Control method and device of mobile robot, mobile robot and storage medium

Abstract

The invention discloses a control method and device of a mobile robot, the mobile robot and a storage medium, and relates to the field of robots. The control method comprises the steps that the mobile robot is controlled to be in a standing state; controlling a trunk structure of the mobile robot to be in a first bending state; the first swing leg set is controlled to be in a mechanical limiting state; the mobile robot is controlled to execute a fork descending action until the mobile robot is in a horizontal fork opening state; and controlling the second swinging leg group to rotate along the second rotating direction until the second swinging leg group and the first swinging leg group are horizontally closed. The control method provides a more energy-saving robot folding scheme.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a control method, apparatus, mobile robot, and storage medium for a mobile robot. Background Technology

[0002] The related technology provides a mobile robot having a first swing leg group and a second swing leg group, wherein the rotation axes of the first swing leg group and the second swing leg group are located on the same vertical plane.

[0003] In related technologies, when performing a folding operation on a mobile robot, it is necessary to control the mobile robot to perform a downward forking motion until the first and second swing leg groups are horizontally forked. During the downward forking process, the technology requires a motor to provide torque to prevent the mobile robot from collapsing towards the ground.

[0004] However, in related technologies, the horizontal fork configuration requires a large torque to maintain the robot's stability, and the motor in these technologies needs to consume a lot of energy to provide that large torque. Summary of the Invention

[0005] This application provides a control method, device, mobile robot, and storage medium for a mobile robot, and provides a safer robot folding solution. The technical solution includes at least the following:

[0006] According to one aspect of this application, a control method for a mobile robot is provided. The mobile robot includes a first swing leg group, a second swing leg group, and a torso structure. At least one of the first and second swing leg groups includes multiple swing legs. The first and second swing leg groups are arranged side by side, and the rotation axes of the first and second swing leg groups are located in the same vertical plane. The torso structure is directly or indirectly connected to the first and second swing leg groups. The method includes:

[0007] Control the mobile robot to maintain an upright position;

[0008] The torso structure of the mobile robot is controlled to be in a first prone position, which means that the torso structure is prone towards the first swing leg group; and the first swing leg group is controlled to be in a mechanically limited position, which means that the first swing leg group cannot rotate along the first rotation direction due to the influence of the structure of the mobile robot.

[0009] Control the mobile robot to perform the downward fork action until the mobile robot is in a horizontal fork state. The horizontal fork state is the horizontal fork state of the first swing leg group and the second swing leg group.

[0010] Control the second swing leg group to rotate along the second rotation direction until the second swing leg group and the first swing leg group are horizontally aligned. The second rotation direction is the rotation direction of the second swing leg group during the splits, and the first rotation direction and the second rotation direction are opposite.

[0011] According to one aspect of this application, a control method for a mobile robot is provided. The mobile robot includes a first swing leg group and a second swing leg group, at least one of the first and second swing leg groups comprising a plurality of swing legs; the first and second swing leg groups are arranged side by side, and the rotation axes of the first and second swing leg groups are located in the same vertical plane; the method includes:

[0012] Control the mobile robot to maintain an upright position;

[0013] Control the mobile robot to perform a downward fork motion until the first swing leg assembly is supported by the support below;

[0014] Control the second swing leg group to rotate along the second rotation direction until the second swing leg group and the first swing leg group tilt and come together. The second rotation direction is the rotation direction of the second swing leg group during the splits.

[0015] According to one aspect of this application, a control method for a mobile robot is provided. The mobile robot includes a first swing leg group, a second swing leg group, and a torso structure. At least one of the first and second swing leg groups includes multiple swing legs. The first and second swing leg groups are arranged side by side, and the rotation axes of the first and second swing leg groups are located in the same vertical plane. The torso structure is directly or indirectly connected to the first and second swing leg groups. The method includes:

[0016] Control the first and second swing leg groups to come together horizontally;

[0017] Control the second swing leg assembly to rotate along the first rotation direction until the mobile robot is in a horizontally forked state. The horizontally forked state is the state in which the first swing leg assembly and the second swing leg assembly are horizontally forked.

[0018] The torso structure of the mobile robot is controlled to be in a first prone position, which means that the torso structure is prone towards the first swing leg group; and the first swing leg group is controlled to be in a mechanically limited position, which means that the first swing leg group cannot rotate along the first rotation direction due to the influence of the structure of the mobile robot.

[0019] Control the mobile robot to perform the action of getting up.

[0020] According to one aspect of this application, a control method for a mobile robot is provided. The mobile robot includes a first swing leg group and a second swing leg group, at least one of the first and second swing leg groups comprising a plurality of swing legs; the first and second swing leg groups are arranged side by side, and the rotation axes of the first and second swing leg groups are located in the same vertical plane; the method includes:

[0021] When the first swing leg assembly is supported by the support below and the first and second swing leg assemblies are tilted together, the second swing leg assembly is controlled to rotate along the first rotation direction until the second swing leg assembly contacts the horizontal reference plane.

[0022] Control the mobile robot to perform the action of getting up.

[0023] According to one aspect of this application, a control device for a mobile robot is provided. The mobile robot includes a first swing leg group, a second swing leg group, and a torso structure. At least one of the first and second swing leg groups includes multiple swing legs. The first and second swing leg groups are arranged side by side, and the rotation axes of the first and second swing leg groups are located in the same vertical plane. The torso structure is directly or indirectly connected to the first and second swing leg groups. The device includes:

[0024] The control module is used to control the mobile robot to be in an upright position.

[0025] The control module is also used to control the torso structure of the mobile robot to be in a first prone position, which means that the torso structure is prone towards the first swing leg group; and to control the first swing leg group to be in a mechanically limited position, which means that the first swing leg group cannot rotate along the first rotation direction due to the influence of the structure of the mobile robot.

[0026] The control module is also used to control the mobile robot to perform the downward fork action until the mobile robot is in the horizontal fork state, which is the horizontal fork state of the first swing leg group and the second swing leg group.

[0027] The control module is also used to control the second swing leg group to rotate along the second rotation direction until the second swing leg group and the first swing leg group are horizontally aligned. The second rotation direction is the rotation direction of the second swing leg group during the lowering process, and the first rotation direction and the second rotation direction are opposite directions.

[0028] According to one aspect of this application, a control device for a mobile robot is provided. The mobile robot includes a first swing leg group and a second swing leg group, at least one of the first and second swing leg groups including a plurality of swing legs; the first and second swing leg groups are arranged side by side, and the rotation axes of the first and second swing leg groups are located in the same vertical plane; the device includes:

[0029] The control module is used to control the mobile robot to be in an upright position.

[0030] The control module is also used to control the mobile robot to perform the downward fork action until the first swing leg assembly is supported by the support below;

[0031] The control module is also used to control the second swing leg group to rotate along the second rotation direction until the second swing leg group and the first swing leg group tilt and come together. The second rotation direction is the rotation direction of the second swing leg group during the downward movement.

[0032] According to one aspect of this application, a control device for a mobile robot is provided. The mobile robot includes a first swing leg group, a second swing leg group, and a torso structure. At least one of the first and second swing leg groups includes multiple swing legs. The first and second swing leg groups are arranged side by side, and the rotation axes of the first and second swing leg groups are located in the same vertical plane. The torso structure is directly or indirectly connected to the first and second swing leg groups. The device includes:

[0033] The control module is used to control the first swing leg group and the second swing leg group to move horizontally together;

[0034] The control module is also used to control the second swing leg group to rotate along the first rotation direction until the mobile robot is in a horizontally forked state, which is the state in which the first swing leg group and the second swing leg group are horizontally forked.

[0035] The control module is also used to control the torso structure of the mobile robot to be in a first prone position, which means that the torso structure is prone towards the first swing leg group; and to control the first swing leg group to be in a mechanically limited position, which means that the first swing leg group cannot rotate along the first rotation direction due to the influence of the structure of the mobile robot.

[0036] The control module is also used to control the mobile robot to perform the standing up action.

[0037] According to one aspect of this application, a control device for a mobile robot is provided. The mobile robot includes a first swing leg group and a second swing leg group, at least one of the first and second swing leg groups including a plurality of swing legs; the first and second swing leg groups are arranged side by side, and the rotation axes of the first and second swing leg groups are located in the same vertical plane; the device includes:

[0038] The control module is used to control the second swing leg group to rotate along the first rotation direction until the second swing leg group contacts the horizontal reference plane when the first swing leg group is supported by the support below and the first swing leg group and the second swing leg group are tilted together.

[0039] The control module is also used to control the mobile robot to perform the standing up action.

[0040] According to one aspect of this application, a mobile robot is provided, the mobile robot including a memory and a controller; the memory stores at least one piece of program code, which is loaded and executed by the controller to implement the control method of the mobile robot as described above.

[0041] According to one aspect of this application, a computer device is provided, the computer device including a memory and a processor; the memory stores at least one piece of program code, which is loaded and executed by the processor to implement the control method of the mobile robot as described above.

[0042] According to one aspect of this application, a computer-readable storage medium is provided, in which a computer program is stored, the computer program being executed by a processor to implement the control method for a mobile robot as described above.

[0043] According to one aspect of this application, a chip is provided, the chip including programmable logic circuitry and / or program instructions, for implementing the control method of the mobile robot as described above when an electronic device on which the chip is installed is running.

[0044] According to one aspect of this application, a computer program product is provided, comprising computer instructions stored in a computer-readable storage medium, wherein a processor reads from and executes the computer instructions to implement the mobile robot control method described above.

[0045] The beneficial effects of the technical solutions provided in this application include at least the following:

[0046] In related technologies, when a mobile robot performs a downward fork motion, the motor that provides the torque required for the first hip joint and the motor that provides the torque required for the second hip joint consume the same amount of energy, assuming both are energy A, and the two consume a total of 2A of energy. The first hip joint is the hip joint that controls the rotation of the first swing leg group, and the second hip joint is the hip joint that controls the rotation of the second swing leg group.

[0047] In this application, by controlling the torso structure to be in a first bent-over state, the center of gravity projection of the mobile robot is located within the projection range of the first swing leg group. At this time, if the mobile robot is directly controlled to perform a downward movement, the motor that provides the torque required for the first hip joint will consume energy A+, and the motor that provides the torque required for the second hip joint will consume energy A-, with both consuming a total of 2A.

[0048] In this application, the split-down motion is further performed while the first swing leg assembly is in a mechanically limited state. At this time, the mobile robot does not need to provide the torque required by the first hip joint when performing the split-down motion because, due to the mechanical limitation, the first swing leg assembly will not rotate along the first rotation direction (the rotation direction in which the first swing leg assembly rotates during the split-down motion in related technologies). Therefore, it is not necessary to provide the torque required by the first hip joint to counteract this rotation. In this case, only the torque required by the second hip joint needs to be provided during the entire split-down process, meaning only the energy required to provide the torque of the second hip joint is consumed, i.e., only energy A- is consumed. Therefore, compared to the energy consumption of 2A in related technologies, the folding method provided in this application is more energy-efficient. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a side view of a mobile robot provided in an exemplary embodiment of this application;

[0051] Figure 2 This is a side view of a mobile robot provided in an exemplary embodiment of this application;

[0052] Figure 3 This is a flowchart of a mobile robot control method provided in an exemplary embodiment of this application;

[0053] Figure 4 This is a schematic diagram of a mobile robot control method provided in an exemplary embodiment of this application;

[0054] Figure 5This is a comparative diagram of a mobile robot control method provided in an exemplary embodiment of this application;

[0055] Figure 6 This is a flowchart of a mobile robot control method provided in an exemplary embodiment of this application;

[0056] Figure 7 This is a comparative diagram of a mobile robot control method provided in an exemplary embodiment of this application;

[0057] Figure 8 This is a flowchart of a mobile robot control method provided in an exemplary embodiment of this application;

[0058] Figure 9 This is a schematic diagram of a mobile robot control method provided in an exemplary embodiment of this application;

[0059] Figure 10 This is a flowchart of a mobile robot control method provided in an exemplary embodiment of this application;

[0060] Figure 11 This is a flowchart of a mobile robot control method provided in an exemplary embodiment of this application;

[0061] Figure 12 This is a flowchart of a mobile robot control method provided in an exemplary embodiment of this application;

[0062] Figure 13 This is a flowchart of a mobile robot control method provided in an exemplary embodiment of this application;

[0063] Figure 14 This is a schematic diagram of a mobile robot control method provided in an exemplary embodiment of this application;

[0064] Figure 15 This is a flowchart of a mobile robot control method provided in an exemplary embodiment of this application;

[0065] Figure 16 This is a schematic diagram of a mobile robot control method provided in an exemplary embodiment of this application;

[0066] Figure 17 This is a flowchart of a mobile robot control method provided in an exemplary embodiment of this application;

[0067] Figure 18 This is a flowchart of a mobile robot control method provided in an exemplary embodiment of this application;

[0068] Figure 19 This is a schematic diagram of a control device for a mobile robot provided in an exemplary embodiment of this application;

[0069] Figure 20 This is a schematic diagram of a control device for a mobile robot provided in an exemplary embodiment of this application;

[0070] Figure 21 This is a schematic diagram of a control device for a mobile robot provided in an exemplary embodiment of this application;

[0071] Figure 22 This is a schematic diagram of a control device for a mobile robot provided in an exemplary embodiment of this application;

[0072] Figure 23 This is a block diagram of a mobile robot provided in an exemplary embodiment of this application. Detailed Implementation

[0073] Unless otherwise defined, all technical terms used in the embodiments of this application have the same meaning as commonly understood by those skilled in the art.

[0074] In the embodiments of this application, the terms "front" and "rear" are based on the front and rear shown in the accompanying drawings. "First end" and "second end" refer to two opposite ends.

[0075] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0076] First, let me introduce the structure of the mobile robot involved in this application.

[0077] Reference Figure 1 and Figure 2 Observation reveals that the mobile robot provided in this application includes at least three swinging legs, which are arranged side-by-side with their rotation axes located in the same vertical plane. "Side-by-side" means that the projections of the at least three swinging legs along a first direction do not overlap. "Rotation axes located in the same vertical plane" means that the projections of the at least three swinging legs along a second direction do not overlap. The first direction refers to the front or back of the mobile robot. The second direction refers to the side of the mobile robot. Optionally, at least two of the at least three swinging legs have coaxial rotation axes. Optionally, the rotation axes of the at least three swinging legs are not coaxial.

[0078] In one embodiment, at least three swing legs are divided into a first swing leg group 10 and a second swing leg group 20. Optionally, the first swing leg group 10 includes a plurality of first swing legs 11, and the second swing leg group 20 includes a second swing leg 21. At least two of the plurality of first swing legs 11 are located on either side of the central axis of the mobile robot, and the second swing leg 21 is located on the central axis of the mobile robot. Optionally, the first swing leg group 10 includes a first swing leg 11, and the second swing leg group 20 includes a plurality of second swing legs 21. At least two of the plurality of second swing legs 21 are located on either side of the central axis of the mobile robot, and the first swing leg 11 is located on the central axis of the mobile robot.

[0079] In one embodiment, at least three swing legs are divided into a first swing leg group 10 and a second swing leg group 20. Optionally, the first swing leg group 10 includes a plurality of first swing legs 11, and the second swing leg group 20 includes a plurality of second swing legs 21, where "plural" refers to two or more.

[0080] Reference Figure 1 and Figure 2 , Figure 1 and Figure 2 A side view of a mobile robot provided in this application is shown. The mobile robot includes a first swing leg group 10 and a second swing leg group 20. The first swing leg group 10 includes a plurality of first swing legs 11, and the second swing leg group 20 includes a plurality of second swing legs 21. At least two of the first swing legs 11 are located on opposite sides of the central axis of the mobile robot, and at least two of the second swing legs 21 are located on opposite sides of the central axis of the mobile robot; the plurality of first swing legs 11 and the plurality of second swing legs 21 are arranged side by side. Optionally, given the above distribution conditions, the plurality of first swing legs 11 and the plurality of second swing legs 21 are arranged alternately. Optionally, the plurality of first swing legs 11 are distributed on opposite sides of the plurality of second swing legs 21.

[0081] To illustrate, taking the second swing leg group 20 as group A and the first swing leg group 10 as group B as an example, the side-by-side distribution of multiple second swing legs 21 and multiple first swing legs 11 could be A1, B1, B2, A2 (distribution 1); A1, B1, A2, B2 (distribution 2); A1, A2, B1, A3, B2, B3 (distribution 3); A1, A2, B1, B2, B3, A3 (distribution 4), etc. Similarly, for cases with more or fewer swing legs, a similar side-by-side distribution can be used.

[0082] Reference Figure 1 and Figure 2 , Figure 1 and Figure 2 The diagram shows a first swing leg group 10 comprising two first swing legs (inner legs) 11, and a second swing leg group 20 comprising two second swing legs (outer legs) 21. The two first swing legs 11 are symmetrically distributed along the central axis of the mobile robot, and the two second swing legs 21 are symmetrically distributed along the central axis of the mobile robot. The distance between the second swing legs 21 and the central axis is greater than the distance between the first swing legs 11 and the central axis.

[0083] During the movement of the mobile robot, the first swing leg group 10 and the second swing leg group 20 support a cross-gait, that is, the first swing leg group 10 and the second swing leg group 20 move alternately as the front and rear leg groups, respectively. In an exemplary movement, the second swing leg group 20 is used as the supporting leg, the first swing leg group 10 swings to the first footing point, and then the first swing leg group 10 is used as the supporting leg, the second swing leg group 20 swings to the second footing point.

[0084] Specifically, in the initial posture, multiple first swing legs 11 act as front legs in contact with the ground, and multiple second swing legs 21 act as rear legs in contact with the ground. At this time, the robot's center of gravity projection is located within the geometric shape formed by the contact points of the front and rear legs with the ground. Using the multiple first swing legs 11 as supporting legs, the multiple second swing legs 21 are swung to the first landing point, while simultaneously controlling the robot's center of gravity to shift forward. When the multiple second swing legs 21 swing to the first landing point, the robot's center of gravity is again controlled to be located within the geometric shape formed by the contact points of the front and rear legs with the ground. Using the multiple second swing legs 21 as supporting legs, the multiple first swing legs 11 are swung to the second landing point, while simultaneously controlling the robot's center of gravity to shift forward. When the multiple first swing legs 11 swing to the second landing point, the robot's center of gravity is again controlled to be located within the geometric shape formed by the contact points of the front and rear legs with the ground.

[0085] When the robot's swing leg swings, the swing leg will be controlled to extend or retract. Schematic, when the center of gravity of the swing leg is behind the center of gravity of the mobile robot, the swing leg will be controlled to shorten; when the center of gravity of the swing leg is in front of the center of gravity of the mobile robot, the swing leg will be controlled to extend.

[0086] The aforementioned mobile robot, by configuring a first swing leg group 10 and a second swing leg group 20, wherein the first swing leg group 10 includes multiple first swing legs 11, and the second swing leg group 20 includes multiple second swing legs 21, with at least two of the first swing legs 11 located on either side of the mobile robot's central axis, and at least two of the second swing legs 21 located on either side of the mobile robot's central axis, and the multiple second swing legs 21 and multiple first swing legs 11 arranged side by side, can achieve static stability of the mobile robot in a standing posture without the need for dynamic adjustment of the mobile robot's center of gravity. Furthermore, the aforementioned mobile robot supports cross-gait movement; during movement, the mobile robot does not need to consider the balance issue in the rolling direction, as the rolling direction is perpendicular to the direction of movement.

[0087] In one embodiment, a plurality of first swing legs 11 are rotatably connected to a first swing rotation axis, which is perpendicular to the direction of travel of the mobile robot. Optionally, the first swing rotation axis is located at the hip, waist, or top of the head of the mobile robot. In one embodiment, a plurality of second swing legs 21 are rotatably connected to a second swing rotation axis, which is perpendicular to the direction of travel of the mobile robot. Optionally, the second swing rotation axis is located at the hip, waist, or top of the head of the mobile robot.

[0088] In one embodiment, the first swing rotation axis is located at the hip of the mobile robot, in conjunction with reference to... Figure 2 At this time, the first swing rotation axis is the first hip rotation axis 1. When the mobile robot stands on the horizontal reference plane, the first hip rotation axis 1 extends horizontally. Multiple first swing legs 11 are rotatably connected to the first hip rotation axis 1, and any two of the multiple first swing legs 11 are parallel.

[0089] In one embodiment, the second swing rotation axis is located at the hip of the mobile robot, in conjunction with reference to... Figure 2 At this time, the second swing rotation axis is the second hip rotation axis 2. When the mobile robot stands on the horizontal reference plane, the second hip rotation axis 2 extends horizontally. Multiple second swing legs 21 are rotatably connected to the second hip rotation axis 2, and any two of the multiple second swing legs 21 are parallel.

[0090] Optionally, the first hip rotation axis 1 and the second hip rotation axis 2 are coaxial. Figure 1 and Figure 2 The diagram shows the case where the first hip rotation axis 1 and the second hip rotation axis 2 are coaxial and located in the same vertical plane.

[0091] In one embodiment, the mobile robot further includes a first rotary motor and a second rotary motor; the first rotary motor is used to drive the first swing leg assembly 10 to rotate in conjunction with the first hip rotation axis 1; the second rotary motor is used to drive the second swing leg assembly 20 to rotate in conjunction with the second hip rotation axis 2.

[0092] In one embodiment, the mobile robot further includes a third rotary motor corresponding to the first swing leg 11 and a fourth rotary motor corresponding to the second swing leg 21; the third rotary motor drives the first swing leg 11 to rotate around a first hip rotation axis 1; the fourth rotary motor drives the second swing leg 21 to rotate around a second hip rotation axis 2. Optionally, the multiple third rotary motors corresponding to the multiple first swing legs 11 support controlling the multiple first swing legs 11 to rotate in conjunction or independently. Optionally, the multiple fourth rotary motors corresponding to the multiple second swing legs 21 support controlling the multiple second swing legs 21 to rotate in conjunction or independently.

[0093] Reference Figure 1 and Figure 2 The first swing leg 11 includes a first mechanical thigh 111 and a first mechanical lower leg 112, which are connected by a sleeve connection. Optionally, when in the sleeved state, the first mechanical thigh 111 is nested inside the first mechanical lower leg 112, and during extension and retraction, the first mechanical thigh 111 extends and retracts along the sleeve direction. Optionally, when in the sleeved state, the first mechanical lower leg 112 is nested inside the first mechanical thigh 111, and during extension and retraction, the first mechanical lower leg 112 extends and retracts along the sleeve direction. Figure 1 and Figure 2 (As shown in the illustration). Optionally, when in the socketed state, the first mechanical thigh 111 and the first mechanical lower leg 112 are nested inside the intermediate member, and during the extension and retraction process, the first mechanical thigh 111 and the first mechanical lower leg 112 will extend and retract along the socketing direction.

[0094] The second swing leg 21 includes a second mechanical thigh 211 and a second mechanical lower leg 212, which are connected by a sleeve connection. Optionally, when in the sleeved state, the second mechanical thigh 211 is nested inside the second mechanical lower leg 212, and during extension and retraction, the second mechanical thigh 211 extends and retracts along the sleeve direction. Optionally, when in the sleeved state, the second mechanical lower leg 212 is nested inside the second mechanical thigh 211, and during extension and retraction, the second mechanical lower leg 212 extends and retracts along the sleeve direction. Figure 1 and Figure 2(As shown in the illustration). Optionally, when in the socketed state, the second mechanical thigh 211 and the second mechanical calf 212 are nested inside the intermediate member, and during the extension and retraction process, the second mechanical thigh 211 and the second mechanical calf 212 will extend and retract along the socketing direction.

[0095] In one embodiment, the mobile robot further includes a first telescopic motor corresponding to the first swing leg 11 and a second telescopic motor corresponding to the second swing leg 21; the first telescopic motor is used to drive the first swing leg 11 to extend and retract along the sleeve direction; the second telescopic motor is used to drive the second swing leg 21 to extend and retract along the sleeve direction. Optionally, the first telescopic motor is a first linear motor; optionally, the first telescopic motor is a motor designed for linear transmission via a lead screw and nut. Optionally, the second telescopic motor is a second linear motor; optionally, the second telescopic motor is a motor designed for linear transmission via a lead screw and nut.

[0096] In one embodiment, multiple first telescopic motors corresponding to the multiple first swing legs 11 support controlling the multiple first swing legs 11 to extend and retract in a coordinated manner or independently. Optionally, multiple second telescopic motors corresponding to the multiple second swing legs 21 support controlling the multiple second swing legs 21 to extend and retract in a coordinated manner or independently.

[0097] In one embodiment, the first swing leg 11 includes a first mechanical thigh 111 and a first mechanical lower leg 112, which are rotatably connected via a first knee joint rotation axis. The first knee joint rotation axis supports increasing or decreasing the angle between the first mechanical thigh 111 and the first mechanical lower leg 112. The second swing leg 21 includes a second mechanical thigh 211 and a second mechanical lower leg 212, which are rotatably connected via a second knee joint rotation axis. The second knee joint rotation axis supports increasing or decreasing the angle between the second mechanical thigh 211 and the second mechanical lower leg 212.

[0098] In one embodiment, the first swing leg assembly 10 includes a plurality of first swing legs 11, each first swing leg 11 including a first leg assembly and a first wheel 113 located at the end of the first leg assembly; the second swing leg assembly 20 includes a plurality of second swing legs 21, each second swing leg 21 including a second leg assembly and a second wheel 213 located at the end of the second leg assembly. Optionally, the first wheel 113 is a wheel with multiple degrees of freedom in multiple directions, supporting rotation in any direction. Optionally, the second wheel 213 is a wheel with multiple degrees of freedom in multiple directions, supporting rotation in any direction. (Refer to reference...) Figure 1 and Figure 2The first leg assembly includes a first mechanical thigh 111 and a first mechanical lower leg 112, and the second leg assembly includes a second mechanical thigh 211 and a second mechanical lower leg 212.

[0099] In one embodiment, the mobile robot further includes a first drive motor corresponding to the first wheel 113 and a second drive motor corresponding to the second wheel 213; the first drive motor is used to drive the first wheel 113 to rotate; the second drive motor is used to drive the second wheel 213 to rotate.

[0100] In one embodiment, multiple first drive motors corresponding to the multiple first swing legs 11 support controlling the multiple first wheels 113 to rotate in conjunction or independently. Optionally, multiple second drive motors corresponding to the multiple second swing legs 21 support controlling the multiple second wheels 213 to rotate in conjunction or independently.

[0101] In one embodiment, the mobile robot further includes a waist structure 30 and a torso structure 40; the waist structure 30 is used to connect the leg structure and the torso structure 40, and the leg structure includes a first swing leg assembly 10 and a second swing leg assembly 20.

[0102] In one embodiment, the waist structure 30 includes a pitch rotation axis 3; the pitch rotation axis 3 is parallel to the rotation axis of the first swing leg assembly 10, and / or, the pitch rotation axis 3 is parallel to the rotation axis of the second swing leg assembly 20. (Illustrative, in conjunction with reference to...) Figure 1 and Figure 2 The pitch rotation axis 3 is parallel to the first hip rotation axis 1 (and the second hip rotation axis 2). The pitch rotation axis 3 is rotatably connected to the torso structure 40 and is used to support the torso structure 40 in performing pitch operations.

[0103] In one embodiment, the waist structure 30 includes a lateral swing rotation axis 4; the lateral swing rotation axis 4 is perpendicular to the rotation axis of the first swing leg assembly 10, and / or, the lateral swing rotation axis 4 is perpendicular to the rotation axis of the second swing leg assembly 20. (Refer to reference) Figure 1 and Figure 2 The lateral swing rotation axis 4 is perpendicular to the first hip rotation axis 1 (and the second hip rotation axis 2). The lateral swing rotation axis 4 is rotatably connected to the torso structure 40 and is used to support the torso structure 40 in performing lateral swing operations.

[0104] In one embodiment, the waist structure 30 includes a pitch rotation axis 3 and a lateral swing rotation axis 4. The pitch rotation axis 3 is parallel to the rotation axis of the first swing leg assembly 10, and / or, the pitch rotation axis 3 is parallel to the rotation axis of the second swing leg assembly 20. (Refer to reference) Figure 1 and Figure 2The pitch rotation axis 3 is parallel to the first hip rotation axis 1 (and the second hip rotation axis 2). The pitch rotation axis 3 is used to support the torso structure 40 in performing pitch operations. The lateral rotation axis 4 is perpendicular to the pitch rotation axis 3; the first end 41 of the lateral rotation axis 4 is connected to the center of the pitch rotation axis 3, and the second end 42 of the lateral rotation axis 4 is connected to the torso structure 40. The lateral rotation axis 4 is used to support the torso structure 40 in performing lateral operations.

[0105] In one embodiment, the mobile robot also has at least one manipulator arm 50, in conjunction with reference to... Figure 1 and Figure 2 , Figure 1 and Figure 2 The mobile robot shown has two manipulators 50, which are symmetrically distributed along the robot's central axis.

[0106] Optionally, the manipulator 50 is connected to the shoulder rotation axis 5 of the mobile robot. The shoulder rotation axis 5 supports the manipulator 50 to have multiple rotational degrees of freedom. Optionally, the shoulder rotation axis 5 supports the rotation of the manipulator 50 within the rotation angle range allowed by the robot structure. In one embodiment, the mobile robot also includes a shoulder drive motor corresponding to the shoulder rotation axis 5; the shoulder drive motor is used to drive the manipulator 50 to rotate. In one embodiment, multiple shoulder drive motors corresponding to multiple shoulder rotation axes 5 respectively support the control of multiple manipulators 50 to rotate in a coordinated manner or independently.

[0107] Optionally, the manipulator 50 includes a large mechanical arm 51 and a small mechanical arm 52, which are connected by an elbow joint rotation axis 6. The elbow joint rotation axis 6 supports the small mechanical arm 52 to have multiple rotational degrees of freedom. Optionally, the elbow joint rotation axis 6 supports the rotation of the small mechanical arm 52 within the rotation angle range allowed by the robot structure. In one embodiment, the mobile robot also includes an elbow joint drive motor corresponding to the elbow joint rotation axis 6; the elbow joint drive motor is used to drive the small mechanical arm 52 to rotate. In one embodiment, multiple elbow joint drive motors corresponding to multiple elbow joint rotation axes 6 support the control of multiple small mechanical arms 52 to rotate in a coordinated manner or independently.

[0108] In one embodiment, the end of the robotic forearm 52 is connected to a gripper. In another embodiment, the mobile robot also has a head 60, which is located above the torso structure 40.

[0109] Figure 3 A flowchart illustrating a control method for a mobile robot provided in an exemplary embodiment of this application is shown. The method is illustrated by way of example, with the method executed by a controller of the mobile robot, which may be located on or outside the mobile robot body. The method includes:

[0110] Step 310: Control the mobile robot to stand upright;

[0111] In this application, the mobile robot includes a first swing leg group and a second swing leg group; the first swing leg group includes multiple first swing legs and / or the second swing leg group includes multiple second swing legs, the first swing leg group and the second swing leg group are arranged side by side, and the rotation axes of the first swing leg group and the second swing leg group are located in the same vertical plane. At least one of the first swing leg group and the second swing leg group includes multiple swing legs. Optionally, the first swing leg group includes multiple first swing legs, and the second swing leg group includes one second swing leg; alternatively, the first swing leg group includes one first swing leg, and the second swing leg group includes multiple second swing legs; alternatively, the first swing leg group includes multiple first swing legs, and the second swing leg group includes multiple second swing legs; alternatively, the multiple first swing legs and the multiple second swing legs are arranged alternately. Optionally, the multiple first swing legs are distributed on both sides of the multiple second swing legs.

[0112] The standing state refers to the state in which the first swing leg group and the second swing leg group are supported by each other and stand upright, with the first swing leg group and the second swing leg group crossing each other front and back. In the embodiments of this application, the rotation axes of the first swing leg group and the second swing leg group are located in the same vertical plane, referred to as the first vertical plane. The standing state refers to the state in which the first swing leg group and the second swing leg group are located on opposite sides of the first vertical plane.

[0113] Optionally, in a standing position, the individual supports themselves using at least one first swing leg from the first swing leg group. Optionally, the individual supports themselves using all of the first swing legs from the first swing leg group. Optionally, in a standing position, the individual supports themselves using at least one second swing leg from the second swing leg group. Optionally, the individual supports themselves using all of the second swing legs from the second swing leg group.

[0114] Optionally, the angle between the first swing leg group and the second swing leg group in the standing state can be arbitrary. That is, when performing the robot folding method provided in this application, the initial posture of the mobile robot can be any standing state. Optionally, the angle between the first swing leg group and the second swing leg group in the standing state is a preset angle. That is, when performing the robot folding method provided in this application, the initial posture of the mobile robot is a specified standing state. Before performing the robot folding action, the robot's posture must be adjusted to the initial standing state. In the initial standing state, the angle between the first swing leg group and the second swing leg group is a preset angle. Optionally, with the direction of gravity as the reference direction, in the initial standing state, the angle between the first swing leg group and the direction of gravity is 40 degrees, and the angle between the second swing leg group and the direction of gravity is -40 degrees. The sign of the angle is determined according to the right-hand rule.

[0115] Figure 4 A schematic diagram of a folding method for a mobile robot provided in an exemplary embodiment of this application is shown. (Referring to the reference...) Figure 4 , Figure 4 (A)(B)(C)(D) parts and Figure 3 Corresponding to the method and process, Figure 4 Parts (A), (B), (C), and (D) illustrate a folding method for a mobile robot.

[0116] Figure 4 Part (A) shows the initial standing posture of the mobile robot when performing the folding action, at which point the first swing leg group 10 and the second swing leg group 20 are cross-supported, with the first swing leg group 10 supporting the standing posture as the front leg and the second swing leg group 20 supporting the standing posture as the rear leg.

[0117] Step 320: Control the torso structure of the mobile robot to be in the first prone position;

[0118] In this application, the mobile robot also has a torso structure, which is directly or indirectly connected to the leg structure. The leg structure includes a first swing leg assembly and a second swing leg assembly. The torso structure refers to the upper body structure of the mobile robot. Optionally, the first end of the torso structure is connected to the first end of the first swing leg assembly and the first end of the second swing leg assembly. The first end of the first swing leg assembly is the root of the first swing leg assembly, and the first end of the second swing leg assembly is the root of the second swing leg assembly.

[0119] Optionally, the torso structure and leg structure are connected via a waist structure. The first end of the waist structure is connected to the first end of the first swing leg assembly and the first end of the second swing leg assembly, while the second end of the waist structure is connected to the first end of the torso structure. In this case, the torso structure and leg structure are indirectly connected.

[0120] The first prone position refers to the state in which the torso structure is bent forward towards the first swing leg group. In one embodiment, the mobile robot also has a pitch rotation axis. In the standing state, the torso structure is controlled to rotate along the pitch rotation axis to achieve the bending forward action towards the first swing leg group, thus reaching the first prone position. In the first prone position, the projection of the mobile robot's center of gravity falls within the projection range of the first swing leg group. Optionally, in the first prone position, the projection of the mobile robot's center of gravity falls at the center of the projection range of the first swing leg group. In one embodiment, the torso structure of the mobile robot is controlled to perform the bending operation until the projection of the mobile robot's center of gravity falls at the center of the projection range of the first swing leg group; at this point, the mobile robot's stable state reaches its optimal state.

[0121] Reference Figure 4 Part (B) Figure 4Part (B) shows the torso structure 40 in a bent-over position toward the first swing leg group 10, i.e., the first bent-over position. At this time, the first end of the waist structure 30 is connected to the first end of the first swing leg group 10 and the first end of the second swing leg group 20, and the second end of the waist structure 30 is connected to the first end of the torso structure 40.

[0122] Step 330: Control the first swing leg assembly to be in a mechanical limit state;

[0123] In one embodiment, the first swing leg group is the inner leg group of the mobile robot, and the second swing leg group is the outer leg group of the mobile robot. Alternatively, the first swing leg group is the outer leg group of the mobile robot, and the second swing leg group is the inner leg group of the mobile robot. The distribution of the first and second swing leg groups is related to the structural design of the mobile robot.

[0124] The mechanically limited state refers to the state in which the first swing leg assembly cannot rotate along the first rotation direction due to the structural influence of the mobile robot. In the embodiments of this application, before the mobile robot performs the fork-down action, the first swing leg assembly is controlled to be in a mechanically limited state, so that when the mobile robot performs the fork-down action, the first swing leg assembly cannot rotate along the first rotation direction, and the fork-down action is performed only by rotating the second swing leg assembly.

[0125] In one embodiment, the mechanical structure of the mobile robot has the following characteristics. When the waist structure of the mobile robot is in an upright state, the swing angle range of the first swing leg group is 40 degrees to -90 degrees, and the swing range of the second swing leg group is -40 degrees to 270 degrees. The reference line of the angle is the direction of gravity, and the determination of the positive and negative angles satisfies the right-hand rule.

[0126] In one embodiment, the mechanical limiting state of the first swing leg assembly refers to the minimum angle between the first swing leg assembly and the waist structure that can be achieved by rotating along the first rotation direction. Due to the structure of the mobile robot, the minimum angle between the first swing leg assembly and the waist structure that can be achieved along the first rotation direction is 90 degrees.

[0127] Reference Figure 4 Part (B) Figure 4 Part (B) shows that the angle between the first swing leg assembly 10 and the waist structure 30 is 90 degrees. At this time, the first swing leg assembly 10 reaches the mechanical limit state and the first swing leg assembly 10 cannot continue to rotate in the first rotation direction.

[0128] Step 340: Control the mobile robot to perform the fork-down action until the mobile robot is in a horizontal fork-open state;

[0129] The split movement refers to the action of the first and second swing leg groups spreading apart. The horizontal split state is the state in which the first and second swing leg groups are horizontally spread apart. On a horizontal reference plane, in the horizontal split state, the first and second swing leg groups are spread apart at 180 degrees, that is, the direction from the heel of the leg pointing to the end of the first swing leg group is 180 degrees from the direction from the heel of the leg pointing to the end of the second swing leg group.

[0130] In this embodiment, since the first swing leg assembly is in a mechanically limited state, meaning it cannot perform a splitting motion along the first rotation direction, the second swing leg assembly is controlled to rotate along the second rotation direction to perform the splitting motion. The second rotation direction is the direction of rotation of the second swing leg assembly during the splitting process, and it is opposite to the first rotation direction.

[0131] In this embodiment, the mobile robot further includes a first hip joint and a second hip joint. The first hip joint controls the rotation of the first swing leg group, and the second hip joint controls the rotation of the second swing leg group. While keeping the first hip joint stationary, the second hip joint controls the second swing leg group to perform a split motion until the mobile robot is in a horizontal split position.

[0132] illustrative, for reference only Figure 4 Part (C) Figure 4 Part (C) shows the mobile robot in a horizontally forked state, with the first swing leg group 10 and the second swing leg group 20 forked at 180 degrees. Figure 4 Part (C) also shows that the angle between the waist structure 30 and the first swing leg assembly 10 is 90 degrees, and the angle between the waist structure 30 and the second swing leg assembly 20 is also 90 degrees.

[0133] Step 350: Control the second swing leg group to rotate along the second rotation direction until the second swing leg group and the first swing leg group are horizontally aligned.

[0134] The second rotation direction is the rotation direction of the second swing leg assembly when the mobile robot performs the downward fork motion. The second rotation direction is opposite to the first rotation direction. When the mobile robot is in a horizontal fork position, both the first and second swing leg assemblies are supported by the horizontal reference plane. Then, the second swing leg assembly will be controlled to continue rotating along the second rotation direction (at which point it will flip over the top of the mobile robot's head) until the second and first swing leg assemblies are horizontally aligned.

[0135] "Horizontal alignment" refers to the state in which the first swing leg group and the second swing leg group are aligned on the horizontal reference plane. At this time, the first swing leg group and the second swing leg group are in contact with each other, and the bottom surfaces of the first swing leg group and the second swing leg group are both in contact with the horizontal reference plane.

[0136] illustrative, for reference only Figure 4 , Figure 4 Part (D) shows the first swing leg group 10 and the second swing leg group 20 in a horizontally aligned state, where the first swing leg group 10 is surrounded by the second swing leg group 20.

[0137] In summary, in the relevant technologies, when a mobile robot performs a downward fork motion, the motor that provides the torque required for the first hip joint and the motor that provides the torque required for the second hip joint consume the same amount of energy, assuming both are energy A, and the two consume a total of 2A of energy. The first hip joint is the hip joint that controls the rotation of the first swing leg group, and the second hip joint is the hip joint that controls the rotation of the second swing leg group.

[0138] In this embodiment, by controlling the torso structure to be in a first bent-over state, the center of gravity projection of the mobile robot is located within the projection range of the first swing leg group. At this time, if the mobile robot is directly controlled to perform a downward movement, the motor that provides the torque required for the first hip joint will consume energy A+, and the motor that provides the torque required for the second hip joint will consume energy A-. The two together consume energy 2A.

[0139] In this embodiment, the split-leg motion is further performed while the first swing leg assembly is in a mechanically limited state. At this time, the mobile robot does not need to provide the torque required by the first hip joint when performing the split-leg motion because, due to the mechanical limitation, the first swing leg assembly will not rotate along the first rotation direction (the rotation direction in which the split-leg motion occurs in related technologies) during the split-leg motion; that is, there is no need to provide the torque required by the first hip joint to counteract this rotation. Therefore, only the torque required by the second hip joint needs to be provided during the entire split-leg motion, meaning only the energy required to provide the torque of the second hip joint is consumed, i.e., only energy A- is consumed. Therefore, compared to the energy consumption of 2A in related technologies, the folding method provided in this application is more energy-efficient.

[0140] To better understand the beneficial effects of the folding method for the mobile robot provided in this application, the following will introduce it from the perspective of combining numerical and graphical methods.

[0141] In related technologies, the downward-split motion of a mobile robot is executed by controlling the first and second swing leg groups to rotate in opposite directions. The rotation of the first swing leg group is controlled by the first hip joint, and the rotation of the second swing leg group is controlled by the second hip joint. During the downward-split motion, the required torque of the two hip joints is equal in real time. When approaching a horizontal split position, the torque requirement of the two hip joints is higher. (Refer to reference...) Figure 5 , Figure 5 Part (A) shows the state of the mobile robot at this time.

[0142] Assuming the weight of the mobile robot is G, the horizontal reference surface exerts a supporting force of 1 / 2G on the first and second swing leg groups, i.e., F1 = F2 = 1 / 2G. To maintain the horizontal split position, the mobile robot's hip joints require torque to resist the ground supporting force; otherwise, the entire mobile robot will collapse towards the ground. At this point, the torque required by the first hip joint and the torque required by the second hip joint are equal in magnitude. The torque required by the two hip joints can be calculated using the following formula:

[0143] τ1=τ2=F1*L leg ;

[0144] Where τ1 is the torque required for the first hip joint, τ2 is the torque required for the second hip joint, and L leg Let L be the leg length. From this formula, it can be seen that to reduce the torque required at both hip joints, F1 needs to be reduced, or L needs to be reduced. leg The weight of the mobile robot is fixed, meaning F1+F2 cannot be changed, but the distribution of F1 and F2 can be adjusted. That is, F1+F2 can be kept constant by increasing F1 and decreasing F2.

[0145] Reference Figure 5 In part (B), the mobile robot's torso is tilted towards the first swing leg group, so that the robot's center of gravity falls on the first swing leg group. This increases F1 and decreases F2. The formulas for calculating F1 and F2 are as follows:

[0146]

[0147] from Figure 5 It can be seen that L2 is greater than L at this time. leg L1 is less than L leg That is, F1 was increased and F2 was decreased.

[0148] at this time,

[0149] τ1=F1*L leg ;

[0150] τ2=F2*L leg ;

[0151] Clearly, the torque τ2 required by the second hip joint is reduced, and the energy consumed by the motor providing that torque is reduced. However, the torque τ1 required by the first hip joint increases, and the motor providing that torque consumes more energy, making the motor more energy-intensive.

[0152] To address the issue of increased energy consumption of the motor providing torque τ1, this application embodiment employs a mechanical limiting method. By mechanically limiting the first swing leg assembly, rotation is prevented during the downward movement, meaning the first swing leg assembly will not collapse due to the mechanical limiting effect. In this case, it is unnecessary to provide the torque required for the first hip joint through a motor. Instead, only torque τ2 is required throughout the entire downward movement process. Compared to related technologies, which require a torque of τ1 + τ2, the robot downward movement process provided in this application is more energy-efficient.

[0153] based on Figure 3 In the optional embodiment shown, step 330 includes the following step S1.

[0154] S1, control the waist structure to rotate along the second rotation direction until the angle between the first end of the first swing leg assembly and the waist structure reaches the mechanical limit angle.

[0155] In this embodiment, the mobile robot includes a first swing leg assembly, a second swing leg assembly, a waist structure, and a torso structure. The first end of the waist structure is connected to the first end of both the first and second swing leg assemblies; the second end of the waist structure is connected to the torso structure.

[0156] Reference Figure 4 , Figure 4 Part (A) shows the mobile robot in its standing state. At this time, the robot's waist structure 30 is in a straight position. In this straight position, the angle between the waist structure 30 and the first swing leg assembly 10 is equal to the angle between the waist structure 30 and the second swing leg assembly 20. At this time, the angle between the waist structure 30 and the first swing leg assembly 10 is greater than the mechanical limit angle; optionally, the mechanical limit angle is 90 degrees, and in the straight position, the angle between the waist structure 30 and the first swing leg assembly 10 is 140 degrees. The waist structure 30 is controlled to rotate along a second rotation direction until the angle between the waist structure 30 and the first end of the first swing leg assembly 10 reaches the mechanical limit angle. Figure 4 Part (B) shows that at this time, the angle between the waist structure 30 and the first end of the first swing leg assembly 10 reaches the mechanical limit angle of 90 degrees.

[0157] In this embodiment, the mechanical limiting angle inside the mobile robot body is utilized, namely the minimum angle between the first swing leg group and the waist structure that can be reached by rotating along the first rotation direction. Therefore, the hip joint torque required by the original first swing leg group is not needed during the lowering process, making the mobile robot more energy-efficient during the lowering process, and thus making the overall folding process of the mobile robot more energy-efficient.

[0158] In one embodiment, while maintaining a constant angle between the first swing leg group and the second swing leg group, the lumbar structure is controlled to rotate in a second rotational direction via at least one of the first and second hip joints; wherein the first hip joint is used to control the rotation of the first swing leg group, and the second hip joint is used to control the rotation of the second swing leg group. Optionally, the lumbar structure is controlled to rotate in the second rotational direction via the combined movement of the first and second hip joints.

[0159] Reference Figure 4 In part (A), during the rotation of the waist structure 30 along the second rotation direction, the included angle between the first swing leg group 10 and the second swing leg group 20 remains unchanged. Through the joint movement of the first hip joint and the second hip joint, the rotation of the waist structure 30 is controlled until the included angle between the waist structure 30 and the first swing leg group 10 reaches the mechanical limit angle of 90 degrees.

[0160] In this embodiment, the lumbar structure is connected to the first swing leg group and the second swing leg group via a first hip joint and a second hip joint, respectively. The first hip joint can control the rotation of the first swing leg group, and the second hip joint can control the rotation of the second swing leg group. Conversely, the lumbar structure can be rotated by controlling the rotation of the two swing leg groups while keeping them stationary. This embodiment fully utilizes the structural design of a mobile robot, controlling the rotation of the lumbar structure through two hip joints to achieve a mechanical limiting angle. In other words, this embodiment provides a method for achieving a mechanical limiting state, with simple control logic and convenient operation.

[0161] based on Figure 3 In the alternative embodiments shown, Figure 6 A flowchart of a control method for a mobile robot provided in another exemplary embodiment of this application is shown, illustrated by way of example that the method is executed by a controller, which may be located on the mobile robot body or outside the mobile robot.

[0162] Compared to Figure 3 The control method shown Figure 6 The control method shown also includes steps 311 and 360. Optionally, a control method for a mobile robot may include both steps 311 and 360, or may include only one of steps 311 and 360; this application does not limit this. Figure 6 The example only includes steps 311 and 360.

[0163] Step 311: Control the torso structure to be in a side-swinging state.

[0164] The lateral tilt state refers to a state in which the frontal orientation of the torso structure forms an angle with the horizontal projection of the first swing leg assembly. In this embodiment, before controlling the second swing leg assembly to rotate along the second rotation direction, the torso structure is also controlled to be in a lateral tilt state to avoid structural interference when the second swing leg assembly rotates.

[0165] In this embodiment, the mobile robot further includes a lateral rotation axis, controlling the torso structure to laterally rotate along the lateral rotation axis until the torso structure is in a lateral state. Optionally, the torso structure is controlled to laterally rotate along the lateral rotation axis until the lateral angle reaches a preset angle θ. The lateral angle refers to the angle between the frontal orientation of the torso structure and the horizontal projection of the first swing leg assembly.

[0166] In one embodiment, in conjunction with reference Figure 4 , Figure 4 Part (A) shows the standing state, in which the lateral sway angle of the torso structure 40 is zero, and the front of the torso structure is parallel to the horizontal projection direction of the first swing leg group. At this time, it is considered that the torso structure 40 is not in the lateral sway state.

[0167] In one embodiment, the torso structure 40 is controlled to laterally rotate along the lateral rotation axis until the torso structure reaches... Figure 4 The (E) section shows the lateral swing state. At this time, the lateral swing angle is a preset angle θ. Optionally, θ is 30 degrees, which is the minimum avoidance angle. When the lateral swing angle is 30 degrees, during the subsequent rotation of the second swing leg assembly 20 (i.e.... Figure 4 Part (C) to Figure 4 During the change process of part (D), no mechanical interference will occur, and the second swing leg assembly 20 can be smoothly rotated to a state where it is horizontally aligned with the first swing leg assembly 10. Optionally, θ is 90 degrees, which is the preset maximum avoidance angle, to ensure that the second swing leg assembly 20 will not interfere with the torso structure 40 when rotating.

[0168] Step 360: Control the torso structure to perform a bending operation until the front or back of the torso structure is in contact with the top surface of the first swing leg group.

[0169] In this embodiment, the mobile robot includes a torso structure. When the first swing leg group and the second swing leg group are brought together horizontally, the torso structure is controlled to perform a bending operation until the front or back of the torso structure is in contact with the top surface of the first swing leg group, thereby achieving the final folded form. At this time, the folding method provided in this application is also applicable to mobile robots with a torso structure.

[0170] Reference Figure 4 , Figure 4Part (D) shows the torso structure 40 in a lateral swing state. Controlling the torso structure 40 to perform a return-to-center operation, i.e., controlling the torso structure 40 to perform a lateral swing rotation operation, until the frontal orientation of the torso structure 40 is parallel to the horizontal projection direction of the first swing leg assembly 10, at which point, it will achieve... Figure 4 The state shown in section (G) is as follows. Next, the torso structure 40 will be controlled to perform a prone position until the front or back of the torso structure 40 is in contact with the top surface of the first swing leg assembly 10, i.e. Figure 4 The state is shown in part (F).

[0171] In this embodiment, the mobile robot has a pitch axis, and the torso structure is controlled to perform a bending operation along the pitch axis. Optionally, the torso structure is controlled to perform a bending operation along the pitch axis until the front or back of the torso structure is in contact with the top surface of the first swing leg assembly.

[0172] Next, we will introduce several folding solutions for mobile robots.

[0173] In the above Figure 5 In the correlation analysis of Part (A), the torque required by the two hip joints under the critical horizontal splitting state can be calculated by the following formula:

[0174] τ1=τ2=F1*L leg ;

[0175] Where τ1 is the torque required for the first hip joint, τ2 is the torque required for the second hip joint, and L leg Let L be the leg length. From this formula, it can be seen that to reduce the torque required by the two hip joints, the lever arm can be reduced, i.e., the lever arm should be less than L. leg .

[0176] Reference Figure 7 , Figure 7 Part (A) and Figure 5 The same as part (A), used here for and Figure 7 The comparison is illustrated in part (B). In one embodiment, the mobile robot does not need to reach a horizontal fork position during the fork-down process; it only needs to reach... Figure 7 The intermediate split position shown in section (B) is followed by controlling the second swing leg assembly to rotate in the second rotation direction until the second swing leg assembly is horizontally aligned with the first swing leg assembly. In the intermediate split position, the required torque for the two hip joints can be calculated using the following formula:

[0177] τ1=τ2=F1*L1;

[0178] Where τ1 = τ2, meaning the torque required for the first hip joint is equal to the torque required for the second hip joint; F1 = F2 = 1 / 2G; L1 = L2; and both L1 and L2 are less than L. leg .

[0179] At this point, the torque required by both hip joints is reduced. Since the torque required by both hip joints is provided by the motor, the energy consumed by the motor is also reduced. Figure 7 The method shown in section (B) enables more energy-efficient robot forklift deployment.

[0180] Figure 8 A flowchart illustrating a control method for a mobile robot provided in an exemplary embodiment of this application is shown. The method is illustrated by way of example, with the method executed by a controller of the mobile robot, which may be located on or outside the mobile robot body. The method includes:

[0181] Step 810: Control the mobile robot to stand upright;

[0182] In this application, the mobile robot includes a first swing leg group and a second swing leg group; the first swing leg group includes multiple first swing legs and / or the second swing leg group includes multiple second swing legs, the first swing leg group and the second swing leg group are arranged side by side, and the rotation axes of the first swing leg group and the second swing leg group are located in the same vertical plane. At least one of the first swing leg group and the second swing leg group includes multiple swing legs. Optionally, the first swing leg group includes multiple first swing legs, and the second swing leg group includes one second swing leg; alternatively, the first swing leg group includes one first swing leg, and the second swing leg group includes multiple second swing legs; alternatively, the first swing leg group includes multiple first swing legs, and the second swing leg group includes multiple second swing legs; alternatively, the multiple first swing legs and the multiple second swing legs are arranged alternately. Optionally, the multiple first swing legs are distributed on both sides of the multiple second swing legs.

[0183] The standing state refers to a state in which the robot stands supported by the first and second swing leg groups, with the first and second swing leg groups crossing each other front and back. Optionally, the angle between the first and second swing leg groups in the standing state can be arbitrary; alternatively, the angle between the first and second swing leg groups in the standing state is a preset angle, that is, when executing the robot folding method provided in this application, the initial standing posture of the mobile robot is a specified standing state. Optionally, the preset angle is 80 degrees, at which time the angle between the first swing leg group and the direction of gravity is 40 degrees, and the angle between the second swing leg group and the direction of gravity is -40 degrees. The sign of the angle is determined according to the right-hand rule, and the mobile robot is in a relatively stable state at this time.

[0184] illustrative, for reference only Figure 9 , Figure 9 Parts (A)(B)(C) and Figure 8 The corresponding method and process. Figure 9 Parts (A), (B), and (C) illustrate a folding method for a mobile robot.

[0185] Figure 9 Part (A) shows the initial standing posture of the mobile robot when performing the folding action, at which point the first swing leg group 10 and the second swing leg group 20 stand cross-supported, with the first swing leg group 10 standing as the front leg support and the second swing leg group 20 standing as the rear leg support.

[0186] Step 820: Control the mobile robot to perform the downward fork motion until the first swing leg assembly is supported by the support below;

[0187] When the mobile robot is standing, control the first and second swing leg groups of the mobile robot to perform a downward movement until the first swing leg group is supported by the support below. Optionally, when the support below supports the first swing leg group, the top surface of the support below is in contact with the bottom surface of the first swing leg group.

[0188] In one embodiment, the first and second swing leg groups of the mobile robot are controlled to rotate in opposite directions to perform a split movement. Optionally, the first swing leg group is controlled to perform the split movement via a first hip joint, and the second swing leg group is controlled to perform the split movement via a second hip joint, until the first swing leg group is supported by a support below. Optionally, the first and second swing leg groups are controlled symmetrically to perform the split movement until the first swing leg group is supported by a support below, that is, the hip joint torque required by the first swing leg group during the split movement is the same as the hip joint torque required by the second swing leg group in real time.

[0189] Indicative, for reference only Figure 9 , Figure 9 Part (B) shows the state in which the first swing leg assembly 10 is supported by the lower support 801. The top surface of the lower support 801 is in contact with the bottom surface of the first swing leg assembly 10. The top surface of the lower support 801 is an inclined plane, and the bottom surface of the first swing leg assembly 10 is also an inclined plane.

[0190] In this embodiment, it is only necessary to ensure that the first swing leg assembly is supported by the lower support during the downward movement of the mobile robot. This embodiment does not limit the shape, size, or support method of the lower support. Optionally, the top surface of the lower support can be as follows: Figure 9 As shown in section (B), when supporting the first swing leg assembly, the top surface is in contact with the bottom surface of the first swing leg assembly to stably support the first swing leg assembly.

[0191] Optionally, the lower support can also be magnetically attached, so that when the first swing leg assembly approaches the lower support, it can be magnetically attached to securely support the first swing leg assembly.

[0192] In one embodiment, the lower support, in addition to providing support, is also used to provide at least one of the following functions for the mobile robot: charging, system updating, waste transfer, and heat dissipation.

[0193] Optionally, the top surface of the lower support is aligned with the bottom surface of the first swing leg assembly for wireless charging of the mobile robot. Optionally, the top surface of the lower support has a first opening, and the bottom surface of the first swing leg assembly has a second opening. The mobile robot transfers the collected garbage through the second opening and the first opening into the lower support, allowing the user to empty the garbage inside the lower support all at once.

[0194] Optionally, the lower support has a transmission module and the mobile robot has a receiving module. When the top surface of the lower support is in contact with the bottom surface of the first swing leg assembly, a transmission channel is successfully established between the transmission module and the receiving module, and the transmission module can send the robot's system update content to the receiving module.

[0195] Optionally, the top surface of the lower support has a heat dissipation module. When the top surface of the lower support is in contact with the bottom surface of the first swing leg assembly, the heat dissipation module on the top surface of the lower support reduces the temperature of the bottom surface of the first swing leg assembly, thereby reducing the overall temperature of the mobile robot.

[0196] Step 830: Control the second swing leg group to rotate along the second rotation direction until the second swing leg group and the first swing leg group tilt and come together.

[0197] The second rotation direction is the rotation direction of the second swing leg assembly when the mobile robot performs the downward fork motion. With the first swing leg assembly supported by the lower support, the second swing leg assembly will then be controlled to rotate along the second rotation direction until the second swing leg assembly and the first swing leg assembly tilt and come together.

[0198] "Inclined and joined" refers to the state where the first and second swing leg groups are joined together, and both the first and second swing leg groups form an angle with the horizontal reference plane. In this inclined and joined state, the first and second swing leg groups are in close contact, and the angles between the extension directions of the first and second swing leg groups and the horizontal reference plane are not zero. In this inclined and joined state, the first swing leg group is surrounded by the second swing leg group.

[0199] illustrative, for reference only Figure 9 Part (B) Figure 9Part (B) shows the state in which the first swing leg assembly 10 is supported by the lower support 801. The second swing leg assembly 20 is controlled to rotate in the second rotation direction until it reaches... Figure 9 The state shown in section (C) is as follows. Figure 9 Part (C) shows the first swing leg group 10 and the second swing leg group 20 in an inclined and close state.

[0200] In summary, the relevant technologies require controlling the mobile robot to perform a fork-down motion until the mobile robot is in a horizontal fork state before controlling the second swing leg assembly to rotate along the second rotation direction. The horizontal fork state requires a large hip torque, which in turn requires the motor providing the hip torque to consume a lot of energy.

[0201] In this embodiment, since the lower support is used, it is not necessary to control the mobile robot to lower to a horizontal fork state. After reaching a certain intermediate fork state, the second swing leg group can be controlled to rotate along the second rotation direction until it is horizontally closed. Compared with the horizontal fork state, the hip torque required for the intermediate fork state is smaller, and the motor that provides the hip torque consumes less energy. That is, this application provides a more energy-efficient robot lowering scheme, and furthermore, this application provides a more energy-efficient robot folding scheme.

[0202] based on Figure 7 In the optional embodiment shown, step 820 is further performed... Figure 10 Steps 821, 822, and 823 are shown, and step 831 is performed after step 830.

[0203] Step 821: Control the torso structure to be in a side-swinging state.

[0204] The lateral tilt state refers to a state in which the frontal orientation of the torso structure forms an angle with the horizontal projection of the first swing leg assembly. In this embodiment, before controlling the second swing leg assembly to rotate along the second rotation direction, the torso structure is also controlled to be in a lateral tilt state to avoid structural interference when the second swing leg assembly rotates.

[0205] In this embodiment, the mobile robot further includes a lateral rotation axis, controlling the torso structure to laterally rotate along the lateral rotation axis until the torso structure is in a lateral state. Optionally, the torso structure is controlled to laterally rotate along the lateral rotation axis until the lateral angle reaches a preset angle θ. The lateral angle refers to the angle between the frontal orientation of the torso structure and the horizontal projection of the first swing leg assembly.

[0206] In one embodiment, in conjunction with reference Figure 9 , Figure 9 Part (A) shows the standing position. Figure 9Part (B) shows the state in which the first swing leg assembly is supported by the support below. In both states, the lateral sway angle of the torso structure 40 is zero, and the front orientation of the torso structure 40 is parallel to the horizontal projection direction of the first swing leg assembly 10. At this time, it is considered that the torso structure 40 is not in a lateral sway state.

[0207] In one embodiment, the torso structure 40 is controlled to laterally rotate along the lateral rotation axis until the torso structure reaches... Figure 9 The (D) section shows the lateral swing state. At this time, the lateral swing angle is a preset angle θ. Optionally, θ is 30 degrees, which is the minimum avoidance angle. When the lateral swing angle is 30 degrees, during the subsequent rotation of the second swing leg assembly 20 (i.e.... Figure 9 Part (E) to Figure 9 The change process of part (F) will not cause mechanical structural interference. Optionally, θ is 90 degrees, which is the preset maximum avoidance angle, to ensure that the second swing leg group 20 will not interfere with the torso structure 40 when rotating.

[0208] Step 822: Control the torso structure to be in the second prone position.

[0209] When the mobile robot performs a downward fork motion until the first swing leg assembly is supported by the lower support, the robot's center of gravity is still located on its central axis. At this point, if the second swing leg assembly is directly controlled to rotate in the second rotation direction, the mobile robot will be in an unstable state and risk tipping over. In this embodiment, the torso structure is first controlled to be in a second prone position, so that the robot's center of gravity falls within the support range of the lower support. Then, the second swing leg assembly is controlled to rotate in the second rotation direction, ensuring that the mobile robot remains stable while the second swing leg assembly rotates.

[0210] In one embodiment, in the second prone position, the prone angle of the mobile robot is related to the position of the mobile robot's center of gravity. Optionally, the mobile robot is controlled to perform a prone motion until the projection of the mobile robot's center of gravity is located at the center of the projection range of the first swing leg group, at which point the torso structure is in the second prone position.

[0211] Reference Figure 9 , Figure 9 Part (D) shows the torso structure in a straight position, with the angle between the torso structure 40 and the first swing leg group 10 being equal to the angle between the torso structure 40 and the second swing leg group 20. Figure 9 Part (E) shows the state of the robot after the torso structure 40 performs a prone maneuver, at which point the torso structure 40 is in the second prone state.

[0212] Step 823: Control the operating arm to the first extended state;

[0213] In this embodiment, the mobile robot also has a manipulator arm located around the periphery of the torso structure. The first extended state refers to the state of extension along the direction of the first swing leg group. Similar to the description of step 822 above, by extending the manipulator arm, the center of gravity projection of the mobile robot can be located within the projection range of the first swing leg group, thus preventing the robot from tipping over during the swinging of the second swing leg group.

[0214] In one embodiment, the control arm extends along the direction of the first swing leg group, such that the center of gravity projection of the mobile robot is located at the center of the projection range of the first swing leg group.

[0215] It should be noted that either step 822 or step 823 can be selected for execution, or both can be executed. This application embodiment does not limit this. The purpose of these two steps is to ensure that the center of gravity projection of the mobile robot falls within the projection range of the first swing leg group.

[0216] Step 831: Control the torso structure to perform a bending operation until the front or back of the torso structure is in contact with the top surface of the first swing leg group.

[0217] In this embodiment, the mobile robot includes a torso structure. When the first swing leg group and the second swing leg group are brought together horizontally, the torso structure is controlled to perform a bending operation until the front or back of the torso structure is in contact with the top surface of the first swing leg group, thereby achieving the final folded form. At this time, the folding method provided in this application is also applicable to mobile robots with a torso structure.

[0218] Reference Figure 9 , Figure 9 Part (F) shows the first swing leg assembly 10 and the second swing leg assembly 20 tilted together, and at this time, the torso structure 40 is in a side-swing state. In one embodiment, the torso structure 40 is controlled to perform a return-to-center operation, that is, the torso structure 40 is controlled to perform a side-swing rotation operation until the front of the torso structure 40 is parallel to the horizontal projection direction of the first swing leg assembly 10. At this time, the desired effect is achieved. Figure 9 The state shown in section (G) is as follows. Next, the torso structure 40 will be controlled to perform a prone position until the front or back of the torso structure 40 is in contact with the top surface of the first swing leg assembly 10, reaching the desired state. Figure 9 The state shown in section (C) is as follows.

[0219] It should be noted that steps 821, 822, 823 and 831 can be selected for execution depending on the structure of the mobile robot. When one or more of these steps are applied, it should be considered to fall within the protection scope of this application.

[0220] In one embodiment, Figure 11 A flowchart illustrating a control method for a mobile robot provided in an exemplary embodiment of this application is shown. Step 1110 is... Figure 8 Step 810 is the same, and step 1130 is the same. Figure 8 Step 830 is the same as, and Figure 8 The difference in the method shown is that step 820 is replaced by step 1120.

[0221] Step 1120: Control the mobile robot to perform the downward fork motion until both the first swing leg group and the second swing leg group are supported by the support below.

[0222] In this embodiment, while standing, the mobile robot performs a downward fork motion until both the first and second swing leg groups are supported by the lower support. The lower support provides support for both the first and second swing leg groups simultaneously.

[0223] In one embodiment, the first and second swing leg groups of the mobile robot are controlled to rotate in opposite directions to perform a split motion. Optionally, the first swing leg group is controlled to perform the split motion via a first hip joint, and the second swing leg group is controlled to perform the split motion via a second hip joint, until the first swing leg group is supported by a support below, and the second swing leg group is also supported by a support below.

[0224] Optionally, the first and second swing leg groups are controlled symmetrically to perform the splits movement until both are supported by the support below. That is, the hip joint torque required by the first swing leg group during the splits is the same as that required by the second swing leg group in real time.

[0225] Schematic illustration: The mobile robot is controlled to perform a forking motion until both the first and second swing leg groups are supported by the lower support. At this point, the bottom surface of the first swing leg group is in contact with the top surface of the lower support, and the bottom surface of the second swing leg group is in contact with the top surface of the lower support. Optionally, the bottom surfaces of the first and second swing leg groups are both inclined planes, and the top surface of the lower support is also an inclined plane.

[0226] Optionally, the lower support structure, in addition to providing support, also serves at least one of the following functions: charging, system updating, waste transfer, and heat dissipation for the mobile robot. See the above for details. Figure 8 Introduction to the relevant content under step 820.

[0227] It should be noted that, Figure 11 In the illustrated embodiments, it is also possible to combine with Figure 8 , Figure 9 , Figure 10The relevant content in the method embodiments shown will not be repeated here due to space limitations.

[0228] In summary, the relevant technologies require controlling the mobile robot to perform a fork-down motion until the mobile robot is in a horizontal fork state before controlling the second swing leg assembly to rotate along the second rotation direction. The horizontal fork state requires a large hip torque, which in turn requires the motor providing the hip torque to consume a lot of energy.

[0229] In this embodiment, since the lower support is used, it is not necessary to control the mobile robot to lower to a horizontal fork state. After reaching a certain intermediate fork state, the second swing leg group can be controlled to rotate along the second rotation direction. Compared with the horizontal fork state, the hip torque required for the intermediate fork state is smaller, and the motor that provides the hip torque consumes less energy. That is, this application provides a more energy-efficient robot lowering scheme, and further, this application provides a more energy-efficient robot folding scheme.

[0230] In one embodiment, Figure 12 A flowchart illustrating a control method for a mobile robot provided in an exemplary embodiment of this application is shown. The method is illustrated by way of example, with the method executed by a controller of the mobile robot, which may be located on or outside the mobile robot body. The method includes:

[0231] Step 1210: Control the mobile robot to stand upright;

[0232] Please refer to the description in step 310.

[0233] Step 1220: Control the torso structure of the mobile robot to be in the first prone position;

[0234] Please refer to the description in step 320.

[0235] Step 1230: By using a joint brake on the first hip joint, the mobile robot is controlled to perform a downward fork motion until the mobile robot is in a horizontal fork state. The first hip joint is the hip joint used to control the rotation of the first swing leg group.

[0236] exist Figure 3 , Figure 4 , Figure 6 In the illustrated method embodiments, the robot folding is achieved using a combination of "gravity distribution + mechanical limiting." "Gravity distribution" refers to ensuring the robot's center of gravity projection falls within the projection range of the first swing leg assembly, while "mechanical limiting" refers to controlling the first swing leg assembly to be in a mechanically limited state. Figure 12 In the illustrated method embodiment, the robot folding will be achieved using a combination of gravity distribution and joint brakes. Figure 12 "Gravity distribution" in the method embodiments and Figure 3 , Figure 4 , Figure 6 The "gravity distribution" is the same in the illustrated method embodiments.

[0237] According to the above Figure 5 The relevant analysis shows that by setting the first swing leg assembly to a mechanically limited state, the first swing leg assembly will not rotate along the first rotation direction during the robot's downward movement. In this case, there is no need to provide torque to the first hip joint, thus saving motor energy. Furthermore, by controlling the first swing leg assembly to be in a mechanically limited state, the robot can be controlled to perform the downward movement slowly and in a controlled manner simply by controlling the second swing leg assembly, preventing the robot from collapsing rapidly.

[0238] exist Figure 12 In the illustrated method embodiment, based on the already completed center of gravity distribution, during the downward movement of the mobile robot, a joint brake is applied to the first hip joint (the hip joint that controls the rotation of the first swing leg group) at regular intervals, so that the torque required by the first hip joint does not need to be provided by the motor. The function of the joint brake is to prevent the mobile robot from collapsing quickly and to allow the mobile robot to perform the downward movement in a controlled manner.

[0239] Step 1240: Control the second swing leg group to rotate along the second rotation direction until the second swing leg group and the first swing leg group are horizontally aligned.

[0240] Please refer to the description in step 350.

[0241] It should be noted that, Figure 12 The illustrated method embodiments can also be combined with Figure 3 , Figure 4 , Figure 6 The method embodiments shown, as well as the contents of step S1, will not be repeated here due to space limitations.

[0242] The folding method of the mobile robot provided in this application has been described above.

[0243] The following section will introduce the deployment method of the mobile robot. The sequence of actions performed when the mobile robot is deployed is the reverse sequence of actions performed when it is folded.

[0244] Figure 13 A flowchart illustrating a control method for a mobile robot provided in an exemplary embodiment of this application is shown. The method is illustrated by way of example, with the method executed by a controller of the mobile robot, which may be located on or outside the mobile robot body. The method includes:

[0245] Step 1310: Control the first swing leg group and the second swing leg group to come together horizontally;

[0246] In this application, the mobile robot includes a first swing leg group and a second swing leg group; the first swing leg group includes multiple first swing legs and / or the second swing leg group includes multiple second swing legs, the first swing leg group and the second swing leg group are arranged side by side, and the rotation axes of the first swing leg group and the second swing leg group are located in the same vertical plane. At least one of the first swing leg group and the second swing leg group includes multiple swing legs. Optionally, the first swing leg group includes multiple first swing legs, and the second swing leg group includes one second swing leg; alternatively, the first swing leg group includes one first swing leg, and the second swing leg group includes multiple second swing legs; alternatively, the first swing leg group includes multiple first swing legs, and the second swing leg group includes multiple second swing legs; alternatively, the multiple first swing legs and the multiple second swing legs are arranged alternately. Optionally, the multiple first swing legs are distributed on both sides of the multiple second swing legs.

[0247] "Horizontal alignment" refers to the state in which the first swing leg group and the second swing leg group are aligned on the horizontal reference plane. At this time, the first swing leg group and the second swing leg group are in contact with each other, and the bottom surfaces of the first swing leg group and the second swing leg group are both in contact with the horizontal reference plane.

[0248] Reference Figure 14 , Figure 14 Part (A) shows the first swing leg group 10 and the second swing leg group 20 in a horizontally aligned state, at which point the first swing leg group 10 is surrounded by the second swing leg group 20.

[0249] Step 1320: With the front or back of the torso structure in contact with the top surface of the first swing leg group, control the torso structure to perform a supine operation.

[0250] In this embodiment, the mobile robot includes a torso structure. In the folded state, the front or back of the torso structure is in contact with the top surface of the first swing leg assembly, and the first and second swing leg assemblies are horizontally aligned, that is, the outer surfaces of the first and second swing leg assemblies are in contact with each other.

[0251] The supine maneuver refers to the operation of controlling the trunk structure to rotate in a direction away from the first swing leg group. Optionally, the supine maneuver refers to the operation of controlling the trunk structure to rotate in a first rotation direction.

[0252] Reference Figure 14 , Figure 14 Part (A) shows the torso structure in a folded state with the front surface of the torso structure in contact with the top surface of the first swing leg assembly. Figure 14 Section (B) illustrates the state of the mobile robot after performing a tilting maneuver. Optionally, the tilting angle is associated with the position of the mobile robot's center of gravity.

[0253] Optionally, the torso structure can be controlled to perform a supine maneuver until the center of gravity projection of the mobile robot is within the projection range of the first swing leg group, at which point the mobile robot is in a stable state.

[0254] Optionally, the torso structure can be controlled to perform a supine maneuver until the center of gravity projection of the mobile robot is located at the center of the projection range of the first swing leg group. At this point, the stability of the mobile robot reaches its optimal state.

[0255] Step 1330: Control the torso structure to be in a lateral swing state;

[0256] The lateral tilt state refers to a state in which the frontal orientation of the torso structure forms an angle with the horizontal projection of the first swing leg assembly. In this embodiment, before controlling the second swing leg assembly to rotate along the first rotation direction, the torso structure is also controlled to be in a lateral tilt state to avoid structural interference when the second swing leg assembly rotates.

[0257] In this embodiment, the mobile robot further includes a lateral rotation axis, controlling the torso structure to laterally rotate along the lateral rotation axis until the torso structure is in a lateral state. Optionally, the torso structure is controlled to laterally rotate along the lateral rotation axis until the lateral angle reaches a preset angle θ. The lateral angle refers to the angle between the frontal orientation of the torso structure and the horizontal projection of the first swing leg assembly.

[0258] In one embodiment, the torso structure is controlled to perform a lateral swing rotation until the lateral swing angle reaches a preset angle. Optionally, the preset angle is 30 degrees, which is the minimum avoidance angle. When the lateral swing angle is 30 degrees, during the subsequent rotation of the second swing leg assembly 20 (i.e., Figure 14 Part (C) to Figure 14 The change process of part (D) will not cause mechanical structural interference.

[0259] Optionally, the preset angle is 90 degrees, which is the preset maximum avoidance angle, to ensure that the second swing leg assembly 20 will not interfere with the torso structure 40 when rotating.

[0260] Reference Figure 14 Part (C) Figure 14 Section (C) shows the mobile robot in a side-swinging state. Optionally, the mobile robot also has a manipulator arm located around the torso structure, which, during the deployment of the mobile robot, will adaptively perform at least one of the following operations: shortening the manipulator arm, rotating the elbow joint, or swinging the manipulator arm to avoid structural interference.

[0261] Step 1340: Control the second swing leg group to rotate along the first rotation direction until the mobile robot is in a horizontally forked state. The horizontally forked state is the state in which the first swing leg group and the second swing leg group are horizontally forked.

[0262] The first rotation direction is the rotation direction of the second swing leg assembly when the mobile robot performs a standing-up motion. When the first and second swing leg assemblies are horizontally aligned, the second swing leg assembly is controlled to rotate along the first rotation direction until it reaches a horizontally open position. After reaching the horizontally open position, the standing-up motion is then performed.

[0263] The horizontal split position refers to the horizontal split of the first swing leg group and the second swing leg group. In the horizontal split position, the first swing leg group and the second swing leg group are split at 180 degrees, that is, the direction from the root of the leg to the end of the first swing leg group is 180 degrees from the direction from the root of the leg to the end of the second swing leg group.

[0264] Reference Figure 14 Part (D), Figure 14 Part (D) shows the mobile robot in a horizontally forked state, with the first swing leg group 10 and the second swing leg group 20 forked at 180 degrees.

[0265] Step 1350: Control the torso structure of the mobile robot to be in the first bent-over state, which means the state of bending over towards the first swing leg group;

[0266] After the mobile robot is in a horizontally spread position, it is also necessary to control the torso structure of the mobile robot to be in a first bent-over position so that the projection of the center of gravity of the mobile robot falls within the projection range of the first swing leg group.

[0267] In one embodiment, since the preceding steps have already controlled the mobile robot to be in a prone position, it is no longer necessary to control the mobile robot to perform the prone operation. If the prone angle in the preceding steps does not reach the ideal angle, the pitch angle can be adjusted at this time. The purpose of step 1350 is to control the projection of the mobile robot's center of gravity to fall within the projection range of the first swing leg group, so as to provide the function of "center of gravity distribution" when the robot stands up.

[0268] Reference Figure 14 In part (D), the mobile robot is in its first prone position.

[0269] Step 1360: Control the first swing leg assembly to be in a mechanically limited state. The mechanically limited state refers to the state in which the first swing leg assembly cannot rotate along the first rotation direction due to the influence of the structure of the mobile robot.

[0270] The mechanically limited state refers to the state in which the first swing leg assembly cannot rotate along the first rotation direction due to the structural influence of the mobile robot. In one embodiment, the mobile robot further includes a waist structure, the first end of which is connected to the first end of the first swing leg assembly and the first end of the second swing leg assembly; the second end of the waist structure is connected to the torso structure. The mechanically limited state refers to the state in which the angle between the first end of the first swing leg assembly and the waist structure reaches a mechanically limited angle, which is the smallest angle between the first swing leg assembly and the waist structure that can be achieved by rotating along the first rotation direction due to the mechanical structure of the mobile robot.

[0271] Optionally, the mechanical limit angle is 90 degrees.

[0272] Reference Figure 14 In part (D), the angle between the first end of the first swing leg assembly 10 and the waist structure 30 is exactly 90 degrees, and it is in a mechanically limited state. At this time, there is no need to execute step 1360. If the angle between the first end of the first swing leg assembly 10 and the waist structure 30 is not a mechanically limited angle, then step 1360 needs to be executed to control the angle between them to 90 degrees.

[0273] Step 1370: Control the mobile robot to perform the standing up action.

[0274] The standing motion is the action of reducing the angle between the first swing leg group and the second swing leg group.

[0275] In this embodiment, the mobile robot further includes a first hip joint and a second hip joint. The first hip joint controls the rotation of the first swing leg group, and the second hip joint controls the rotation of the second swing leg group. While keeping the first hip joint stationary, the second hip joint controls the second swing leg group to perform a standing motion.

[0276] Reference Figure 14 In part (D), while keeping the first hip joint stationary, the rising motion is performed solely through the second hip joint, achieving... Figure 14 The posture shown in part (E).

[0277] Optionally, the mobile robot is controlled to perform a standing motion until it reaches the target standing state, which is a preset state. In the target standing state, the angle between the first swing leg group and the second swing leg group is a preset angle.

[0278] In one embodiment, upon reaching the target standing position, the waist structure of the mobile robot is controlled to rotate along a first rotation direction until the waist structure is straight. In the straight position, the angles between the waist structure and the first swing leg group and the second swing leg group are equal. (Illustrative, with reference to reference) Figure 14, Figure 14 Part (F) shows a schematic diagram of the waist structure 30 in a straight position.

[0279] Optionally, upon reaching the target standing position, the robot's torso structure is also controlled to be in a straight position, with the angles between the torso structure and the first swing leg group and the second swing leg group being equal. (Refer to reference...) Figure 14 , Figure 14 Section (F) shows a schematic diagram of the torso structure 40 in a straight position.

[0280] In one embodiment, the mobile robot is also controlled to perform a aligning operation, that is, to perform a lateral rotation operation until the frontal orientation of the torso structure is parallel to the projection direction of the first swing leg assembly. (Refer to reference...) Figure 14 , Figure 14 Part (G) shows a schematic diagram of the frontal orientation of the torso structure 40 parallel to the projection direction of the first swing leg assembly 10.

[0281] In summary, the above embodiments provide a standing method for a mobile robot. Similar to the leg-down method for a mobile robot, the mobile robot of this application only needs to provide the torque required by the second hip joint when standing up, meaning it only consumes the energy required to provide the torque of the second hip joint, i.e., only energy A-. Compared to related technologies that consume 2A of energy, the standing method provided by this application is more energy-efficient.

[0282] Figure 15 A flowchart illustrating a control method for a mobile robot provided in an exemplary embodiment of this application is shown. The method is illustrated by way of a controller, which may be located on the mobile robot body or outside the mobile robot. The method includes:

[0283] Step 1510: When the first swing leg group is supported by the support below and the first swing leg group and the second swing leg group are tilted together and the front or back of the torso structure is in contact with the top surface of the first swing leg group, control the torso structure to perform a supine operation.

[0284] "Tilted and aligned" refers to the first and second swing leg assemblies being aligned, with both assemblies forming an angle with the horizontal reference plane. In this state, the mobile robot is supported by the support below. In the tilted and aligned state, the first and second swing leg assemblies are in close contact, and the angles between the extension directions of the first and second swing leg assemblies and the horizontal reference plane are not zero.

[0285] In this embodiment, it is only necessary to ensure that the lower support can support the first swing leg assembly, and thus the entire mobile robot. This embodiment does not limit the shape, size, or support method of the lower support. Optionally, the top surface of the lower support can be as follows: Figure 16 As shown in part (A), when supporting the first swing leg assembly, the top surface of the lower support 801 is in contact with the bottom surface of the first swing leg assembly 110. (Illustrative, in conjunction with reference to...) Figure 16 , Figure 16 Part (A) shows the first swing leg assembly 10 and the second swing leg assembly 20 tilted together, with the first swing leg assembly 10 supported by the lower support 801.

[0286] Optionally, the lower support, in addition to providing support, can also serve to provide at least one of the following functions for the mobile robot: charging, system updating, waste transfer, and heat dissipation.

[0287] Optionally, the top surface of the lower support is aligned with the bottom surface of the first swing leg assembly for wireless charging of the mobile robot. Optionally, the top surface of the lower support has a first opening, and the bottom surface of the first swing leg assembly has a second opening. The mobile robot transfers the collected garbage through the second opening and the first opening into the lower support, and the user can then empty the garbage inside the lower support all at once.

[0288] Optionally, the lower support has a transmission module and the mobile robot has a receiving module. When the top surface of the lower support is in contact with the bottom surface of the first swing leg assembly, a transmission channel is successfully established between the transmission module and the receiving module, and the transmission module sends the system update content to the receiving module.

[0289] Optionally, the top surface of the lower support has a heat dissipation module. When the top surface of the lower support is in contact with the bottom surface of the first swing leg assembly, the heat dissipation module reduces the temperature of the bottom surface of the first swing leg assembly, thereby reducing the temperature of the mobile robot.

[0290] Reference Figure 16 Part (A), Figure 16 Part (A) also shows the torso structure 40, where the front of the torso structure 40 is in contact with the top surface of the first swing leg assembly 10.

[0291] Figure 16 Section (B) shows the state of the mobile robot after performing the tilting maneuver.

[0292] Step 1520: Control the torso structure to be in a lateral swing state;

[0293] The lateral tilt state refers to a state in which the frontal orientation of the torso structure forms an angle with the horizontal projection of the first swing leg assembly. In this embodiment, before controlling the second swing leg assembly to rotate along the first rotation direction, the torso structure is also controlled to be in a lateral tilt state to avoid structural interference when the second swing leg assembly rotates.

[0294] In one embodiment, the torso structure is controlled to perform a lateral swing rotation until the lateral swing angle reaches a preset angle. Optionally, the preset angle is 30 degrees, which is the minimum avoidance angle. When the lateral swing angle is 30 degrees, during the subsequent rotation of the second swing leg assembly 20 (i.e., Figure 16 Part (C) to Figure 16 The change process of part (D) will not cause mechanical structural interference.

[0295] Optionally, the preset angle is 90 degrees, which is the preset maximum avoidance angle, ensuring that the second swing leg assembly 20 will not interfere with the torso structure 40 when rotating. (Refer to reference...) Figure 16 Part (C) Figure 16 Section (C) shows the mobile robot in a sideways position.

[0296] Step 1530: Control the second swing leg assembly to rotate along the first rotation direction until the second swing leg assembly contacts the horizontal reference plane;

[0297] The first rotation direction is the rotation direction of the second swing leg assembly when the mobile robot performs the standing up action. When the first and second swing leg assemblies are in an inclined and close state, the second swing leg assembly will be controlled to rotate along the first rotation direction until the second swing leg assembly contacts the horizontal reference plane.

[0298] Figure 16 Part (D) shows the state in which the second swing leg assembly 20 is in contact with the horizontal reference plane.

[0299] In one embodiment, with the torso structure in the second prone position, the second swing leg assembly is controlled to rotate along the first rotation direction until the second swing leg assembly contacts the horizontal reference plane. Since the previous step has already performed the supine operation, it is no longer necessary to additionally control the torso structure to be in the second prone position at this time.

[0300] In one embodiment, when the operating arm is in a first extended state, the second swing leg assembly is controlled to rotate along a first rotation direction until the second swing leg assembly contacts the horizontal reference plane; wherein, the first extended state refers to the state of extension along the direction of the first swing leg assembly.

[0301] It should be noted that the second swing leg assembly is controlled to rotate along the first rotation direction only when the torso structure is in the second bent-over state and the manipulator is in the first extended state. The purpose is to ensure the stability of the mobile robot during the rotation of the second swing leg assembly and to prevent the mobile robot from tipping over.

[0302] Optionally, when the second swing leg assembly is in contact with the horizontal reference plane, the mobile robot is controlled to perform a supine operation until the torso structure is in a straight state, and the angle between the torso structure and the first swing leg assembly and the second swing leg assembly are equal in the straight state.

[0303] Reference Figure 16 , Figure 16 Section (E) shows the torso structure 40 in a straight position.

[0304] Optionally, the mobile robot can also be controlled to perform a aligning operation, that is, to perform a side-swinging rotation operation until the frontal orientation of the torso structure is parallel to the projection direction of the first swing leg assembly. (Refer to reference...) Figure 16 , Figure 14 Part (F) shows a schematic diagram of the frontal orientation of the torso structure 40 parallel to the projection direction of the first swing leg assembly 10.

[0305] Step 1540: Control the mobile robot to perform the standing action.

[0306] The standing motion is the action of reducing the angle between the first swing leg group and the second swing leg group.

[0307] In summary, the above embodiments provide a standing method for a mobile robot. Similar to the dismounting method for a mobile robot, the mobile robot of this application only requires a smaller second hip joint torque and a smaller first hip joint torque when standing up. The motor providing the torque consumes less energy, and compared to related technologies, the standing method provided by this application is more energy-efficient.

[0308] In one embodiment, Figure 17 A flowchart illustrating a control method for a mobile robot provided in an exemplary embodiment of this application is shown. Steps 1720 and 1520 are the same, 1730 and 1530 are the same, and 1740 and 1540 are the same. Figure 15 The difference in the method shown is that step 1510 is replaced by step 1710.

[0309] Step 1710: With both the first and second swing leg groups supported by the support below, and the first and second swing leg groups tilted together, and the front or back of the torso structure in contact with the top surface of the first swing leg group, control the torso structure to perform a supine operation.

[0310] In this embodiment, in the initial folded state, both the first and second swing leg assemblies are supported by the lower support. At this time, the bottom surface of the first swing leg assembly is in contact with the top surface of the lower support, and the bottom surface of the second swing leg assembly is in contact with the top surface of the lower support. Optionally, the bottom surfaces of the first and second swing leg assemblies are both inclined planes, and the top surface of the lower support is also an inclined plane.

[0311] Optionally, the lower support structure, in addition to providing support, also serves at least one of the following functions: charging, system updating, waste transfer, and heat dissipation for the mobile robot. See the above for details. Figure 15 Introduction to the relevant content under step 1510.

[0312] It should be noted that, Figure 17 In the illustrated embodiments, it is also possible to combine with Figure 15 The relevant content in the method embodiments shown will not be repeated here due to space limitations.

[0313] In summary, the above embodiments provide a standing method for a mobile robot. Similar to the dismounting method for a mobile robot, the mobile robot of this application only requires a smaller second hip joint torque and a smaller first hip joint torque when standing up. The motor providing the torque consumes less energy, and compared to related technologies, the standing method provided by this application is more energy-efficient.

[0314] In one embodiment, Figure 18 A flowchart illustrating a control method for a mobile robot provided in an exemplary embodiment of this application is shown. The method is illustrated by way of example, with the method executed by a controller of the mobile robot, which may be located on or outside the mobile robot body. The method includes:

[0315] Step 1810: Control the first swing leg group and the second swing leg group to come together horizontally;

[0316] Please refer to the description in step 1310.

[0317] Step 1820: With the front or back of the torso structure in contact with the top surface of the first swing leg group, control the torso structure to perform a supine operation.

[0318] Please refer to the description in step 1320.

[0319] Step 1830: Control the torso structure to be in a lateral swing state;

[0320] Please refer to the description in step 1330.

[0321] Step 1840: Control the second swing leg group to rotate along the first rotation direction until the mobile robot is in a horizontally forked state. The horizontally forked state is the state in which the first swing leg group and the second swing leg group are horizontally forked.

[0322] Please refer to the description in step 1340.

[0323] Step 1850: Control the torso structure of the mobile robot to be in the first bent-over state, which means the state of bending over towards the first swing leg group;

[0324] Please refer to the description in step 1350.

[0325] Step 1860: By using a joint brake on the first hip joint, the mobile robot is controlled to perform a standing motion;

[0326] The standing motion is the action of reducing the angle between the first swing leg group and the second swing leg group.

[0327] In this embodiment, the mobile robot further includes a first hip joint and a second hip joint. The first hip joint controls the rotation of the first swing leg group, and the second hip joint controls the rotation of the second swing leg group. During the mobile robot's standing-up process, a joint brake is applied to the first hip joint (the hip joint controlling the rotation of the first swing leg group) at regular intervals. This eliminates the need for a motor to provide torque to the first hip joint. The function of the joint brake is to prevent the mobile robot from collapsing during the standing-up process, allowing the mobile robot to perform the standing-up action in a controlled manner.

[0328] In this embodiment, the mobile robot is controlled to perform a standing motion by being powered by a motor in the second hip joint and by performing a joint brake operation on the first hip joint.

[0329] In summary, the above embodiments provide a standing method for a mobile robot. Similar to the lowering method for a mobile robot, the mobile robot of this application only needs to provide a second hip joint torque when standing up, meaning it only consumes the energy required to provide the second hip joint torque, i.e., only energy A-. Compared to related technologies that consume 2A of energy, the standing method provided by this application is more energy-efficient.

[0330] Figure 19 An exemplary embodiment of this application illustrates a control device for a mobile robot. The mobile robot includes a first swing leg group, a second swing leg group, and a torso structure. At least one of the first and second swing leg groups includes multiple swing legs. The first and second swing leg groups are arranged side by side, and their rotation axes are located in the same vertical plane. The torso structure is directly or indirectly connected to the first and second swing leg groups. The device includes:

[0331] Control module 1901 is used to control the mobile robot to be in an upright position;

[0332] The control module 1901 is also used to control the torso structure of the mobile robot to be in a first bent-over state, which means that the torso structure is bent over towards the first swing leg group; and to control the first swing leg group to be in a mechanically limited state, which means that the first swing leg group cannot rotate along the first rotation direction due to the influence of the structure of the mobile robot.

[0333] The control module 1901 is also used to control the mobile robot to perform the downward fork action until the mobile robot is in the horizontal fork state, which is the horizontal fork state of the first swing leg group and the second swing leg group.

[0334] The control module 1901 is also used to control the second swing leg group to rotate along the second rotation direction until the second swing leg group and the first swing leg group are horizontally aligned. The second rotation direction is the rotation direction of the second swing leg group during the lowering process, and the first rotation direction and the second rotation direction are opposite directions.

[0335] In an optional embodiment, the mobile robot further includes a waist structure, a first end of which is connected to a first end of a first swing leg assembly and a first end of a second swing leg assembly; and a second end of which is connected to a torso structure.

[0336] The control module 1901 is also used to control the waist structure to rotate along the second rotation direction until the angle between the first end of the first swing leg assembly and the waist structure reaches the mechanical limit angle.

[0337] Among them, the mechanical limit angle refers to the minimum angle between the first swing leg assembly and the waist structure that can be achieved by rotating along the first rotation direction due to the influence of the mechanical structure of the mobile robot.

[0338] In an optional embodiment, the control module 1901 is further configured to control the waist structure to rotate along a second rotation direction by at least one hip joint of the first hip joint and the second hip joint while keeping the included angle between the first swing leg group and the second swing leg group unchanged.

[0339] The first hip joint is used to control the rotation of the first swing leg group, and the second hip joint is used to control the rotation of the second swing leg group.

[0340] In an optional embodiment, the control module 1901 is further configured to control the second swing leg group to perform a splitting motion via the second hip joint while keeping the first hip joint stationary, until the mobile robot is in a horizontal splitting state.

[0341] The first hip joint is used to control the rotation of the first swing leg group, and the second hip joint is used to control the rotation of the second swing leg group.

[0342] In an optional embodiment, the control module 1901 is also used to control the mobile robot to be in a standing position;

[0343] The control module 1901 is also used to control the torso structure of the mobile robot to be in the first prone position;

[0344] The control module 1901 is also used to control the mobile robot to perform a downward fork action by using a joint brake on the first hip joint until the mobile robot is in a horizontal fork state. The first hip joint is the hip joint used to control the rotation of the first swing leg group.

[0345] The control module 1901 is also used to control the second swing leg group to rotate along the second rotation direction until the second swing leg group and the first swing leg group are horizontally aligned.

[0346] In an optional embodiment, the control module 1901 is further configured to control the torso structure to be in a lateral swing state, wherein the lateral swing state refers to the angle between the frontal orientation of the torso structure and the horizontal projection of the first swing leg group.

[0347] In an optional embodiment, the control module 1901 is further configured to control the torso structure to perform a bending operation until the front or back of the torso structure is in contact with the top surface of the first swing leg assembly.

[0348] In summary, in this embodiment of the application, by controlling the torso structure to be in a first bent-over state, the center of gravity projection of the mobile robot is located within the projection range of the first swing leg group. At this time, if the mobile robot is directly controlled to perform a downward fork action, the motor providing the torque of the first hip joint will consume energy A+, and the motor providing the torque of the second hip joint will consume energy A-, with both consuming a total of 2A energy.

[0349] In this embodiment, the first swing leg assembly is further controlled to be in a mechanically limited state before performing the splits action. In this state, the mobile robot does not need to provide the first hip joint torque when performing the splits action because, due to the mechanical limitation, the first swing leg assembly will not rotate along the first rotation direction (the rotation direction in which the splits action occurs in related technologies) during the splits, meaning there is no need to provide the first hip joint torque to counteract this rotation. Therefore, only the second hip joint torque needs to be provided throughout the entire splits process, meaning only the energy required to provide the second hip joint torque (energy A-) is consumed. Thus, compared to the energy consumption of 2A in related technologies, the folding method provided in this application is more energy-efficient.

[0350] Figure 20An exemplary embodiment of this application illustrates a control device for a mobile robot. The mobile robot includes a first swing leg group and a second swing leg group. At least one of the first and second swing leg groups includes multiple swing legs. The first and second swing leg groups are arranged side by side, and their rotation axes are located in the same vertical plane. The torso structure is directly or indirectly connected to the first and second swing leg groups. The device includes:

[0351] Control module 2001 is used to control the mobile robot to be in an upright position;

[0352] The control module 2001 is also used to control the mobile robot to perform the downward fork action until the first swing leg assembly is supported by the support below;

[0353] The control module 2001 is also used to control the second swing leg group to rotate along the second rotation direction until the second swing leg group and the first swing leg group tilt and come together.

[0354] In an optional embodiment, the mobile robot further includes a torso structure. The control module 2001 is also configured to, when the torso structure is in a second prone position, control the second swing leg assembly to rotate along a second rotation direction until the second swing leg assembly and the first swing leg assembly tilt and converge.

[0355] The second bent-over state refers to the state of bending over towards the first swing leg group.

[0356] In an optional embodiment, the mobile robot also has a manipulator arm. The control module 2001 is further configured to control the second swing leg assembly to rotate along a second rotation direction when the manipulator arm is in a first extended state, until the second swing leg assembly and the first swing leg assembly tilt and converge.

[0357] The first extended state refers to the state of extension along the direction of the first swing leg group.

[0358] In an optional embodiment, the lower support is used to provide the mobile robot with at least one of the following functions: charging, system update, waste transfer, and heat dissipation.

[0359] In an optional embodiment, the control module 2001 is further configured to control the torso structure to be in a lateral swing state, wherein the lateral swing state refers to the angle between the frontal orientation of the torso structure and the horizontal projection of the first swing leg group.

[0360] In an optional embodiment, the control module 2001 is further configured to control the torso structure to perform a bending operation until the front or back of the torso structure is in contact with the top surface of the first swing leg assembly.

[0361] In summary, the relevant technologies require controlling the mobile robot to perform a fork-down motion until the mobile robot is in a horizontal fork state before controlling the second swing leg assembly to rotate along the second rotation direction. The horizontal fork state requires a large hip torque, which in turn requires the motor providing the hip torque to consume a lot of energy.

[0362] In this embodiment, since the lower support is used, it is not necessary to control the mobile robot to lower to a horizontal fork state. After reaching a certain intermediate fork state, the second swing leg group can be controlled to rotate along the second rotation direction. Compared with the horizontal fork state, the hip torque required for the intermediate fork state is smaller, and the motor that provides the hip torque consumes less energy. That is, this application provides a more energy-efficient robot lowering scheme, and further, this application provides a more energy-efficient robot folding scheme.

[0363] Figure 21 A structural block diagram of a control device for a mobile robot provided in an exemplary embodiment of this application is shown. The mobile robot to which this control device is applied includes a first swing leg group, a second swing leg group, and a torso structure. At least one of the first and second swing leg groups includes multiple swing legs. The first and second swing leg groups are arranged side-by-side, and their rotation axes are located in the same vertical plane. The torso structure is directly or indirectly connected to the first and second swing leg groups. The device includes:

[0364] Control module 2101 is used to control the first swing leg group and the second swing leg group to move horizontally together;

[0365] The control module 2101 is also used to control the second swing leg group to rotate along the first rotation direction until the mobile robot is in a horizontally forked state, which is the state in which the first swing leg group and the second swing leg group are horizontally forked.

[0366] The control module 2101 is also used to control the torso structure of the mobile robot to be in a first bent-over state, which means that the torso structure is bent over towards the first swing leg group; and to control the first swing leg group to be in a mechanically limited state, which means that the first swing leg group cannot rotate along the first rotation direction due to the influence of the structure of the mobile robot.

[0367] The control module 2101 is also used to control the mobile robot to perform the standing up action.

[0368] In an optional embodiment, the mobile robot further includes a waist structure, a first end of which is connected to a first end of a first swing leg assembly and a first end of a second swing leg assembly; and a second end of which is connected to a torso structure.

[0369] The mechanical limit state refers to the state in which the angle between the first end of the first swing leg assembly and the waist structure reaches the mechanical limit angle. The mechanical limit angle refers to the smallest angle between the first swing leg assembly and the waist structure that can be achieved by rotating along the first rotation direction under the influence of the mechanical structure of the mobile robot.

[0370] In an optional embodiment, the control module 2101 is further configured to control the second swing leg group to perform a standing motion via the second hip joint while keeping the first hip joint stationary.

[0371] The first hip joint is used to control the rotation of the first swing leg group, and the second hip joint is used to control the rotation of the second swing leg group.

[0372] In an optional embodiment, the control module 2101 is further configured to control the first swing leg group and the second swing leg group to come together horizontally;

[0373] The control module 2101 is also used to control the second swing leg group to rotate along the first rotation direction until the mobile robot is in a horizontally forked state, which is the state in which the first swing leg group and the second swing leg group are horizontally forked.

[0374] The control module 2101 is also used to control the mobile robot to perform a standing action by using a joint brake on the first hip joint, which is the hip joint used to control the rotation of the first swing leg group.

[0375] In an optional embodiment, the control module 2101 is further configured to control the torso structure to be in a lateral swing state, wherein the lateral swing state refers to the angle between the frontal orientation of the torso structure and the horizontal projection of the first swing leg group.

[0376] In an optional embodiment, the control module 2101 is further configured to control the torso structure to perform a supine operation when the front or back of the torso structure is in contact with the top surface of the first swing leg assembly.

[0377] In summary, the above embodiments provide a standing method for a mobile robot. Similar to the lowering method for a mobile robot, the mobile robot of this application only needs to provide a second hip joint torque when standing up, meaning it only consumes the energy required to provide the second hip joint torque, i.e., only energy A-. Compared to related technologies that consume 2A of energy, the standing method provided by this application is more energy-efficient.

[0378] Figure 22A structural block diagram of a control device for a mobile robot according to an exemplary embodiment of this application is shown. The mobile robot to which this control device is applied includes a first swing leg group and a second swing leg group. At least one of the first and second swing leg groups includes multiple swing legs. The first and second swing leg groups are arranged side-by-side, and the rotation axes of the first and second swing leg groups are located in the same vertical plane. The device includes:

[0379] Control module 2201 is used to control the second swing leg group to rotate in a first rotation direction when the first swing leg group is supported by the lower support and the first swing leg group and the second swing leg group are tilted together, until the second swing leg group contacts the horizontal reference plane and the top surface of the lower support is in contact with the bottom surface of the first swing leg group.

[0380] The control module 2201 is also used to control the mobile robot to perform the standing up action.

[0381] In an optional embodiment, the mobile robot further includes a torso structure. The control module 2201 is also configured to, when the torso structure is in a second prone position, control the second swing leg assembly to rotate along a first rotation direction until the second swing leg assembly contacts a horizontal reference plane;

[0382] The second bent-over state refers to the state of bending over towards the first swing leg group.

[0383] In an optional embodiment, the mobile robot also has a manipulator arm; the control module 2201 is further configured to control the second swing leg assembly to rotate along a first rotation direction when the manipulator arm is in a first extended state, until the second swing leg assembly contacts the horizontal reference plane.

[0384] The first extended state refers to the state of extension along the direction of the first swing leg group.

[0385] In an optional embodiment, the lower support is used to provide the mobile robot with at least one of the following functions: charging, system update, waste transfer, and heat dissipation.

[0386] In an optional embodiment, the control module 2201 is further configured to control the torso structure to be in a lateral swing state, wherein the lateral swing state refers to the angle between the frontal orientation of the torso structure and the horizontal projection of the first swing leg group.

[0387] In an optional embodiment, the control module 2201 is further configured to control the torso structure to perform a supine operation when the front or back of the torso structure is in contact with the top surface of the first swing leg assembly.

[0388] In summary, the above embodiments provide a standing method for a mobile robot. Similar to the dismounting method for a mobile robot, the mobile robot of this application only requires a smaller second hip joint torque and a smaller first hip joint torque when standing up. The motor providing the torque consumes less energy, and compared to related technologies, the standing method provided by this application is more energy-efficient.

[0389] Figure 23 A structural block diagram of a mobile robot provided in an exemplary embodiment of this application is shown. This mobile robot is applicable to the mobile robot control method described above. The mobile robot includes a controller 2301 and a memory 2302.

[0390] Controller 2301 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Controller 2301 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Controller 2301 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 2301 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the screen. In some embodiments, controller 2301 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0391] The memory 2302 may include one or more computer-readable storage media, which may be non-transitory. The memory 2302 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the controller 2302 is used to store at least one instruction, which is executed by the controller 2301 to implement the mobile robot control method provided in the method embodiments of this application.

[0392] In some embodiments, the mobile robot may optionally include at least one motor 2303 and at least one sensor 2304. The at least one motor 2303 is used to receive control commands sent by the controller 2301 and drive the mobile robot to perform actions. The at least one motor 2303 drives various joints of the mobile robot to perform actions such as rotation, extension, and fixation. The at least one sensor 2304 is used to acquire the state information of the mobile robot, including the internal state of the mobile robot and / or the external state of the mobile robot (environmental information). The at least one sensor 2304 sends the state information of the mobile robot to the controller 2301 to control the mobile robot to perform relevant actions.

[0393] Those skilled in the art will understand that Figure 23 The structure shown does not constitute a limitation on the mobile robot and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0394] This application also provides a computer device, which includes a memory and a processor; the memory stores at least one piece of program code, which is loaded and executed by the processor to implement the mobile robot control method described above.

[0395] This application also provides a computer-readable storage medium storing a computer program for execution by a processor to implement the mobile robot control method described above.

[0396] This application also provides a chip, which includes programmable logic circuits and / or program instructions, and when the chip is running, it is used to implement the control method of the mobile robot as described above.

[0397] This application also provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. The processor reads and executes the computer instructions from the computer-readable storage medium to implement the mobile robot control method described above.

[0398] In this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0399] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0400] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method for a mobile robot, characterized in that, The mobile robot includes a first swing leg group, a second swing leg group, and a torso structure. At least one of the first and second swing leg groups includes multiple swing legs. The first and second swing leg groups are arranged side by side, and their rotation axes are located in the same vertical plane. The torso structure is directly or indirectly connected to the first and second swing leg groups. The method includes: Control the mobile robot to be in a standing position; The torso structure of the mobile robot is controlled to be in a first prone position, which means that the torso structure is prone towards the first swing leg group; and the first swing leg group is controlled to be in a mechanically limited position, which means that the first swing leg group cannot rotate along the first rotation direction due to the influence of the structure of the mobile robot. Control the mobile robot to perform a fork-down action until the mobile robot is in a horizontal fork state, the horizontal fork state being the horizontal fork state of the first swing leg group and the second swing leg group; Control the second swing leg group to rotate along the second rotation direction until the second swing leg group and the first swing leg group are horizontally aligned. The second rotation direction is the rotation direction of the second swing leg group during the splits, and the first rotation direction and the second rotation direction are opposite.

2. The method according to claim 1, characterized in that, The mobile robot also includes a waist structure, the first end of which is connected to the first end of the first swing leg group and the first end of the second swing leg group; the second end of the waist structure is connected to the torso structure. The control of the first swing leg assembly to be in a mechanically limited state includes: Control the waist structure to rotate along the second rotation direction until the angle between the first end of the first swing leg assembly and the waist structure reaches the mechanical limit angle; The mechanical limiting angle refers to the minimum angle between the first swing leg assembly and the waist structure that can be achieved by rotating along the first rotation direction under the influence of the mechanical structure of the mobile robot.

3. The method according to claim 2, characterized in that, The control of the waist structure to rotate along the second rotation direction includes: While keeping the angle between the first swing leg group and the second swing leg group constant, the waist structure is controlled to rotate along the second rotation direction by at least one of the first hip joint and the second hip joint. Wherein, the first hip joint is a hip joint used to control the rotation of the first swing leg group, and the second hip joint is a hip joint used to control the rotation of the second swing leg group.

4. The method according to any one of claims 1 to 3, characterized in that, Controlling the mobile robot to perform a fork-down motion until the mobile robot is in a horizontal fork-open state includes: While keeping the first hip joint stationary, the second swing leg group is controlled to perform the splitting motion through the second hip joint until the mobile robot is in the horizontal splitting state; Wherein, the first hip joint is a hip joint used to control the rotation of the first swing leg group, and the second hip joint is a hip joint used to control the rotation of the second swing leg group.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: Control the mobile robot to be in the standing state; The torso structure of the mobile robot is controlled to be in the first prone position; By using a joint brake on the first hip joint, the mobile robot is controlled to perform the downward split action until the mobile robot is in the horizontal split state. The first hip joint is the hip joint used to control the rotation of the first swing leg group. Control the second swing leg group to rotate along the second rotation direction until the second swing leg group and the first swing leg group are horizontally aligned.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: Control the torso structure to perform a bending operation until the front or back of the torso structure is in contact with the top surface of the first swing leg assembly.

7. A control method for a mobile robot, characterized in that, The mobile robot includes a first swing leg group and a second swing leg group, at least one of the first and second swing leg groups including multiple swing legs; the first and second swing leg groups are arranged side by side, and the rotation axes of the first and second swing leg groups are located in the same vertical plane; the method includes: Control the mobile robot to be in a standing position; Control the mobile robot to perform a downward fork motion until the first swing leg assembly is supported by the support below; Control the second swing leg group to rotate along the second rotation direction until the second swing leg group and the first swing leg group tilt and come together. The second rotation direction is the rotation direction of the second swing leg group during the downward movement.

8. The method according to claim 7, characterized in that, The mobile robot further includes a torso structure; controlling the second swing leg assembly to rotate along a second rotation direction until the second swing leg assembly and the first swing leg assembly tilt and come together includes: With the torso structure in the second prone position, the second swing leg group is controlled to rotate along the second rotation direction until the second swing leg group and the first swing leg group tilt and come together. The second bent-over state refers to the state of bending over towards the first swing leg group.

9. The method according to claim 7, characterized in that, The mobile robot also has a manipulator arm; controlling the second swing leg assembly to rotate along the second rotation direction until the second swing leg assembly and the first swing leg assembly tilt and come together includes: When the operating arm is in the first extended state, the second swing leg group is controlled to rotate along the second rotation direction until the second swing leg group and the first swing leg group tilt and come together. The first extended state refers to the state of being extended along the direction of the first swing leg group.

10. The method according to any one of claims 7 to 9, characterized in that, The lower support is used to provide the mobile robot with at least one of the following functions: charging, system updating, waste transfer, and heat dissipation.

11. A control method for a mobile robot, characterized in that, The mobile robot includes a first swing leg group, a second swing leg group, and a torso structure. At least one of the first and second swing leg groups includes multiple swing legs. The first and second swing leg groups are arranged side by side, and their rotation axes are located in the same vertical plane. The torso structure is directly or indirectly connected to the first and second swing leg groups. The method includes: Control the first swing leg group and the second swing leg group to come together horizontally; Control the second swing leg group to rotate along the first rotation direction until the mobile robot is in a horizontally forked state, the horizontally forked state being the state in which the first swing leg group and the second swing leg group are horizontally forked. The torso structure of the mobile robot is controlled to be in a first prone position, which means that the torso structure is prone towards the first swing leg group; and the first swing leg group is controlled to be in a mechanically limited position, which means that the first swing leg group cannot rotate along the first rotation direction due to the influence of the structure of the mobile robot. Control the mobile robot to perform the action of getting up.

12. The method according to claim 11, characterized in that, The mobile robot also includes a waist structure, the first end of which is connected to the first end of the first swing leg group and the first end of the second swing leg group; the second end of the waist structure is connected to the torso structure. The mechanical limiting state refers to the state in which the angle between the first end of the first swing leg assembly and the waist structure reaches the mechanical limiting angle. The mechanical limiting angle refers to the smallest angle between the first swing leg assembly and the waist structure that can be achieved by rotating along the first rotation direction under the influence of the mechanical structure of the mobile robot.

13. The method according to claim 11 or 12, characterized in that, The control of the mobile robot to perform the standing action includes: While keeping the first hip joint stationary, the second swing leg group is controlled to perform the standing up movement via the second hip joint; Wherein, the first hip joint is a hip joint used to control the rotation of the first swing leg group, and the second hip joint is a hip joint used to control the rotation of the second swing leg group.

14. The method according to any one of claims 11 to 13, characterized in that, The method further includes: Control the first swing leg group and the second swing leg group to come together horizontally; Control the second swing leg group to rotate along the first rotation direction until the mobile robot is in a horizontally forked state, the horizontally forked state being the state in which the first swing leg group and the second swing leg group are horizontally forked. The mobile robot is controlled to perform the standing action by using a joint brake on the first hip joint, which is the hip joint used to control the rotation of the first swing leg group.

15. A control method for a mobile robot, characterized in that, The mobile robot includes a first swing leg group and a second swing leg group, at least one of the first and second swing leg groups including multiple swing legs; the first and second swing leg groups are arranged side by side, and the rotation axes of the first and second swing leg groups are located in the same vertical plane; the method includes: When the first swing leg assembly is supported by the support below and the first swing leg assembly and the second swing leg assembly are tilted together, the second swing leg assembly is controlled to rotate along the first rotation direction until the second swing leg assembly contacts the horizontal reference plane. Control the mobile robot to perform the action of getting up.

16. The method according to claim 15, characterized in that, The mobile robot further includes a torso structure; controlling the second swing leg assembly to rotate along a first rotation direction until the second swing leg assembly contacts a horizontal reference plane includes: With the torso structure in the second prone position, the second swing leg assembly is controlled to rotate along the first rotation direction until the second swing leg assembly contacts the horizontal reference plane; The second bent-over state refers to the state of bending over towards the first swing leg group.

17. The method according to claim 15, characterized in that, The mobile robot also has a manipulator arm; controlling the second swing leg assembly to rotate along a first rotation direction until the second swing leg assembly contacts a horizontal reference plane includes: When the operating arm is in the first extended state, the second swing leg assembly is controlled to rotate along the first rotation direction until the second swing leg assembly contacts the horizontal reference plane; The first extended state refers to the state of being extended along the direction of the first swing leg group.

18. The method according to any one of claims 15 to 17, characterized in that, The lower support is used to provide the mobile robot with at least one of the following functions: charging, system updating, waste transfer, and heat dissipation.

19. A control device for a mobile robot, characterized in that, The mobile robot includes a first swing leg group, a second swing leg group, and a torso structure. At least one of the first and second swing leg groups includes multiple swing legs. The first and second swing leg groups are arranged side by side, and their rotation axes are located in the same vertical plane. The torso structure is directly or indirectly connected to the first and second swing leg groups. The device includes: The control module is used to control the mobile robot to be in a standing position; The control module is also used to control the torso structure of the mobile robot to be in a first prone position, the first prone position being a state in which the torso structure is prone toward the first swing leg group; and to control the first swing leg group to be in a mechanically limited position, the mechanically limited position being a state in which the first swing leg group cannot rotate along the first rotation direction due to the influence of the structure of the mobile robot. The control module is also used to control the mobile robot to perform a fork-down action until the mobile robot is in a horizontal fork-out state, wherein the horizontal fork-out state is the horizontal fork-out state of the first swing leg group and the second swing leg group. The control module is also used to control the second swing leg group to rotate along the second rotation direction until the second swing leg group and the first swing leg group are horizontally aligned. The second rotation direction is the rotation direction of the second swing leg group during the lower leg movement, and the first rotation direction and the second rotation direction are opposite.

20. A control device for a mobile robot, characterized in that, The mobile robot includes a first swing leg group and a second swing leg group, at least one of the first and second swing leg groups including multiple swing legs; the first and second swing leg groups are arranged side by side, and the rotation axes of the first and second swing leg groups are located in the same vertical plane; the device includes: The control module is used to control the mobile robot to be in a standing position; The control module is also used to control the mobile robot to perform a downward fork action until the first swing leg assembly is supported by the support below; The control module is also used to control the second swing leg group to rotate along the second rotation direction until the second swing leg group and the first swing leg group tilt and come together, the second rotation direction being the rotation direction of the second swing leg group during the downward movement.

21. A control device for a mobile robot, characterized in that, The mobile robot includes a first swing leg group, a second swing leg group, and a torso structure. At least one of the first and second swing leg groups includes multiple swing legs. The first and second swing leg groups are arranged side by side, and their rotation axes are located in the same vertical plane. The torso structure is directly or indirectly connected to the first and second swing leg groups. The device includes: The control module is used to control the first swing leg group and the second swing leg group to come together horizontally; The control module is also used to control the second swing leg group to rotate along the first rotation direction until the mobile robot is in a horizontally forked state, wherein the horizontally forked state is the state in which the first swing leg group and the second swing leg group are horizontally forked. The control module is also used to control the torso structure of the mobile robot to be in a first bent-over state, the first bent-over state being a state in which the torso structure is bent over towards the first swing leg group; and to control the first swing leg group to be in a mechanically limited state, the mechanically limited state being a state in which the first swing leg group cannot rotate along the first rotation direction due to the influence of the structure of the mobile robot. The control module is also used to control the mobile robot to perform a standing action.

22. A control device for a mobile robot, characterized in that, The mobile robot includes a first swing leg group and a second swing leg group, at least one of the first and second swing leg groups including multiple swing legs; the first and second swing leg groups are arranged side by side, and the rotation axes of the first and second swing leg groups are located in the same vertical plane; the device includes: The control module is used to control the second swing leg group to rotate along the first rotation direction until the second swing leg group contacts the horizontal reference plane when the first swing leg group is supported by the support below and the first swing leg group and the second swing leg group are tilted together. The control module is also used to control the mobile robot to perform a standing action.

23. A mobile robot, characterized in that, The mobile robot includes a memory and a controller; The memory stores at least one piece of program code, which is loaded and executed by the controller to implement the control method for the mobile robot as described in any one of claims 1 to 18.

24. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which is executed by a processor to implement the control method for the mobile robot as described in any one of claims 1 to 18.

25. A chip, characterized in that, The chip is used to implement the control method for the mobile robot as described in any one of claims 1 to 18.

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