Control method, device and equipment of four-foot machine horse in entertainment scene and medium

Abstract

The invention provides a control method, device and equipment for a quadruped machine horse in an entertainment scene and a medium. The control method comprises the steps that the initial movement speed, the initial movement direction and the initial limb gait of the quadruped machine horse are determined according to a target riding path; the four-footed machine horse is controlled to perform initial motion; acquiring gravity center distribution data and riding attitude data; performing data analysis on the gravity center distribution data and the riding posture data to obtain motion control information of the four-footed machine horse; the current movement speed, the current movement direction and the current limb gait of the quadruped machine horse are adjusted according to the movement control information of the quadruped machine horse; and the four-footed machine horse is controlled to move in real time. Therefore, the user viscosity is improved.

Description

Technical Field

[0001] Embodiments of this disclosure relate to the field of machine control technology, and more specifically, to a control method, apparatus, device, and medium suitable for a quadrupedal mechanical horse in an entertainment scenario. Background Technology

[0002] The quadrupedal robotic horse is a biomimetic robot with four leg actuators. Its body structure includes a torso, head, limbs and tail. It can use high-torque servo motors or hydraulic / pneumatic actuators, combined with multi-degree-of-freedom joint design, to simulate the biological movement characteristics of equines.

[0003] In existing entertainment scenarios, control is mainly achieved by issuing commands to mechanical devices with fixed structures, such as toy cars that rock up and down in a fixed position. Their movement patterns are simple and their interaction methods are fixed. Users can only perform basic operations such as starting, stopping, and adjusting speed through preset buttons or joysticks, which cannot achieve an immersive user experience and results in insufficient user engagement. Summary of the Invention

[0004] The embodiments described herein provide a method, apparatus, device, and medium for controlling a quadrupedal robotic horse in an entertainment setting, overcoming the aforementioned problems.

[0005] In a first aspect, according to the content of this disclosure, a control method for a quadrupedal robotic horse in an entertainment scenario is provided, which is applied to an intelligent human-machine collaborative saddle system, wherein the intelligent human-machine collaborative saddle system integrates a multi-point pressure sensor array and an attitude sensor. The method includes: In response to the riding instructions given by the user to the quadrupedal robotic horse, the initial speed, initial direction of movement, and initial gait of the quadrupedal robotic horse are determined according to the target riding path defined by the user; and the quadrupedal robotic horse is controlled to perform initial movement based on the initial speed, initial direction of movement, and initial gait of the quadrupedal robotic horse. During the initial movement of the quadrupedal robotic horse, the pressure sensor array acquires the center of gravity distribution data of the user corresponding to the quadrupedal robotic horse, and the posture sensor acquires the riding posture data of the user corresponding to the quadrupedal robotic horse. Data analysis is performed on the center of gravity distribution data and riding posture data of the user corresponding to the quadrupedal robotic horse to obtain the motion control information of the quadrupedal robotic horse; the motion control information includes: speed control parameters, direction control parameters, and gait control parameters; The current speed, direction, and gait of the quadrupedal robotic horse are adjusted using the motion control information of the quadrupedal robotic horse; and the quadrupedal robotic horse is controlled to move in real time using the current speed, direction, and gait of the quadrupedal robotic horse.

[0006] Secondly, according to the present disclosure, a control device for a quadrupedal robotic horse in an entertainment scenario is provided, applied to an intelligent human-machine collaborative saddle system, wherein the intelligent human-machine collaborative saddle system integrates a multi-point pressure sensor array and an attitude sensor; including: The determination module is used to respond to the riding instruction of the user to the quadrupedal robotic horse, determine the initial movement speed, initial movement direction and initial limb gait of the quadrupedal robotic horse according to the target riding path defined by the user; and control the quadrupedal robotic horse to perform initial movement through the initial movement speed, initial movement direction and initial limb gait of the quadrupedal robotic horse. The acquisition module is used to acquire, during the initial movement of the quadrupedal robotic horse, the center of gravity distribution data of the experience user corresponding to the quadrupedal robotic horse through the pressure sensor array, and the riding posture data of the experience user corresponding to the quadrupedal robotic horse through the posture sensor. The analysis module is used to analyze the center of gravity distribution data and riding posture data of the user corresponding to the quadrupedal robotic horse to obtain the motion control information of the quadrupedal robotic horse; the motion control information includes: speed control parameters, direction control parameters and gait control parameters; The adjustment module is used to adjust the current speed, direction, and gait of the quadrupedal robotic horse based on its motion control information; and to control the quadrupedal robotic horse to move in real time based on its current speed, direction, and gait.

[0007] Thirdly, 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 control method for the quadrupedal mechanical horse in the entertainment scene as described in any of the above embodiments.

[0008] Fourthly, a computer-readable storage medium is provided, on which a computer program is stored, and when executed by a processor, the computer program implements the steps of the control method for the quadrupedal mechanical horse in the entertainment scene as described in any of the above embodiments.

[0009] The control method for a quadrupedal robotic horse in an entertainment scenario provided in this application embodiment is applied to an intelligent human-machine collaborative saddle system. The intelligent human-machine collaborative saddle system integrates a multi-point pressure sensor array and a posture sensor. The method includes: responding to a user's riding instruction to the quadrupedal robotic horse; determining the initial speed, initial direction, and initial gait of the quadrupedal robotic horse based on a user-defined target riding path; controlling the quadrupedal robotic horse to perform initial movement based on its initial speed, initial direction, and initial gait; and during the initial movement of the quadrupedal robotic horse, acquiring the corresponding information of the user through the pressure sensor array. The data includes the center of gravity distribution of the quadrupedal robotic horse and the riding posture data of the user corresponding to the quadrupedal robotic horse obtained through posture sensors. Data analysis of the center of gravity distribution and riding posture data of the user corresponding to the quadrupedal robotic horse yields motion control information for the quadrupedal robotic horse. This motion control information includes speed control parameters, direction control parameters, and gait control parameters. The current speed, direction, and gait of the quadrupedal robotic horse are adjusted based on this motion control information. Real-time movement of the quadrupedal robotic horse is controlled based on its current speed, direction, and gait. Thus, by performing biomimetic manipulation of the quadrupedal robotic horse and controlling its gait according to the user's riding state to simulate the walking of a real horse, an immersive experience can be effectively achieved during the riding process, thereby increasing user engagement.

[0010] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments will be briefly described below. It should be understood that the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure, wherein: Figure 1 This is a flowchart illustrating a control method for a quadrupedal robotic horse in an entertainment scenario, as disclosed in this publication.

[0012] Figure 2 This is a schematic diagram of the control device for a four-legged robotic horse in an entertainment scenario, as disclosed in this publication.

[0013] Figure 3 This is a schematic diagram of the structure of a computer device provided in this disclosure.

[0014] It should be noted that the elements in the attached diagram are schematic and not drawn to scale. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure without creative effort are also within the scope of protection of this disclosure.

[0016] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this subject matter pertains. It will be further understood that terms such as those defined in commonly used dictionaries shall be interpreted as having the meaning consistent with their meaning in the context of the specification and in the relevant art, and shall not be interpreted in an idealized or overly formal form unless otherwise explicitly defined herein. As used herein, the statement of “connecting” or “coupling” two or more parts together shall mean that these parts are directly joined together or joined through one or more intermediate components.

[0017] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of the phrase "embodiment" in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0018] In this document, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists, A and B exist simultaneously, or B exists. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship. Terms such as "first" and "second" are only used to distinguish one component (or part of a component) from another component (or another part of a component).

[0019] In the description of this application, unless otherwise stated, "multiple" means two or more (including two), and similarly, "multiple groups" means two or more (including two groups).

[0020] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0021] Figure 1This is a flowchart illustrating a control method for a quadrupedal robotic horse in an entertainment scenario provided by an embodiment of this disclosure. The control method for the quadrupedal robotic horse in an entertainment scenario is applied to an intelligent human-machine collaborative saddle system, which integrates a multi-point pressure sensor array and an attitude sensor.

[0022] like Figure 1 As shown, the specific process of controlling the quadrupedal robotic horse in the entertainment scene includes: S110, responding to the user's riding instruction to the quadrupedal robotic horse, determines the initial movement speed, initial movement direction, and initial limb gait of the quadrupedal robotic horse according to the user's customized target riding path; and controls the quadrupedal robotic horse to perform initial movement through the initial movement speed, initial movement direction, and initial limb gait of the quadrupedal robotic horse.

[0023] Users can experience riding the quadrupedal robotic horse by scanning a specific QR code on the device to generate riding instructions; or they can input riding commands through physical control buttons on the intelligent human-machine collaborative saddle system, such as start, acceleration, deceleration, and direction control buttons, thereby triggering the riding control process of the quadrupedal robotic horse.

[0024] When determining the initial motion parameters, a comprehensive calculation can be performed considering the length of the target cycling path, the terrain features included in the target cycling path (such as flat sections, simulated uphill sections, curves, etc.), and the cycling difficulty level preset by the user (such as leisure mode, experience mode, challenge mode). For example, if the target cycling path is a long simulated track with continuous curves and the user selects challenge mode, the initial motion speed can be set to a higher value, and an initial gait with rapid steering response characteristics can be matched; if the target cycling path is a short, flat sightseeing route and the user selects leisure mode, the initial motion speed can be set to a lower value, and the initial gait can be set to a smooth walking mode. Simultaneously, the initial motion direction is based on the direction from the starting point of the target cycling path to the first path node, ensuring that the quadrupedal robotic horse can accurately start moving along the preset path.

[0025] In some embodiments, determining the initial speed, initial direction, and initial gait of the quadrupedal robotic horse based on a user-defined target riding path includes: performing path planning on the target riding path based on the coordinates of the starting point, ending point, and points along the path, generating a path planning result consisting of multiple continuous path segments; analyzing the length, curvature, and slope information of each path segment in the path planning result based on the quadrupedal robotic horse's motion performance parameters to obtain the initial speed, initial direction, and initial gait corresponding to the first path segment; and determining the initial speed, initial direction, and initial gait corresponding to the first path segment as the initial speed, initial direction, and initial gait of the quadrupedal robotic horse.

[0026] The motion performance parameters of the quadrupedal robotic horse may include, but are not limited to, maximum speed, minimum turning radius, maximum climbing angle, gait switching threshold, and range of limb swing amplitude.

[0027] For example, if the first path segment in the path planning result is a gentle curve 50 meters long with a radius of curvature of 10 meters, the quadrupedal robotic horse has a minimum turning radius of 8 meters and a maximum speed of 3 m / s. In this case, the initial speed can be set to 60% of the maximum speed (i.e., 1.8 m / s), the initial direction of movement is the tangent from the starting point of the path to the top of the curve, and a slow trotting gait with small limb swings is matched as the initial gait to ensure that the quadrupedal robotic horse maintains stability while satisfying turning flexibility. If the first path segment is an uphill section 20 meters long with a slope of 15°, the quadrupedal robotic horse has a maximum climbing angle of 20°. In this case, the initial speed can be set to 1.2 m / s, the initial gait can be set to a high-knee climbing mode, the initial direction of movement can be set to a straight line from the starting point of the path to the top of the slope, and the limb swing amplitude can be adjusted to the upper limit of the swing amplitude range to enhance the hind limb push-off force and the forelimb support force, and avoid slipping or backward tilting of the center of gravity due to the slope.

[0028] S120. During the initial movement of the quadrupedal robotic horse, the center of gravity distribution data of the user corresponding to the quadrupedal robotic horse is obtained through the pressure sensor array, and the riding posture data of the user corresponding to the quadrupedal robotic horse is obtained through the posture sensor.

[0029] The multi-point pressure sensor array can be distributed on the saddle surface and armrest areas of the quadrupedal robotic horse, facilitating real-time collection of pressure values ​​on the user's buttocks, inner thighs, and hands in contact with the robotic horse. This allows for precise calculation of the user's center of gravity offset in the longitudinal (forward and backward) and lateral (left and right) directions. The posture sensor can be integrated into the chest strap in front of the saddle or into a smart wristband worn by the user, capturing riding posture parameters such as the user's upper body pitch angle, lateral tilt angle, and hip joint swing amplitude.

[0030] S130. Perform data analysis on the center of gravity distribution data and riding posture data of the user corresponding to the quadrupedal robotic horse to obtain the motion control information of the quadrupedal robotic horse.

[0031] The motion control information includes speed control parameters, direction control parameters, and gait control parameters. By analyzing the user's center of gravity distribution and posture changes, the quadrupedal robotic horse's speed, direction, and gait can be intelligently adjusted. For example, when the user's body is detected to be leaning forward, the quadrupedal robotic horse will accelerate; when the user is detected to be leaning to the left, the quadrupedal robotic horse will turn to the left.

[0032] In some embodiments, data analysis is performed on the center of gravity distribution data and riding posture data of the user corresponding to the quadrupedal robotic horse to obtain the motion control information of the quadrupedal robotic horse, including: obtaining the user's body tilt amplitude during riding from the riding posture data, and obtaining the user's center of gravity offset relative to the quadrupedal robotic horse from the center of gravity distribution data; and determining the speed control parameters of the quadrupedal robotic horse based on the body tilt amplitude and center of gravity offset; obtaining the user's body tilt angle during riding from the riding posture data, and obtaining the user's center of gravity offset angle relative to the quadrupedal robotic horse from the center of gravity distribution data; and determining the direction control parameters of the quadrupedal robotic horse based on the body tilt angle and center of gravity offset angle; determining the user's body stability based on the center of gravity distribution data and riding posture data; and determining the gait control parameters of the quadrupedal robotic horse based on the user's body stability.

[0033] Specifically, when determining speed control parameters based on body tilt amplitude and center of gravity offset, the body tilt amplitude can be compared with a preset amplitude threshold range, and the center of gravity offset can be matched with a preset offset threshold range. If the body tilt amplitude is within a preset acceleration amplitude range, and the center of gravity offset is also within a preset acceleration offset range, then the corresponding speed increase value is calculated according to the preset amplitude-offset-speed mapping relationship, and the speed increase value is used as the acceleration parameter in the speed control parameters. If the body tilt amplitude is within a preset deceleration amplitude range, and the center of gravity offset is within a preset deceleration offset range, then the corresponding speed decrease value is calculated and used as the deceleration parameter in the speed control parameters. If both the body tilt amplitude and the center of gravity offset are within the corresponding preset constant speed range, then the speed control parameters can maintain the current speed control command.

[0034] When determining the directional control parameters of the quadrupedal robotic horse based on the body tilt angle and center of gravity offset angle, the body tilt angle can be compared with a preset directional angle threshold, and the center of gravity offset angle can be compared with a preset directional offset threshold. If the body tilt angle is positive and greater than the upper limit of the directional angle threshold, and the center of gravity offset angle is positive and greater than the upper limit of the directional offset threshold, then the directional control parameter is determined to be a right turn, and the curvature of the turn is determined according to the degree to which the angle exceeds the threshold. If the body tilt angle is negative and less than the lower limit of the directional angle threshold, and the center of gravity offset angle is negative and less than the lower limit of the directional offset threshold, then the directional control parameter is determined to be a left turn, and the curvature of the turn is determined according to the degree to which the angle exceeds the threshold. If the body tilt angle and the center of gravity offset angle are within the range of the directional angle threshold and the directional offset threshold, respectively, then the directional control parameter is to maintain the current direction.

[0035] The distribution of the user's center of gravity in the front-to-back and left-to-right directions of the quadrupedal robotic horse can be calculated based on the center of gravity distribution data. Combined with the frequency and amplitude of body swaying in the riding posture data, the user's body stability is comprehensively assessed. When determining the quadrupedal robotic horse's gait control parameters based on the user's body stability, if the body stability is higher than a preset stability threshold, the gait control parameters are set to a large gait mode to improve movement efficiency; if the body stability is lower than the stability threshold but higher than a preset danger threshold, the gait control parameters are set to a medium gait mode, and gait smoothness is appropriately increased; if the body stability is lower than the danger threshold, the gait control parameters are set to a small gait mode, and the overall movement amplitude of the quadrupedal robotic horse is reduced to ensure user riding safety.

[0036] S140. Adjust the current speed, direction, and gait of the quadrupedal robot horse using the motion control information of the quadrupedal robot horse; and control the quadrupedal robot horse to move in real time using the current speed, direction, and gait of the quadrupedal robot horse.

[0037] The system can receive real-time data such as joint angles, foot pressure, and tilt angles and angular velocities from sensors on each leg of the quadrupedal robotic horse, as well as data collected by posture sensors (such as gyroscopes and accelerometers). It integrates the current speed, direction, and gait parameters with the real-time sensor data to generate the target position and trajectory of each leg joint. Through motion control algorithms, the target position and trajectory are converted into specific motor drive signals, driving the motors of each joint of the quadrupedal robotic horse to move according to a predetermined timing and force. This enables the quadrupedal robotic horse to perform coordinated and stable real-time movement at the current speed and direction of movement, using the current gait (such as large gait, medium gait, or small gait).

[0038] In some embodiments, the intelligent human-machine collaborative saddle system also integrates an audio playback array; the method in this embodiment further includes: Based on the quadrupedal robotic horse's current speed, direction, and gait, its current walking state is determined; based on the quadrupedal robotic horse's current walking state, matching real-time bionic audio is generated; and the corresponding real-time bionic audio is played during the user's riding experience via an audio playback array.

[0039] The audio playback array plays real-time bionic audio corresponding to the quadrupedal robotic horse during the user's ride, enhancing the immersive riding experience and allowing the user to perceive the quadrupedal robotic horse's movement through hearing. For example, when the quadrupedal robotic horse runs fast with a large stride, the audio playback array can play a continuous "clattering" sound matching the horse's rapid and powerful hooves, with the frequency and intensity of the sound increasing accordingly as the robotic horse's speed increases; when the quadrupedal robotic horse switches to a slow walking with a small stride, the audio switches to a softer, more relaxed "thumping" sound; and at the moment the robotic horse turns, accelerates, or decelerates, the audio switches to transitional sound effects that match the characteristics of the action, such as the slight breathing sound simulating a horse exerting force or the subtle joint sounds during coordinated limb movements.

[0040] The current walking state can include various types such as: uniform straight walking, accelerated movement, decelerated movement, stationary turning, and dynamic turning. When the quadrupedal robotic horse is in uniform straight walking, its current speed remains stable, its direction of movement remains unchanged, and its gait exhibits regular and repetitive swaying characteristics. The generated real-time bionic audio at this time is the sound of hooves pounding the ground with a fixed rhythm and intensity, such as a uniform "tap, tap, tap" sound. The volume of this sound is related to the quadrupedal robotic horse's set body size parameters; the larger the body size parameters, the higher the base volume of the sound. When the quadrupedal robotic horse is in accelerated movement, not only does the frequency of the hoofbeats gradually transition from an initial low frequency to a high frequency, such as gradually changing from a "tap, tap" sound to a rapid "clatter, clatter, clatter," but the audio also superimposed with the simulated breathing sound of a horse accelerating. The rapidity of the breathing sound is positively correlated with the magnitude of the acceleration; the greater the acceleration, the more rapid the breathing sound. When the quadrupedal robotic horse enters decelerated movement, its speed gradually decreases, and the amplitude of its gait decreases accordingly. When the horse is stationary and turning, meaning its current speed is zero and it only turns by adjusting the relative positions of its limbs, the real-time bionic audio transitions from high to low frequencies. Simultaneously, the intensity of the hoofbeats gradually decreases, mimicking the gradual release of force as a horse naturally slows down. When the quadrupedal robotic horse is stationary and turning, simulating the subtle friction sounds of limbs and joint movements caused by the shift in the horse's center of gravity during a turn (a soft "rustling" sound), the real-time bionic audio simulates the subtle friction sounds of limbs and joint movements during a turn. When the quadrupedal robotic horse is in a dynamic turning state, changing direction while maintaining a certain speed, the real-time bionic audio adds a slightly stronger hoofbeat sound from the turning side to the hoofbeats at the corresponding speed, along with a slight neighing sound that might be emitted when the horse turns its head. This more realistically reflects the auditory characteristics of the quadrupedal robotic horse in different walking states, further enhancing the user's riding experience.

[0041] The control method for the quadrupedal robotic horse in this embodiment is applied to an intelligent human-machine collaborative saddle system, which integrates a multi-point pressure sensor array and a posture sensor. The method includes: responding to a user's riding instruction to the quadrupedal robotic horse, determining the initial speed, initial direction, and initial gait of the quadrupedal robotic horse based on a user-defined target riding path; controlling the quadrupedal robotic horse to initiate initial movement based on its initial speed, initial direction, and initial gait; and during the initial movement of the quadrupedal robotic horse, acquiring the user's posture corresponding to the quadrupedal robotic horse's position via the pressure sensor array. The data includes the weight distribution of the quadrupedal robotic horse and the riding posture data of the user corresponding to the quadrupedal robotic horse obtained through posture sensors. Data analysis of the weight distribution and riding posture data of the user corresponding to the quadrupedal robotic horse yields motion control information for the quadrupedal robotic horse. This motion control information includes speed control parameters, direction control parameters, and gait control parameters. The current speed, direction, and gait of the quadrupedal robotic horse are adjusted based on this motion control information. The quadrupedal robotic horse is then controlled in real-time based on its current speed, direction, and gait. Thus, by performing biomimetic manipulation of the quadrupedal robotic horse and controlling its gait according to the user's riding state to simulate the walking of a real horse, an immersive riding experience can be effectively achieved, thereby increasing user engagement.

[0042] In some embodiments, the method further includes: determining the current walking state of the quadrupedal robotic horse based on its current speed, current direction of movement, and current gait; if the current walking state of the quadrupedal robotic horse is stationary, controlling the tail structure of the quadrupedal robotic horse to a first preset state; if the current walking state of the quadrupedal robotic horse is low-speed walking, controlling the tail structure of the quadrupedal robotic horse to a second preset state; if the current walking state of the quadrupedal robotic horse is high-speed running, controlling the tail structure of the quadrupedal robotic horse to a third preset state; and if the current walking state of the quadrupedal robotic horse is turning, controlling the tail structure of the quadrupedal robotic horse to a fourth preset state.

[0043] The first preset state describes the tail structure maintaining a naturally drooping biomimetic posture; the second preset state describes the tail structure swaying left and right with a small amplitude at a slow frequency; the third preset state describes the tail structure extending backward and maintaining relative stability; and the fourth preset state describes the tail structure adaptively swaying in the opposite direction of turning.

[0044] Specifically, when the quadrupedal robotic horse is stationary, its tail structure naturally hangs vertically downwards, simulating the relaxed, drooping tail of a real horse standing quietly, giving users a gentle and peaceful visual experience. When the quadrupedal robotic horse is walking at low speed, the tail structure will swing slightly from side to side at a slow frequency of 1-2 times per second. The swing amplitude can be controlled within ±15 degrees of the body's central axis. This slight swing enhances the dynamic biomimetic effect of the robotic horse's walking, making its movements more natural and coordinated, just like the natural rhythm of a real horse's tail when it leisurely strolls. When the quadrupedal robotic horse enters a high-speed running state, the tail structure will actively extend backwards, forming a smooth, streamlined line with the body. It maintains relative stability in this extended posture during running. Through the aerodynamic adjustment of the tail, not only can the overall balance of the robotic horse during high-speed movement be improved, but the sense of power and speed when the robotic horse is running can also be further enhanced. When the four-legged robotic horse is in a turning motion, such as when it turns left, its tail structure will adaptively swing to the right. The amplitude of the swing can be dynamically adjusted according to the turning angle and speed. The larger the turning angle and the faster the turning speed, the greater the amplitude of the tail swinging in the opposite direction will be, up to ±30 degrees with the body's central axis. This helps the robotic horse better maintain its center of gravity during the turning process, reduces lateral tilt during the turn, improves the flexibility and stability of the turning action, and makes the entire turning process smoother and more natural. It is easy to highly reproduce the physiological characteristics of real horses adjusting their body balance through the tail when turning.

[0045] In some embodiments, a cargo-carrying device is provided at a preset position on the quadrupedal robotic horse. A standardized interface is provided at the rear or side of the saddle to support the installation of quick-release cargo boxes or other accessories, such as AR interactive prop holders. While supporting the rapid replacement of different types of cargo accessories, the robotic horse's center of gravity can also be automatically adjusted according to the load, ensuring stability and safety during riding.

[0046] The method in this embodiment also includes: obtaining the weight of the load on the carrying device; and adjusting the center of gravity of the four-legged mechanical horse according to the weight of the load on the carrying device.

[0047] The system compares the load weight with the preset standard load threshold of the quadrupedal robotic horse. If the load weight does not exceed the standard load threshold, the quadrupedal robotic horse's center of gravity is adaptively shifted towards the load location based on a preset center of gravity adjustment algorithm. The shift amount is positively correlated with the load weight. If the load weight exceeds the standard load threshold, an overload protection mechanism is immediately triggered. This may involve issuing a warning signal via an audible and visual alarm, or automatically limiting the robotic horse's speed and acceleration, reducing the maximum speed to 60% of the standard speed. Simultaneously, the center of gravity adjustment strategy is further optimized by subtly actuating the leg joints to expand the quadrupedal robotic horse's support surface, thereby enhancing load-bearing stability and effectively preventing the risk of tipping over due to excessive load.

[0048] In some embodiments, the intelligent human-machine collaborative saddle system also integrates a VR device; it further includes: responding to the user's instruction to wear the VR device, determining the current motion state of the quadrupedal robotic horse based on the virtual experience scene selected by the user; controlling the quadrupedal robotic horse to move in the virtual experience scene based on the current motion state of the quadrupedal robotic horse; and adjusting the quadrupedal robotic horse's current motion speed, current motion direction, and current limb gait in the virtual experience scene in real time based on the user's center of gravity distribution data and riding posture data corresponding to the quadrupedal robotic horse.

[0049] The virtual experience scenarios include various preset themes such as galloping across grasslands, off-roading in mountains, and interstellar travel. Different themes correspond to different basic movement parameter packages for the quadrupedal robotic horse. For example, in the grassland galloping scenario, the basic movement speed is set to 3-5 m / s, the gait adopts a large stride and high frequency galloping mode, and the sound effect of the horse's hooves hitting the ground matches the sound of the grass being trampled. In the mountain off-roading scenario, the basic speed is set to 1.5-2.5 m / s, the gait is set to a small stride and high stability gait, while simulating the vibration feedback of gravel roads on the horse's hooves, and presenting the details of the rugged terrain through the VR device's visual screen. Users can select the interstellar travel scenario through VR controllers or voice commands. In this scenario, users can control the robotic horse's limb joints to move with a lighter lifting amplitude and a slower swinging frequency, combined with the floating meteorites and planetary background in the VR screen, and the pneumatic undulation device built into the saddle to simulate the feeling of weightlessness and bumps.

[0050] During the exercise, the system can collect data on the user's center of gravity distribution through a pressure sensor array. When the system detects that the user's center of gravity has shifted to the left and forward beyond a preset threshold (such as 30% of the total pressure), it determines that the user has a turning intention. The system then controls the quadrupedal robotic horse to turn to the left and forward by 5-15 degrees in the virtual scene. The turning angular velocity is directly proportional to the center of gravity shift. If the user tightens their knees and leans forward, and the forward lean angle is detected to be greater than 15 degrees and lasts for more than 0.5 seconds, it determines that the user has an acceleration intention. The system then increases the current movement speed by 20%-40% from the base speed and adds a depth blur effect to the VR device screen to simulate an accelerated visual experience. If the system detects that the user suddenly leans back (e.g., the lumbar gyroscope tilt angle is >25 degrees) or grips the saddle handrails tightly (e.g., the handrail grip force sensor value is >50N), the emergency stop mechanism is immediately triggered. The system controls the quadrupedal robotic horse to quickly (e.g., within 0.8 seconds) reduce its speed to 0. The system also displays virtual obstacles or cliff scenes on the VR screen as visual feedback to trigger the emergency stop. Simultaneously, the system activates the airbags on both sides of the saddle to inflate and cushion the impact, preventing the user from losing balance due to virtual fright.

[0051] It should be noted that the generation of data / information (such as audio generation and path planning result generation) in this embodiment is not limited to a specific generation method. The relevant data / information can be generated by calling a preset scheme or using a preset method.

[0052] Figure 2 This is a schematic diagram of the structure of a control device for a quadrupedal robotic horse in an entertainment scenario provided in this embodiment. The control device for the quadrupedal robotic horse in the entertainment scenario is applied to an intelligent human-machine collaborative saddle system, which integrates a multi-point pressure sensor array and an attitude sensor.

[0053] The control device for a quadrupedal robotic horse in an entertainment setting may include: The determination module 210 is used to respond to the riding instructions of the user to the quadrupedal robotic horse, determine the initial movement speed, initial movement direction and initial limb gait of the quadrupedal robotic horse according to the target riding path defined by the user, and control the quadrupedal robotic horse to perform initial movement through the initial movement speed, initial movement direction and initial limb gait of the quadrupedal robotic horse.

[0054] The acquisition module 220 is used to acquire the center of gravity distribution data of the user corresponding to the quadrupedal robotic horse through a pressure sensor array during the initial movement of the quadrupedal robotic horse, and to acquire the riding posture data of the user corresponding to the quadrupedal robotic horse through an attitude sensor.

[0055] The analysis module 230 is used to analyze the center of gravity distribution data and riding posture data of the user corresponding to the quadrupedal robotic horse to obtain the motion control information of the quadrupedal robotic horse. The motion control information includes: speed control parameters, direction control parameters and gait control parameters.

[0056] The adjustment module 240 is used to adjust the current speed, direction and gait of the quadrupedal robot horse through the motion control information of the quadrupedal robot horse; and to control the quadrupedal robot horse to move in real time through the current speed, direction and gait of the quadrupedal robot horse.

[0057] In this embodiment, optionally, the determining module 210 is specifically used for: Based on the coordinate sequence of the starting point, ending point, and intermediate points of the user-defined target cycling path, path planning is performed to generate a path planning result consisting of multiple continuous path segments. The length, curvature, and slope of each path segment in the path planning result are analyzed based on the quadrupedal robotic horse's motion performance parameters to obtain the initial speed, initial direction, and initial gait of the first path segment. The initial speed, initial direction, and initial gait of the first path segment are then determined as the initial speed, initial direction, and initial gait of the quadrupedal robotic horse.

[0058] In this embodiment, optionally, the analysis module 230 is specifically used for: The system obtains the user's body tilt amplitude during riding from riding posture data, and the user's center of gravity offset relative to the quadrupedal robotic horse from center of gravity distribution data; and determines the quadrupedal robotic horse's speed control parameters based on the body tilt amplitude and center of gravity offset. It also obtains the user's body tilt angle during riding from riding posture data, and the user's center of gravity offset angle relative to the quadrupedal robotic horse from center of gravity distribution data; and determines the quadrupedal robotic horse's direction control parameters based on the body tilt angle and center of gravity offset angle. Finally, it determines the user's body stability based on the center of gravity distribution data and riding posture data, and determines the quadrupedal robotic horse's gait control parameters based on the user's body stability.

[0059] In this embodiment, optionally, the intelligent human-machine collaborative saddle system also integrates an audio playback array; it also includes a generation module and a playback module.

[0060] The generation module is used to determine the current walking state of the quadrupedal robotic horse based on its current speed, direction, and gait; and to generate matching real-time bionic audio based on the quadrupedal robotic horse's current walking state.

[0061] The playback module is used to play real-time bionic audio corresponding to the quadrupedal robotic horse during the user's riding process via the audio playback array.

[0062] In this embodiment, optionally, a control module may also be included.

[0063] The control module is used to determine the current walking state of the quadrupedal robotic horse based on its current speed, direction, and gait. If the quadrupedal robotic horse is stationary, its tail structure is controlled to a first preset state, which describes the tail structure maintaining a naturally drooping biomimetic posture. If the quadrupedal robotic horse is walking at low speed, its tail structure is controlled to a second preset state, which describes the tail structure swaying slightly left and right at a slow frequency. If the quadrupedal robotic horse is running at high speed, its tail structure is controlled to a third preset state, which describes the tail structure extending backward and maintaining relative stability. If the quadrupedal robotic horse is turning, its tail structure is controlled to a fourth preset state, which describes the tail structure adaptively swaying in the opposite direction of the turn.

[0064] In this embodiment, optionally, a carrying device is provided at a preset position of the quadrupedal mechanical horse.

[0065] The adjustment module 240 is also used to obtain the weight of the load on the carrying device; and to adjust the center of gravity of the four-legged robotic horse according to the weight of the load on the carrying device.

[0066] In this embodiment, optionally, the intelligent human-machine collaborative saddle system also integrates a VR device.

[0067] The adjustment module 240 is also used to respond to the user's instructions on wearing the VR device, determine the current movement state of the quadrupedal robotic horse according to the virtual experience scene selected by the user, and control the quadrupedal robotic horse to move in the virtual experience scene according to the current movement state of the quadrupedal robotic horse; and adjust the current movement speed, current movement direction and current limb gait of the quadrupedal robotic horse in the virtual experience scene in real time according to the user's center of gravity distribution data and riding posture data corresponding to the quadrupedal robotic horse.

[0068] The control device for the four-legged robotic horse in the entertainment scene provided in this disclosure can execute the above-described method embodiments. For the specific implementation principle and technical effects, please refer to the above-described method embodiments, which will not be repeated here.

[0069] This application also provides a computer device. Please refer to the following for details. Figure 3 , Figure 3This is a basic structural block diagram of the computer device in this embodiment.

[0070] The computer device includes a memory 310 and a processor 320 that are interconnected via a system bus. It should be noted that only a computer device with memory 310 and processor 320 is shown in the figure; however, it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented alternatively. Those skilled in the art will understand that the computer device described herein is a device capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0071] Computer devices can include desktop computers, laptops, handheld computers, and cloud servers. These devices allow for human-computer interaction with users through keyboards, mice, remote controls, touchpads, or voice-activated devices.

[0072] The memory 310 includes at least one type of readable storage medium, including non-volatile memory or volatile memory, such as flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. RAM may include static RAM or dynamic RAM. In some embodiments, the memory 310 may be an internal storage unit of a computer device, such as the hard disk or memory of the computer device. In other embodiments, the memory 310 may also be an external storage device of the computer device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, or flash card equipped on the computer device. Of course, the memory 310 may include both internal storage units and external storage devices of the computer device. In this embodiment, the memory 310 is typically used to store the operating system and various application software installed on the computer device, such as the program code of the method described above. In addition, the memory 310 can also be used to temporarily store various types of data that have been output or will be output.

[0073] Processor 320 is typically used to perform overall operations of a computer device. In this embodiment, memory 310 is used to store program code or instructions, including computer operation instructions, and processor 320 is used to execute the program code or instructions stored in memory 310 or process data, such as program code that runs the methods described above.

[0074] In this article, the bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. This bus system can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0075] Another embodiment of this application also provides a computer-readable medium, which may be a computer-readable signal medium or a computer-readable medium. A processor in a computer reads computer-readable program code stored in the computer-readable medium, enabling the processor to execute the functional actions specified in each step or combination of steps in the above method; and to generate means for implementing the functional actions specified in each block or combination of blocks in the block diagram.

[0076] Computer-readable media include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared memory or semiconductor systems, devices or apparatuses, or any suitable combination thereof, wherein the memory is used to store program code or instructions, the program code including computer operation instructions, and the processor is used to execute the program code or instructions of the above-described methods stored in the memory.

[0077] The definitions of memory and processor can be found in the description of the foregoing computer device embodiments, and will not be repeated here.

[0078] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0079] In the various embodiments of this application, the functional units or modules can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0080] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0081] In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" as described in this application does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims listing several means, several units of these means may be embodied by the same item of hardware. The use of "first," "second," and "third," etc., does not indicate any order and these words should be interpreted as names. Unless otherwise specified, the steps in the above embodiments should not be construed as limiting the order of execution.

[0082] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A control method of a quadruped robot horse in an entertainment scene, characterized by, The application is applied to an intelligent man-machine collaborative saddle system, wherein a multi-point pressure sensor array and a posture sensor are integrated in the intelligent man-machine collaborative saddle system; The method comprises: In response to the riding instruction of the experience user to the quadruped machine horse, initial motion speed, initial motion direction and initial limb gait of the quadruped machine horse are determined according to the target riding path customized by the experience user, and the quadruped machine horse is controlled to perform initial motion through the initial motion speed, initial motion direction and initial limb gait of the quadruped machine horse. In the initial motion process of the quadruped machine horse, the center of gravity distribution data of the experience user corresponding to the quadruped machine horse is acquired through the pressure sensor array, and the riding posture data of the experience user corresponding to the quadruped machine horse is acquired through the posture sensor. The center of gravity distribution data and the riding posture data of the experience user corresponding to the quadruped machine horse are analyzed to obtain motion control information of the quadruped machine horse, wherein the motion control information comprises speed control parameters, direction control parameters and gait control parameters. The current motion speed, current motion direction and current limb gait of the quadruped machine horse are adjusted through the motion control information of the quadruped machine horse, and the quadruped machine horse is controlled to perform real-time motion through the current motion speed, current motion direction and current limb gait of the quadruped machine horse.

2. The method of claim 1, wherein, The initial motion speed, initial motion direction and initial limb gait of the quadruped machine horse are determined according to the target riding path customized by the experience user, comprising: The target riding path is path planned according to the path starting point coordinates, path ending point coordinates and coordinate sequence of path passing points corresponding to the target riding path customized by the experience user, to generate a path planning result composed of multiple continuous path segments. The length, curvature and slope information of each path segment in the path planning result are analyzed according to the motion performance parameters of the quadruped machine horse, to obtain the initial motion speed, initial motion direction and initial limb gait corresponding to the first path segment, and the initial motion speed, initial motion direction and initial limb gait corresponding to the first path segment are determined as the initial motion speed, initial motion direction and initial limb gait of the quadruped machine horse.

3. The method of claim 1, wherein, The center of gravity distribution data and the riding posture data of the experience user corresponding to the quadruped machine horse are analyzed to obtain motion control information of the quadruped machine horse, comprising: The body inclination amplitude of the experience user in the riding process is acquired from the riding posture data, and the center of gravity offset of the experience user relative to the quadruped machine horse is acquired from the center of gravity distribution data, and the speed control parameters of the quadruped machine horse are determined according to the body inclination amplitude and the center of gravity offset. The body inclination angle of the experience user in the riding process is acquired from the riding posture data, and the center of gravity offset angle of the experience user relative to the quadruped machine horse is acquired from the center of gravity distribution data, and the direction control parameters of the quadruped machine horse are determined according to the body inclination angle and the center of gravity offset angle. The body stability of the user is determined based on the center of gravity distribution data and the riding posture data; and the gait control parameters of the quadrupedal robotic horse are determined based on the body stability of the user.

4. The method of claim 1, wherein, The intelligent human-machine collaborative saddle system also integrates an audio playback array; the method further includes: Based on the current speed, direction, and gait of the quadrupedal robotic horse, determine its current walking state; and generate matching real-time bionic audio based on its current walking state. The audio playback array plays real-time bionic audio corresponding to the four-legged robotic horse during the user's ride.

5. The method of claim 1, wherein, The method further includes: The current walking state of the quadrupedal robotic horse is determined based on its current speed, direction of movement, and gait. If the current walking state of the quadrupedal robotic horse is a stationary state, then the tail structure of the quadrupedal robotic horse is controlled to a first preset state; the first preset state is used to describe the tail structure maintaining a biomimetic posture of naturally drooping. If the current walking state of the quadrupedal robotic horse is a low-speed walking state, then the tail structure of the quadrupedal robotic horse is controlled to a second preset state; the second preset state is used to describe the tail structure swinging left and right with a small amplitude at a slow frequency. If the current walking state of the quadrupedal robotic horse is a high-speed running state, then the tail structure of the quadrupedal robotic horse is controlled to a third preset state; the third preset state is used to describe the tail structure extending backward and maintaining relative stability. If the current walking state of the quadrupedal robotic horse is a turning motion state, then the tail structure of the quadrupedal robotic horse is controlled to a fourth preset state; the fourth preset state is used to describe the tail structure adaptively swinging in the opposite direction of turning.

6. The method of claim 1, wherein, The quadrupedal mechanical horse is provided with a carrying device at a predetermined position; the method further includes: Obtain the weight of the load on the loading device; The center of gravity of the four-legged robotic horse is adjusted according to the weight of the load carried by the carrying device.

7. The method of claim 1, wherein, The intelligent human-machine collaborative saddle system also integrates VR devices; the method further includes: In response to the user's instruction to wear the VR device, the current movement state of the quadrupedal robotic horse is determined according to the virtual experience scene selected by the user; and the quadrupedal robotic horse is controlled to move in the virtual experience scene according to its current movement state. During the exercise, the quadrupedal robotic horse's current speed, direction, and gait are adjusted in real time based on the user's center of gravity distribution and riding posture data corresponding to the quadrupedal robotic horse in the virtual experience scene.

8. A control device of a quadruped robot horse in an entertainment scene, characterized by, This system is applied to an intelligent human-machine collaborative saddle system, which integrates a multi-point pressure sensor array and an attitude sensor; it includes: The determination module is used to respond to the riding instruction of the user to the quadrupedal robotic horse, determine the initial movement speed, initial movement direction and initial limb gait of the quadrupedal robotic horse according to the target riding path defined by the user; and control the quadrupedal robotic horse to perform initial movement through the initial movement speed, initial movement direction and initial limb gait of the quadrupedal robotic horse. The acquisition module is used to acquire, during the initial movement of the quadrupedal robotic horse, the center of gravity distribution data of the experience user corresponding to the quadrupedal robotic horse through the pressure sensor array, and the riding posture data of the experience user corresponding to the quadrupedal robotic horse through the posture sensor. The analysis module is used to analyze the center of gravity distribution data and riding posture data of the user corresponding to the quadrupedal robotic horse to obtain the motion control information of the quadrupedal robotic horse; the motion control information includes: speed control parameters, direction control parameters and gait control parameters; The adjustment module is used to adjust the current speed, direction, and gait of the quadrupedal robotic horse based on its motion control information; and to control the quadrupedal robotic horse to move in real time based on its current speed, direction, and gait.

9. A computer device, comprising: It includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the control method for the quadrupedal mechanical horse in the entertainment scene as described in any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, When the computer program is executed by the processor, it implements the control method for the quadrupedal mechanical horse in the entertainment scenario as described in any one of claims 1 to 7.

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