obstacle. The obstacle-crossing cycle is set to 1.2 seconds, primarily for forward obstacle crossing; a longer cycle allows the robot to travel a certain distance, facilitating obstacle crossing. The escaping cycle is set to 200ms, primarily for backward movement; a shorter cycle allows the robot to quickly change its center of gravity and move, facilitating escaping the obstacle.

[0095] In another robot control method, the robot control method includes: acquiring environmental detection information and inertial measurement data of the robot; when the environmental detection information meets preset conditions, determining the current pose data of the robot based on the inertial measurement data; and controlling the suspension height of the robot based on the current pose data and environmental detection information, so that the robot actively raises the side wheels or omnidirectional wheels.

[0096] Among them, environmental detection information is sensor information used to detect obstacles around the robot. Preset conditions refer to the confirmation conditions for judging whether the environmental detection information meets the different obstacle standards. For example, when encountering carpet or other soft surfaces, due to the uneven distribution of mass and ground support area of ​​the main cleaning components, the robot may maintain a forward or backward tilt angle when moving on the carpet. Therefore, when judging the forward or backward tilt angle in the environmental detection information, if the angle is greater than the preset experience threshold, it means that the robot is currently in the environment of carpet or other soft surfaces.

[0097] In some embodiments, controlling the suspension height of the robot based on current pose data and environmental detection information includes: when the environmental detection information indicates that the robot has encountered a first obstacle, controlling the overall suspension height of the robot based on the current pose data, and accelerating the speed of the robot's tires to enable the robot to actively raise its chassis and accelerate over the obstacle.

[0098] The first obstacle refers to a higher obstacle such as a threshold or a U-shaped bar stool.

[0099] In some embodiments, when the environmental detection information indicates that the robot has encountered a first obstacle, assuming that it has encountered the threshold of the first obstacle, the robot’s overall suspension height is controlled based on the current pose data, so that the robot actively raises its chassis in front of the threshold and accelerates the speed of the robot’s tires, thereby enabling the robot to accelerate and sprint, improving obstacle-crossing efficiency and thus improving cleaning efficiency.

[0100] In some embodiments, controlling the suspension height of the robot based on current pose data and environmental detection information includes: when the environmental detection information indicates that the robot has encountered a second obstacle, controlling the overall suspension height of the robot based on the current pose data so that the robot actively raises its chassis.

[0101] The second obstacle refers to a carpet or other soft surface.

[0102] In some embodiments, when environmental detection information indicates that the robot has encountered a second obstacle, i.e., when the robot encounters a carpet or other soft surface, it may cause the robot to maintain a forward or backward tilt angle when moving on the carpet. It should be noted that at this time, the various sensor data will not be based on the horizontal plane, causing various noises and misjudgments, which poses a significant challenge to the robot's positioning and obstacle avoidance systems. The intelligent suspension system can control the overall suspension height of the robot based on the current pose data after detecting a change in the ground medium, thereby enabling the robot to actively raise its chassis and maintain a planar angle for operation. This can adapt to changes in the ground medium and counteract the effects of tilt.

[0103] Among them, a change in the ground medium refers to a change from a surface without a medium to a carpet or other softer surface.

[0104] In the aforementioned robot control method, the robot's slippage information data and inertial measurement data are acquired; a slippage determination is made based on the slippage information data to obtain a slippage determination result; if the slippage determination result indicates that the robot is in a slippage state, the robot's current pose data is determined based on the inertial measurement data; and the robot's suspension height is controlled based on the current pose data to enable the robot to actively raise its side wheels or omnidirectional wheels. Therefore, by controlling the robot's suspension height based on the current pose data when the slippage determination result indicates that the robot is in a slippage state, it is possible to ensure that the robot can quickly and effectively pass through slippery surfaces or obstacles without affecting the robot's original basic structure.

[0105] In one exemplary embodiment, such as Figure 4 As shown, the historical obstacle avoidance planning includes steps 402 to 406. Among them:

[0106] Step 402: Obtain the robot's historical obstacle data and current navigation planning path.

[0107] Among them, historical obstacle data refers to the historical obstacle data recorded by the robot after it has undergone several cleaning cycles. Historical obstacle data can be obstacle crossing areas, escape areas, or slipping areas.

[0108] In some embodiments, historical obstacle data of the robot can be obtained from an obstacle database or from cloud-based map data, but is not limited thereto.

[0109] In some embodiments, the current navigation planning path can be obtained based on a specific path planning algorithm and user instructions.

[0110] Step 404: When any obstacle in the current navigation planning path exists in the historical obstacle data, the obstacle is determined based on the navigation planning path and the historical obstacle data to obtain the target obstacle data.

[0111] In this context, any obstacle in the historical obstacle data refers to the obstacle corresponding to any obstacle data in the historical obstacle data.

[0112] In some embodiments, it can be determined whether any obstacle from the historical obstacle data exists in the current navigation planning path by comparing the coordinate changes of the current navigation planning path with the positioning coordinates of the historical obstacle data.

[0113] In some embodiments, when any obstacle from historical obstacle data exists in the current navigation planning path, i.e. when the robot can detect the obstacle in the path in advance, the obstacle is determined based on the navigation planning path and historical obstacle data, and the specific coordinates and specific obstacle type that need to be crossed are accurately located, thereby obtaining the target obstacle data.

[0114] Step 406: Perform obstacle crossing control on the robot based on the target obstacle data, so that the robot can perform obstacle crossing control in front of the target obstacle corresponding to the target obstacle data.

[0115] Among them, obstacle crossing control is a control strategy determined based on the obstacle type of the target obstacle data.

[0116] In some embodiments, by controlling the robot to overcome obstacles based on target obstacle data, when the cleaning system determines that the navigation planning path has passed through a historical obstacle, the chassis can be actively raised in front of the historical obstacle to accelerate the sprint, thereby improving obstacle-crossing efficiency and thus improving cleaning efficiency.

[0117] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0118] Based on the same inventive concept, this application also provides a robot control device for implementing the robot control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more robot control device embodiments provided below can be found in the limitations of the robot control method described above, and will not be repeated here.

[0119] In one exemplary embodiment, such as Figure 5 As shown, a robot control device is provided, including: an acquisition module 502, a slippage determination module 504, a determination module 506, and a suspension height control module 508, wherein:

[0120] The acquisition module 502 is used to acquire the robot's slippage information data and inertial measurement data;

[0121] The slippage determination module 504 is used to determine the slippage of the robot based on the slippage information data and obtain the slippage determination result.

[0122] The determining module 506 is used to determine the current pose data of the robot based on the inertial measurement data when the slip determination result indicates that the robot is in a slipping state.

[0123] The suspension height control module 508 is used to control the suspension height of the robot according to the current pose data, so that the robot can actively raise the side wheels or omnidirectional wheels.

[0124] In some embodiments, the slippage information data includes: motion odometer information and actual positioning information; the slippage determination module 504 is further configured to perform motion data matching calculation based on the motion odometer information and actual positioning information to obtain the motion data matching degree; and to determine the slippage of the robot based on the motion data matching degree to obtain the slippage determination result.

[0125] In some embodiments, the suspension height control module 508 is further configured to control the overall suspension height of the robot when the current pose data indicates that the robot is not currently tilting left or right, so that the robot actively triggers the overall suspension height reduction; and to control the independent suspension height of the robot according to the attitude angle information of the current pose data when the current pose data indicates that the robot is currently tilting left or right, so that the robot actively triggers the unilateral suspension height reduction; wherein, the unilateral suspension height reduction is used to raise the tire corresponding to the independent suspension.

[0126] In some embodiments, the device further includes: an obstacle crossing control module, configured to acquire obstacle detection data of the robot; perform obstacle crossing control analysis on the obstacle detection data according to a preset intelligent suspension control model to obtain a target obstacle crossing strategy; and perform obstacle crossing control on the robot's independent suspension device and tire speed according to the target obstacle crossing strategy.

[0127] In some embodiments, the obstacle crossing control module is further configured to alternately press down on one side of the independent suspension device and simultaneously accelerate the tire speed alternately when the target obstacle crossing strategy is the first obstacle strategy; wherein, synchronization means that when the independent suspension device presses down on one side, the tire speed corresponding to the side wheel with the lower center of gravity of the robot is accelerated.

[0128] In some embodiments, the device further includes: a historical obstacle avoidance planning module, configured to determine the obstacle based on the navigation planning path and the historical obstacle data when any obstacle in the current navigation planning path exists, thereby obtaining target obstacle data; and to perform obstacle crossing control on the robot based on the target obstacle data, so that the robot can perform obstacle crossing control in front of the target obstacle corresponding to the target obstacle data.

[0129] In one exemplary embodiment, a robot control device is provided, comprising:

[0130] The second acquisition module is used to acquire the robot's environmental detection information and inertial measurement data;

[0131] The second determining module is used to determine the robot's current pose data based on inertial measurement data when the environmental detection information meets preset conditions.

[0132] The second suspension height control module is used to control the suspension height of the robot based on the current pose data and environmental detection information, so that the robot can actively raise the side wheels or omnidirectional wheels.

[0133] In some embodiments, the second suspension height control module is further configured to control the overall suspension height of the robot based on the current pose data and accelerate the speed of the robot's tires when the environmental detection information indicates that the robot has encountered a first obstacle, so that the robot actively raises its chassis and accelerates to overcome the obstacle.

[0134] In some embodiments, the second suspension height control module is further configured to control the overall suspension height of the robot based on the current pose data when the environmental detection information indicates that the robot has encountered a second obstacle, so that the robot actively raises its chassis.

[0135] In the aforementioned robot control device, slippage information data and inertial measurement data of the robot are acquired; slippage is determined based on the slippage information data to obtain a slippage determination result; when the slippage determination result indicates that the robot is in a slippage state, the current pose data of the robot is determined based on the inertial measurement data; and the suspension height of the robot is controlled based on the current pose data to enable the robot to actively raise its side wheels or omnidirectional wheels. Therefore, by controlling the suspension height of the robot based on the current pose data when the slippage determination result indicates that the robot is in a slippage state, it is possible to ensure that the robot can quickly and effectively pass through slippery surfaces or obstacles without affecting the robot's original basic structure.

[0136] Each module in the aforementioned robot control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0137] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 6As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores slippage information data and inertial measurement data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a robot control method.

[0138] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0139] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the robot control method described above.

[0140] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the robot control method described above.

[0141] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the robot control method described above.

[0142] 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, data stored, data displayed, 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 the relevant data must comply with relevant regulations.

[0143] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0144] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 application.

[0145] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A robot control method, characterized in that, The method includes: Acquire robot slippage information data and inertial measurement data; Based on the slippage information data, the robot is judged to slip, and a slippage judgment result is obtained; If the slippage determination result indicates that the robot is in a slippage state, the current pose data of the robot is determined based on the inertial measurement data; The robot's suspension height is controlled based on the current pose data, so that the robot can actively raise its side wheels or omnidirectional wheels.

2. The robot control method according to claim 1, characterized in that, The slippage information data includes: motion odometer information and actual positioning information; based on the slippage information data, the robot is judged to be slipping, and a slippage judgment result is obtained, including: Based on the motion odometer information and the actual location information, motion data matching calculation is performed to obtain the degree of motion data matching. The robot is judged to slip based on the degree of matching of the motion data, and the slip judgment result is obtained.

3. The robot control method according to claim 1, characterized in that, The step of controlling the suspension height of the robot based on the current pose data, so that the robot actively raises the side wheels or omnidirectional wheels, includes: When the current pose data indicates that the robot is not tilting left or right, the robot's overall suspension height is controlled so that the robot actively triggers the overall suspension height to decrease. When the current pose data indicates that the robot is currently tilting left or right, the robot's independent suspension height is controlled based on the attitude angle information of the current pose data, so that the robot actively triggers a single-sided suspension height reduction; wherein, the single-sided suspension height reduction is used to raise the tire corresponding to the independent suspension.

4. The robot control method according to claim 1, characterized in that, The method further includes: Obtain obstacle detection data from the robot; Based on a preset intelligent suspension control model, the obstacle detection data is analyzed to obtain the target obstacle crossing strategy. The robot's independent suspension and tire speed are controlled to overcome obstacles according to the target obstacle-crossing strategy.

5. The robot control method according to claim 4, characterized in that, The obstacle-crossing control of the robot's independent suspension device and tire speed according to the target obstacle-crossing strategy includes: When the target obstacle crossing strategy is the first obstacle strategy, the independent suspension device is alternately pressed down on one side, and the tire speed is alternately accelerated simultaneously; wherein, the synchronization means that when the independent suspension device is pressed down on one side, the tire speed corresponding to the side wheel with the lower center of gravity of the robot is accelerated.

6. The robot control method according to claim 1, characterized in that, The robot control method further includes: Obtain the robot's historical obstacle data and current navigation planning path; When any obstacle from the historical obstacle data exists in the current navigation planning path, the obstacle is determined based on the navigation planning path and the historical obstacle data to obtain the target obstacle data; The robot is controlled to overcome obstacles based on the target obstacle data, so that the robot can overcome obstacles in front of the target obstacle corresponding to the target obstacle data.

7. A robot control method, characterized in that, The method includes: Acquire environmental detection information and inertial measurement data for the robot; When the environmental detection information meets the preset conditions, the current pose data of the robot is determined based on the inertial measurement data; The robot's suspension height is controlled based on the current pose data and the environmental detection information, so that the robot can actively raise its side wheels or omnidirectional wheels.

8. The robot control method according to claim 7, characterized in that, The step of controlling the robot's suspension height based on the current pose data and the environmental detection information includes: When the environmental detection information indicates that the robot has encountered a first obstacle, the robot's overall suspension height is controlled based on the current pose data, and the robot's tire speed is accelerated to enable the robot to actively raise its chassis and accelerate to overcome the obstacle.

9. The robot control method according to claim 7, characterized in that, The step of controlling the robot's suspension height based on the current pose data and the environmental detection information includes: When the environmental detection information indicates that the robot has encountered a second obstacle, the robot's overall suspension height is controlled based on the current pose data so that the robot actively raises its chassis.

10. A robot comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the various steps of the robot control method according to any one of claims 1 to 6, or / and any one of claims 7 to 9.

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