Foot-tracked building robot control method and device, robot and storage medium

Abstract

The invention relates to the technical field of foot type building robots, and discloses a foot type building robot control method and device, a robot and a storage medium. Controlling the foot-tracked building robot to run according to the first planned path, detecting whether an unknown obstacle exists on the first planned path in real time in the running process, and if the unknown obstacle exists on the first planned path, obtaining the height and width of the unknown obstacle; and based on the size threshold value, the height, the width and the safety threshold value of the obstacle capable of being crossed by the foot-tracked building robot, the foot-tracked building robot is controlled to run. According to the combined type movable building robot, the building robot can autonomously complete operation tasks in a complex environment, the combined type movable building robot combining a crawler type movement mode and a six-foot type movement mode is adopted, and the working efficiency and the operation capacity of the building robot in a construction site scene can be improved through foot-crawler state switching.

Description

Technical Field

[0001] This invention relates to the field of footed construction robot technology, and in particular to a control method, device, robot, and storage medium for a footed construction robot. Background Technology

[0002] Among mobile robots, tracked mobile robots have strong stability, but their tracks are prone to wear when turning or overcoming obstacles, and the track mechanism is relatively bulky due to the large number of drive wheels. Multi-legged mobile robots have strong obstacle-crossing capabilities and are highly adaptable to terrain, and can traverse various complex and changing geographical environments, but their movement speed and efficiency are relatively low. Footed mobile robots overcome the shortcomings of both tracked and multi-legged robots, enhancing their obstacle-crossing capabilities in complex and changing terrains while improving their movement efficiency in relatively flat terrains.

[0003] However, regardless of the type of mobile robot, when traveling along a predetermined route, it often encounters unknown obstacles along the route, making it difficult to complete the planned journey. Summary of the Invention

[0004] Based on this, it is necessary to address the technical problem that existing mobile robots often fail to complete their predetermined journeys due to unknown obstacles along the route. Therefore, a control method, device, robot, and storage medium for a footed construction robot are proposed.

[0005] Firstly, a control method for a legged construction robot is provided, the method comprising:

[0006] Obtain a first planned route, wherein the first planned route is obtained by path planning based on the first location data of the target location, the second location data of the footed construction robot, and the third location data of the known obstacles;

[0007] The legged construction robot is controlled to travel along the first planned path, and during the travel, the presence of unknown obstacles on the first planned path is detected in real time. If there are unknown obstacles on the first planned path, the height and width of the unknown obstacles are obtained.

[0008] The footed construction robot is controlled to move based on the size threshold of the obstacle it can cross, the height, the width, and the safety threshold between the tracks of the footed construction robot and the obstacle it can cross. The size threshold of the obstacle it can cross is set based on the range of foot movement space, which is determined based on the kinematic equations of the footed construction robot, and the kinematic equations are established using the DH parameter method.

[0009] Secondly, a control device for a footed construction robot is provided, the device comprising:

[0010] The acquisition module is used to acquire a first planned route, wherein the first planned route is obtained by path planning based on the first location data of the target location, the second location data of the footed construction robot, and the third location data of the known obstacles.

[0011] The first control module is used to control the footed construction robot to travel along the first planned path and to detect in real time whether there are unknown obstacles on the first planned path. If there are unknown obstacles on the first planned path, the height and width of the unknown obstacles are obtained.

[0012] The second control module is used to control the footed construction robot to move based on the size threshold of the obstacle that the footed construction robot can cross, the height, the width, and the safety threshold between the tracks of the footed construction robot and the obstacle that can cross. The size threshold of the obstacle that can cross is set based on the range of foot movement space, which is determined based on the kinematic equation of the footed construction robot. The kinematic equation is established by the DH parameter method.

[0013] Thirdly, a legged construction robot is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described legged construction robot control method.

[0014] Fourthly, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described control method for a footed construction robot.

[0015] The footed construction robot control method proposed in this invention obtains a first planned route, which is obtained by path planning based on the first position data of the target location, the second position data of the footed construction robot, and the third position data of known obstacles. The footed construction robot is then controlled to travel along the first planned route, and during travel, the presence of unknown obstacles on the first planned route is detected in real time. If an unknown obstacle exists on the first planned route, its height and width are obtained. Finally, based on the size threshold of the obstacle that the footed construction robot can traverse, the height, the width, and the safety threshold between the footed construction robot's tracks and the traverseable obstacle, the footed construction robot is controlled to travel. The size threshold of the traverseable obstacle is set based on the foot movement space range, which is determined based on the kinematic equations of the footed construction robot, established using the DH parameter method. This composite mobile construction robot, which combines tracked and hexapod locomotion, enables construction robots to autonomously complete tasks in complex environments. By switching between tracked and hexapod locomotion modes, it can improve the work efficiency and operational capabilities of construction robots in construction site scenarios. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] in:

[0018] Figure 1 A flowchart of a control method for a legged construction robot in one embodiment;

[0019] Figure 2 The foot of a legged construction robot is shown in one embodiment of the control method for a legged construction robot.

[0020] Figure 3 This is a scatter plot of a control method for a legged construction robot in one embodiment;

[0021] Figure 4 This is a structural block diagram of a control device for a legged construction robot in one embodiment.

[0022] Figure 5 This is a structural block diagram of a legged construction robot in one embodiment. Detailed Implementation

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0024] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] This application provides a control method for a legged construction robot, a control device for a legged construction robot, a legged construction robot, and a storage medium.

[0027] The control device for the footed construction robot can be integrated into the footed construction robot, but is not limited to this. The footed construction robot can connect directly or indirectly to a server via wired or wireless communication. The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. This application does not impose any restrictions on these aspects.

[0028] For example, the control device for the legged construction robot is integrated into the legged construction robot, and users can send control signals to the legged construction robot through a user terminal to interact with the legged construction robot. In controlling the legged construction robot, the legged construction robot responds to control signals to obtain a first planned route. This first planned route is obtained by planning the path based on first location data of the target location, second location data of the legged construction robot, and third location data of known obstacles. The legged construction robot is then controlled to travel along the first planned route, and during travel, the presence of unknown obstacles on the first planned route is detected in real time. If an unknown obstacle exists on the first planned route, its height and width are obtained. Finally, the legged construction robot controls its movement based on the size threshold of the obstacle it can traverse, the height, the width, and the safety threshold between the legged construction robot's tracks and the traverseable obstacle. The size threshold of the traverseable obstacle is set based on the foot movement space range, which is determined based on the kinematic equations of the legged construction robot, established using the DH parameter method.

[0029] The footed construction robot control method provided in this application enables the construction robot to autonomously complete its tasks in complex environments. It adopts a composite mobile construction robot that combines tracked and hexapod locomotion. By switching between footed and hexapod states, it can improve the work efficiency and operational capabilities of the construction robot in construction site scenarios.

[0030] Please see Figure 1 As shown, Figure 1 A flowchart illustrating a control method for a footed construction robot according to an embodiment of the present invention includes the following steps:

[0031] Step S101: Obtain the first planned route, wherein the first planned route is obtained by path planning based on the first location data of the target location, the second location data of the footed construction robot, and the third location data of the known obstacles;

[0032] The first location data, the second location data, and the third location data can all be latitude and longitude data.

[0033] In this embodiment, by using the first location data of the target location, the second location data of the footed construction robot, and the third location data of the known obstacles, a first planned route can be planned for the footed construction robot to bypass the known obstacles and with a shorter distance.

[0034] Step S102: Control the legged construction robot to travel along the first planned path, and detect in real time whether there are unknown obstacles on the first planned path during the travel. If there are unknown obstacles on the first planned path, obtain the height and width of the unknown obstacles.

[0035] In this embodiment, the legged construction robot is controlled to travel along the first planned path. During the movement of the legged construction robot, its sensors can be used to detect whether there are obstacles along the first planned path. If there are obstacles, the height and width of the unknown obstacles are obtained. As an example, a convolutional neural network can be used to predict the height and width of the unknown obstacles.

[0036] Step S103: Based on the size threshold of the obstacle that the footed construction robot can cross, the height, the width, and the safety threshold between the tracks of the footed construction robot and the obstacle that can cross, control the footed construction robot to move. The size threshold of the obstacle that can cross is set based on the range of foot movement space. The range of foot movement space is determined based on the kinematic equation of the footed construction robot. The kinematic equation is established by the DH parameter method.

[0037] The basic principle of the DH parameter method is to construct a spatial coordinate system at each joint of a multi-link mechanism, and then calculate the kinematic equations of the robot by transforming the coordinate systems between them. The DH parameter method mainly includes four important parameters, namely a... i α i d i and θ i Where a i Defined as the effective length of the link; α i Defined as the torsion angle of the link; d i Defined as the offset of the link; θ i Defined as joint rotation angle. For example... Figure 2 As shown, a single leg of the footed construction robot consists of a base segment, a femur, and a tibia, with a total of 3 degrees of freedom. There is a rotary joint between the base segment and the trunk, between the base segment and the femur, and between the femur and the tibia, and each rotary joint is driven by a hydraulic cylinder.

[0038] In one embodiment, the joint angles θ1, θ2, and θ3 of a single leg of a footed construction robot can be obtained using the DH parameter method. Due to the heavy load and large size of the construction robot, it is driven by hydraulic cylinders. The joint angles are limited based on the robot's mechanical structure and the stroke range of the hydraulic cylinders. The rotation ranges of each joint in a single leg are as follows:

[0039] θ1∈[0°, 60°]

[0040] θ2∈[-2.22°, 63.04°]

[0041] θ3∈[-136.03°, -62.32°]

[0042] As an example, based on the given range of joint angles of a single leg and the DH parameter table of a legged construction robot, a DH link coordinate system and kinematic equations are established using MATLAB. The single-leg motion space of the legged construction robot is then solved, yielding two-dimensional and three-dimensional scatter plots of the single-leg motion space in the spatial coordinate system. Figure 3 As shown in the two-dimensional and three-dimensional scatter plots, the maximum distance from the foot tip to the root joint (Z-axis) is 624.10 mm. The track height of the footed construction robot is 429.10 mm. Therefore, to prevent damage caused by collisions between the track and obstacles when the robot traverses on six legs, the height of the "crossable" obstacle should be less than 195 mm. This height is the size threshold. To ensure a safe distance between the track and the "crossable" obstacle, the safety threshold is set to 10% of the maximum crossable height of the footed construction robot's six legs.

[0043] Among them, the size threshold refers to the height of the obstacle that the footed construction robot can cross, and the safety threshold can refer to the safe distance between the tracks of the footed construction robot and the obstacle that can be crossed. It can be understood that when the distance between the tracks of the footed construction robot and the obstacle that can be crossed is greater than or equal to the safe distance, it is convenient for the footed construction robot to cross the obstacle.

[0044] In this embodiment, the size threshold of the obstacle that the footed construction robot can cross, the height, and the width can be used to determine whether an unknown obstacle is a crossable obstacle. When the unknown obstacle is a crossable obstacle, the footed construction robot is controlled to cross the unknown obstacle based on the safety threshold between the tracks of the footed construction robot and the crossable obstacle, so that the footed construction robot can continue to travel to the target location according to the first planned route.

[0045] In one embodiment, the step of controlling the movement of the footed construction robot based on the size threshold of the obstacle that the footed construction robot can cross, the height, the width, and the safety threshold between the tracks of the footed construction robot and the obstacle that can be crossed includes:

[0046] Step S201: Based on the size threshold, the height, and the width, determine whether the unknown obstacle is a passable obstacle;

[0047] In one embodiment, an unknown obstacle can be considered a traversable obstacle when the width is greater than a threshold and the size threshold is greater than the height.

[0048] Step S202: If the unknown obstacle is an obstacle that can be crossed, then control the footed construction robot to switch from tracked driving mode to six-legged driving mode;

[0049] Step S203: Based on the safety threshold, control the footed construction robot to cross the unknown obstacle;

[0050] Step S204: After the footed construction robot has overcome the obstacle, control the footed construction robot to switch from six-legged driving state to tracked driving state, and return to execute the step of controlling the footed construction robot to drive according to the first planned path, and detect in real time whether there are unknown obstacles on the first planned path during the driving process. If there are unknown obstacles on the first planned path, obtain the height and width of the unknown obstacles.

[0051] Specifically, since the obstacle is unknown, the relationship between the robot's motion state and time is difficult to represent using mathematical expressions. Therefore, it is discretized and a finite state machine is established to describe and realize the motion state switching. The state model of the footed construction robot is as follows: (1) Finite state set Q, T represents the tracked state of the footed construction robot, H represents the hexapod state of the footed construction robot, C1 represents the state of track switching to hexapod, C2 represents the state of hexapod switching to track. The finite state set Q is represented as follows: Q:{T,H,C1,C2} (2) Input event set S, the input event set S is represented as follows: S:{E0,E1,E2,E3,E4}, event E0 refers to the footed construction robot moving in tracked state T; event E1 refers to the situation where the sensor detects an unknown obstacle in front that satisfies the footed state. When the "crossing" requirement of the tracked construction robot is met, the robot will cross the obstacle in a six-legged motion mode. At this time, the robot will switch from the tracked state T to the tracked switching six-legged state C1. Event E2 means that after the switching state C1 is completed, the robot's current state is the six-legged state H, and it will cross the obstacle in a six-legged motion mode. Event E3 means that after the tracked construction robot has crossed the obstacle, the robot needs to switch back to the tracked motion mode to continue to follow the path quickly. At this time, the robot will switch from the six-legged state H to the six-legged switching tracked state C2. Event E4 means that after the switching state C2 is completed, the robot's current state is the tracked state T. If the sensor detects that the unknown obstacle in front does not meet the "crossing" requirement of the tracked construction robot, the robot's current state will remain unchanged. Therefore, the input events are stop switching, start switching, and switching completed. (3) After the state transition function F is triggered under certain conditions, the robot will transition from the current state to the next state. The state transition function F is expressed as: F: Q×S→Q (4) Initial state q0 The initial state of the tracked construction robot is to use the track as the motion mode. Therefore, the tracked state T is the initial state q0. (5) Output Set Z: The output set Z represents the corresponding motion state output by the input events of the legged construction robot. Based on the above state model, the motion state of the legged construction robot during its activity cycle is discretized, and the legged state is switched by the input events, thereby describing the motion state of the robot.

[0052] In one embodiment, the step of controlling the movement of the footed construction robot based on the size threshold of the obstacle that the footed construction robot can cross, the height, the width, and the safety threshold between the tracks of the footed construction robot and the obstacle that can be crossed further includes:

[0053] Step S301: If the unknown obstacle is an insurmountable obstacle, then obtain the fourth position data of the footed construction robot and the fifth position data of the unknown obstacle;

[0054] Step S302: Based on the fourth location data, the fifth location data, and the first location data, plan an obstacle avoidance route to obtain a second planned route;

[0055] As an example, the A* algorithm-genetic algorithm is used to plan an obstacle avoidance route based on the fourth position data, the fifth position data, and the first position data, to obtain a second planned route.

[0056] Step S303: Use the second planned route as the first planned route, and return to execute the control of the footed construction robot to drive according to the first planned path, and detect in real time whether there are unknown obstacles on the first planned path during the driving process. If there are unknown obstacles on the first planned path, then obtain the height and width of the unknown obstacles.

[0057] Please see Figure 4 As shown, in one embodiment, a control device for a footed construction robot is provided, the device comprising:

[0058] The acquisition module 10 is used to acquire a first planned route, wherein the first planned route is obtained by path planning based on the first location data of the target location, the second location data of the footed construction robot, and the third location data of the known obstacles.

[0059] The first control module 20 is used to control the footed construction robot to travel along the first planned path and to detect in real time whether there are unknown obstacles on the first planned path. If there are unknown obstacles on the first planned path, the height and width of the unknown obstacles are obtained.

[0060] The second control module 30 is used to control the footed construction robot to move based on the size threshold of the obstacle that the footed construction robot can cross, the height, the width, and the safety threshold between the tracks of the footed construction robot and the obstacle that can cross. The size threshold of the obstacle that can cross is set based on the range of foot movement space, which is determined based on the kinematic equation of the footed construction robot. The kinematic equation is established by the DH parameter method.

[0061] The second control module 30 is further configured to determine whether the unknown obstacle is a passable obstacle based on the size threshold, the height, and the width;

[0062] If the unknown obstacle is an obstacle that can be crossed, then control the footed construction robot to switch from tracked driving mode to hexapod driving mode;

[0063] Based on the safety threshold, the footed construction robot is controlled to cross the unknown obstacle;

[0064] After the legged construction robot has overcome the obstacle, the control switches the legged construction robot from six-legged driving mode to tracked driving mode, and returns to the execution of the control to make the legged construction robot drive according to the first planned path. During the driving process, the control detects in real time whether there are unknown obstacles on the first planned path. If there are unknown obstacles on the first planned path, the control obtains the height and width of the unknown obstacles.

[0065] The second control module 30 is used to acquire the fourth position data of the footed construction robot and the fifth position data of the unknown obstacle if the unknown obstacle is an insurmountable obstacle.

[0066] Based on the fourth location data, the fifth location data, and the first location data, an obstacle avoidance route is planned to obtain a second planned route;

[0067] The second planned route is used as the first planned route, and the control of the footed construction robot to travel along the first planned path is returned. During the travel, the robot detects in real time whether there are unknown obstacles on the first planned path. If there are unknown obstacles on the first planned path, the height and width of the unknown obstacles are obtained.

[0068] In one embodiment, a legged construction robot is provided, the internal structure of which can be shown in the following diagram: Figure 5 As shown, the legged construction robot includes at least a processor, memory, network interface, and database connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile and / or volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface allows communication with external clients via a network connection. When executed by the processor, the computer program implements the functions or steps of a legged construction robot control method.

[0069] In one embodiment, a footed construction robot is proposed, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps:

[0070] Obtain a first planned route, wherein the first planned route is obtained by path planning based on the first location data of the target location, the second location data of the footed construction robot, and the third location data of the known obstacles;

[0071] The legged construction robot is controlled to travel along the first planned path, and during the travel, the presence of unknown obstacles on the first planned path is detected in real time. If there are unknown obstacles on the first planned path, the height and width of the unknown obstacles are obtained.

[0072] The footed construction robot is controlled to move based on the size threshold of the obstacle it can cross, the height, the width, and the safety threshold between the tracks of the footed construction robot and the obstacle it can cross. The size threshold of the obstacle it can cross is set based on the range of foot movement space, which is determined based on the kinematic equations of the footed construction robot, and the kinematic equations are established using the DH parameter method.

[0073] In one embodiment, a computer-readable storage medium is provided that stores a computer program, which, when executed by a processor, performs the following steps:

[0074] Obtain a first planned route, wherein the first planned route is obtained by path planning based on the first location data of the target location, the second location data of the footed construction robot, and the third location data of the known obstacles;

[0075] The legged construction robot is controlled to travel along the first planned path, and during the travel, the presence of unknown obstacles on the first planned path is detected in real time. If there are unknown obstacles on the first planned path, the height and width of the unknown obstacles are obtained.

[0076] The footed construction robot is controlled to move based on the size threshold of the obstacle it can cross, the height, the width, and the safety threshold between the tracks of the footed construction robot and the obstacle it can cross. The size threshold of the obstacle it can cross is set based on the range of foot movement space, which is determined based on the kinematic equations of the footed construction robot, and the kinematic equations are established using the DH parameter method.

[0077] It should be noted that the functions or steps that can be achieved by the computer-readable storage medium or the footed construction robot described above can be referred to the relevant descriptions on the server side and client side in the foregoing method embodiments. To avoid repetition, they will not be described one by one here.

[0078] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0079] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0080] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A foot-climbing construction robot control method characterized by comprising: The foot-walking type construction robot control method comprises: acquiring a first planning path, wherein the first planning path is obtained by path planning according to first position data of a target point, second position data of the foot-walking type construction robot, and third position data of a known obstacle; controlling the foot-walking type construction robot to travel along the first planning path and to detect in real time whether an unknown obstacle exists on the first planning path during the travel, and if the unknown obstacle exists on the first planning path, acquiring a height and a width of the unknown obstacle; controlling the foot-walking type construction robot to travel based on a size threshold of a crossable obstacle of the foot-walking type construction robot, the height, the width, and a safety threshold between a track of the foot-walking type construction robot and the crossable obstacle, wherein the size threshold of the crossable obstacle is set based on a foot end movement space range, and the foot end movement space range is determined based on a kinematics equation of the foot-walking type construction robot, and the kinematics equation is established by a D-H parameter method.

2. The footed robot control method of claim 1, wherein, The step of controlling the foot-walking type construction robot to travel based on the size threshold of the crossable obstacle of the foot-walking type construction robot, the height, the width, and the safety threshold between the track of the foot-walking type construction robot and the crossable obstacle comprises: judging whether the unknown obstacle is a crossable obstacle based on the size threshold, the height, and the width; if the unknown obstacle is the crossable obstacle, controlling the foot-walking type construction robot to switch from a track travel state to a six-foot travel state; controlling the foot-walking type construction robot to cross the unknown obstacle based on the safety threshold; when the foot-walking type construction robot finishes crossing the obstacle, controlling the foot-walking type construction robot to switch from the six-foot travel state to the track travel state, and returning to the step of controlling the foot-walking type construction robot to travel along the first planning path and to detect in real time whether an unknown obstacle exists on the first planning path during the travel, and if the unknown obstacle exists on the first planning path, acquiring a height and a width of the unknown obstacle.

3. The footed robot control method of claim 2, wherein, The step of controlling the foot-walking type construction robot to travel based on the size threshold of the crossable obstacle of the foot-walking type construction robot, the height, the width, and the safety threshold between the track of the foot-walking type construction robot and the crossable obstacle further comprises: if the unknown obstacle is an un-crossable obstacle, acquiring fourth position data of the foot-walking type construction robot and fifth position data of the unknown obstacle; performing obstacle avoidance path planning based on the fourth position data, the fifth position data, and the first position data to obtain a second planning path; taking the second planning path as the first planning path, and returning to the step of controlling the foot-walking type construction robot to travel along the first planning path and to detect in real time whether an unknown obstacle exists on the first planning path during the travel, and if the unknown obstacle exists on the first planning path, acquiring a height and a width of the unknown obstacle.

4. A foot-climbing robot control device characterized by comprising: The foot-walking type construction robot control device comprises: An acquisition module is configured to acquire a first planning path, wherein the first planning path is obtained by path planning based on first position data of a target site, second position data of the foot-tracked construction robot, and third position data of known obstacles; A first control module is configured to control the foot-tracked construction robot to travel along the first planning path and detect in real time whether there is an unknown obstacle on the first planning path, and if there is an unknown obstacle on the first planning path, acquire a height and a width of the unknown obstacle; A second control module is configured to control the foot-tracked construction robot to travel based on a size threshold of a crossable obstacle, the height, the width, and a safety threshold between a track of the foot-tracked construction robot and the crossable obstacle, wherein the size threshold of the crossable obstacle is set based on a foot end movement space range, and the foot end movement space range is determined based on a kinematics equation of the foot-tracked construction robot, and the kinematics equation is established by a D-H parameter method.

5. A foot-climbing construction robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the steps of the foot-tracked construction robot control method according to any one of claims 1 to 3.

6. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 5. The computer program is executed by the processor to implement the steps of the foot-tracked construction robot control method according to any one of claims 1 to 3.

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