Robot center of gravity adjustment device, robot, computer, electronic device, and vehicle

Abstract

The application provides a robot gravity center adjusting device, comprising: a counterweight and a telescopic rod assembly, the telescopic rod assembly comprises a plurality of telescopic rods, the plurality of telescopic rods are connected with the counterweight respectively, and the telescopic rod assembly is suitable for adjusting the pose of the counterweight by adjusting the length of the plurality of telescopic rods to adjust the gravity center of the robot. In the above manner, the gravity center of the robot is adjusted by the counterweight, compensation is provided for imbalance or the tendency of imbalance, the burden of the motor is not increased, and the stability and reliability of the robot are increased. The application also provides a robot, a robot gravity center adjusting method, a computer readable storage medium, a computer program product, an electronic device and a vehicle.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a robot center of gravity adjustment device, a robot, a robot center of gravity adjustment method, a computer-readable storage medium, a computer program product, an electronic device, and a vehicle. Background Technology

[0002] With the development of technology, various robots have entered people's lives. Some robots rely on the cooperation of their leg joints to walk. When such robots walk, they may become unbalanced or tend to become unbalanced due to terrain or other environmental factors. In related technologies, such robots rely on the motors of their leg joints to increase torque to resist the unbalance or tendency to become unbalanced, which increases the burden on the motors and may even cause the motors to overload and burn out. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a robot center of gravity adjustment device, robot, robot center of gravity adjustment method, computer-readable storage medium, computer program product, electronic device and vehicle that overcome the above problems or at least partially solve the above problems.

[0004] To achieve the above objectives, according to a first aspect of this application, a robot center of gravity adjustment device is provided, comprising: a counterweight and a telescopic rod assembly, wherein the telescopic rod assembly includes a plurality of telescopic rods, the plurality of telescopic rods being respectively connected to the counterweight, and the telescopic rod assembly is adapted to adjust the pose of the counterweight by adjusting the length of the plurality of telescopic rods to adjust the center of gravity of the robot.

[0005] By adjusting the robot's center of gravity using counterweights in the above manner, compensation is provided for imbalance or tendencies toward imbalance without increasing the burden on the motors, thus increasing the robot's stability and reliability.

[0006] Furthermore, when the robot becomes unbalanced or tends to become unbalanced, the telescopic rod assembly is adjusted to move the counterweight in the opposite direction to the direction of imbalance or the tendency to become unbalanced.

[0007] Furthermore, the torque that causes the robot to become unbalanced or tend to become unbalanced is called the unbalance torque. The target pose of the counterweight is calculated based on the unbalance torque, and the target length of each telescopic rod in the telescopic rod assembly is calculated based on the target pose. The length of each telescopic rod is adjusted to the corresponding target length to adjust the pose of the counterweight.

[0008] Furthermore, the unbalanced torque is calculated using the following formula:

[0009] in, For unbalanced torque, Let be the vector from the robot's center of mass to the support boundary, and m be the robot's total mass. The vector of gravitational acceleration. Environmental forces.

[0010] Furthermore, the target pose and the unbalanced moment satisfy the following relationship:

[0011] in, The compensating torque is the same in magnitude but opposite in direction to the unbalanced torque. For the mass of the counterweight, The vector of gravitational acceleration. Let be the displacement vector of the target pose of the counterweight relative to the initial point. Let be the moment of inertia tensor of the counterweight. Let be the angular acceleration of the counterweight.

[0012] Furthermore, the target length of any telescopic rod in the telescopic rod assembly is calculated using the following formula:

[0013] in, Let i be the target length of the i-th telescopic rod in the telescopic rod assembly. Let be the coordinate vector of the target pose at the center of the counterweight. Let be the coordinate vector of the connection point between the i-th telescopic rod and the robot's torso in the telescopic rod assembly.

[0014] Furthermore, the coordinate vector of the target pose at the center of the counterweight is calculated using the following formula:

[0015] in, Let be the coordinate vector of the target pose at the center of the counterweight. Let be the displacement vector of the target pose of the counterweight relative to the initial point. Let be the initial coordinate vector of the counterweight.

[0016] Furthermore, the vertical movement of the counterweight can adjust the gravitational potential energy of the robot, and the horizontal movement of the counterweight can adjust the direction of the robot's inertial torque.

[0017] Furthermore, the first end of any telescopic rod in the telescopic rod assembly is connected to the counterweight via a universal joint, and the second end of any telescopic rod is connected to the robot torso via a universal joint.

[0018] According to a second aspect of the present invention, a robot is provided, including the robot center of gravity adjustment device described in the first aspect of the present invention, the robot center of gravity adjustment device being adapted to adjust the center of gravity of the robot.

[0019] Furthermore, the robot also includes: A vision system is used to acquire terrain data; A sensor system is used to acquire external forces, the moment of inertia tensor of the counterweight, and the angular acceleration of the counterweight. A control system is configured to formulate and execute a control strategy for the robot's center of gravity adjustment device based on data acquired by the vision system and / or the sensor system.

[0020] Furthermore, when the robot becomes unbalanced or tends to become unbalanced, the control system adjusts the counterweight of the robot's center of gravity adjustment device to move in the opposite direction to the unbalanced direction or the unbalanced tendency direction based on the current data of the sensor system, so as to counteract the robot's current unbalance or unbalanced tendency.

[0021] Furthermore, the vision system acquires terrain information in real time, and the control system predicts future imbalance trends in real time based on the terrain information on the robot's travel path, and formulates and executes the control strategy of the robot's center of gravity adjustment device in real time to counteract the robot's imbalance trend.

[0022] Furthermore, the robot's torso includes a cavity, and the robot's center of gravity adjustment device is housed within the cavity.

[0023] Furthermore, the first end of any telescopic rod in the telescopic rod assembly is connected to the counterweight via a universal joint, and the second end of any telescopic rod is connected to the bottom, side wall, or top of the cavity via a universal joint.

[0024] According to a third aspect of the present invention, a method for adjusting the center of gravity of a robot is provided, comprising: Real-time acquisition of terrain data obtained by the vision system; The imbalance moment is calculated in real time based on the terrain data. The corresponding compensation amount is calculated in real time based on the unbalanced torque; The robot's center of gravity is adjusted in real time based on the compensation amount controlled by the robot's center of gravity adjustment device.

[0025] Furthermore, the step of calculating the unbalanced moment in real time based on the terrain data includes: The environmental forces acting on the robot are calculated in real time based on the terrain data. The unbalanced torque experienced by the robot is calculated based on the environmental forces described.

[0026] Furthermore, the step of calculating the unbalanced moment in real time based on the terrain data includes: The environmental forces that the robot will experience are calculated in real time based on the terrain data. The unbalanced torque that the robot will experience is calculated based on the environmental forces.

[0027] Furthermore, the step of calculating the corresponding compensation amount in real time based on the unbalanced torque includes: Calculate the target pose of the counterweight based on the unbalanced torque; The target movement vector of the counterweight is calculated based on the target pose of the counterweight, and the target movement vector is the compensation amount.

[0028] Furthermore, the step of calculating the corresponding compensation amount in real time based on the unbalanced torque includes: Calculate the time interval at which the robot will be subjected to an unbalanced torque; Calculate the target pose of the counterweight based on the unbalanced torque that the robot will soon experience; The target movement vector of the counterweight is calculated based on the target pose of the counterweight, and the target movement vector is the compensation amount.

[0029] Furthermore, the real-time control of the robot's center of gravity adjustment device to adjust its center of gravity according to the compensation amount includes: adjusting the center of gravity of the robot's center of gravity adjustment device according to the compensation amount after the time interval.

[0030] Furthermore, if there is an error between the center of gravity adjusted according to the compensation amount and the current actual center of gravity, the robot's center of gravity is readjusted according to the current actual center of gravity.

[0031] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein computer-executable instructions are stored therein, which, when executed by a processor, are used to implement the robot center of gravity adjustment method as described in the third aspect of the present invention.

[0032] According to a fifth aspect of the present invention, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the robot center of gravity adjustment method as described in the third aspect of the present invention.

[0033] According to a sixth aspect of the present invention, an electronic device is provided, comprising a processor and a memory, the memory being used to store a computer program, and the processor being used to implement the robot center of gravity adjustment method as described in the third aspect of the present invention when executing the computer program stored in the memory.

[0034] According to a seventh aspect of the present invention, a vehicle is provided, comprising the robot described in the second aspect of the present invention.

[0035] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0036] 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 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.

[0037] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0038] Figure 1 This is a schematic diagram of the robot center of gravity adjustment device provided by the present invention; Figure 2 This is a schematic diagram of the robot provided by the present invention; Figure 3 This is a schematic diagram of the robot's center of gravity adjustment device when going uphill, provided by the present invention; Figure 4 This is a schematic diagram of the robot's center of gravity adjustment device when going downhill, provided by the present invention; Figure 5 This is a schematic diagram of the robot center of gravity adjustment method provided by the present invention.

[0039] Explanation of reference numerals in the attached figures: 10. Counterweight; 20. Telescopic rod assembly; 30. Cavity; 21. First telescopic pole; 22. Second telescopic pole; 23. Third telescopic pole; 24. Fourth telescopic pole; 25. Fifth telescopic pole; Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0041] According to the first aspect of this application, Figure 1 As shown, a robot center of gravity adjustment device is provided, including: a counterweight 10 and a telescopic rod assembly 20. The telescopic rod assembly 20 includes a plurality of telescopic rods, which are respectively connected to the counterweight 10. The telescopic rod assembly 20 is adapted to adjust the position of the counterweight 10 by adjusting the length of the plurality of telescopic rods in order to adjust the center of gravity of the robot.

[0042] By adjusting the robot's center of gravity using the counterweight 10 as described above, compensation is provided for imbalance or imbalance tendencies, without increasing the burden on the motor, thus increasing the robot's stability and reliability.

[0043] In some embodiments, when the robot becomes unbalanced or tends to become unbalanced, the telescopic rod assembly 20 is adjusted to move the counterweight 10 in the opposite direction to the direction of imbalance or the tendency to become unbalanced. By moving the counterweight 10 in the opposite direction to the direction of imbalance or the tendency to become unbalanced, the robot's center of gravity can be shifted in the opposite direction to the direction of imbalance or the tendency to become unbalanced, compensating for the imbalance or tendency to become unbalanced and keeping the robot balanced.

[0044] In some embodiments, the torque that causes the robot to become unbalanced or tend to become unbalanced is called the imbalance torque. The target pose of the counterweight 10 is calculated based on the imbalance torque, and the target length of each telescopic rod in the telescopic rod assembly 20 is calculated based on the target pose. The length of each telescopic rod is adjusted to the corresponding target length to adjust the pose of the counterweight 10. In some cases, the imbalance torque may come from the external environment, such as wind, collision force, or the imbalance torque caused by the robot tilting when passing over undulating ground or going up and down slopes.

[0045] In some embodiments, the unbalanced moment is calculated using the following formula:

[0046] in, For unbalanced torque, Let be the vector from the robot's center of mass to the support boundary, and m be the robot's total mass. The vector of gravitational acceleration. Environmental forces. The support boundary refers to the boundary between the robot and the support surface. For example, when a humanoid robot stands on the ground supported by bionic feet, the part of the bionic foot in contact with the ground is the support boundary. In some embodiments, environmental forces... Data obtained from a force sensor.

[0047] In some embodiments, the target pose and the unbalanced moment satisfy the following relationship:

[0048] in, To compensate for the unbalanced torque, the compensating torque is the same in magnitude but opposite in direction to the unbalanced torque. The mass of counterweight 10, The vector of gravitational acceleration. Let be the displacement vector of the target pose of counterweight 10 relative to the initial point. Let be the moment of inertia tensor of counterweight 10. Let be the angular acceleration of the counterweight 10. In some embodiments, the moment of inertia tensor of the counterweight 10 is... The angular acceleration of counterweight 10 is obtained from the moment of inertia sensor. Data obtained from an accelerometer.

[0049] In some embodiments, the target length of any telescopic pole in the telescopic pole assembly 20 is calculated using the following formula:

[0050] in, Let be the target length of the i-th telescopic rod in the telescopic rod assembly 20. Let be the coordinate vector of the center target pose of counterweight 10. Let be the coordinate vector of the connection point between the i-th telescopic rod in the telescopic rod assembly 20 and the robot's torso.

[0051] In some embodiments, the coordinate vector of the center target pose of the counterweight 10 is calculated using the following formula:

[0052] in, Let be the coordinate vector of the center target pose of counterweight 10. Let be the displacement vector of the target pose of counterweight 10 relative to the initial point. is the initial coordinate vector of counterweight 10.

[0053] In some embodiments, the vertical movement of the counterweight 10 can adjust the robot's gravitational potential energy, and the horizontal movement of the counterweight 10 can adjust the direction of the robot's inertial torque. For example, the vertical upward movement of the counterweight 10 can increase the robot's gravitational potential energy, and the vertical downward movement of the counterweight 10 can decrease the robot's gravitational potential energy.

[0054] In some embodiments, the first end of any telescopic rod in the telescopic rod assembly 20 is connected to the counterweight 10 via a universal joint, and the second end of any telescopic rod is connected to the robot torso via a universal joint.

[0055] According to a second aspect of the invention, such as Figure 2 As shown, a robot is provided, including a robot center of gravity adjustment device according to the first aspect of the present invention, which is adapted to adjust the robot's center of gravity.

[0056] In some embodiments, the robot further includes: A vision system is used to acquire terrain data; The sensor system is used to acquire external forces, the moment of inertia tensor of the counterweight 10, and the angular acceleration of the counterweight 10. A control system is configured to formulate and execute a control strategy for the robot's center of gravity adjustment device based on data acquired by a vision system and / or a sensor system. In some embodiments, the sensor system includes a force sensor, a moment of inertia sensor, and an acceleration sensor, wherein the force sensor is used to acquire environmental forces. The moment of inertia sensor is used to obtain the moment of inertia tensor of the counterweight 10. The accelerometer is used to obtain the angular acceleration of the counterweight 10. .

[0057] In some embodiments, when the robot is unbalanced or tends to be unbalanced, the control system adjusts the counterweight 10 of the robot's center of gravity adjustment device to move in the opposite direction to the unbalanced direction or the unbalanced tendency direction based on the current data of the sensor system, so as to counteract the robot's current unbalance or unbalanced tendency.

[0058] In some embodiments, the vision system acquires terrain information in real time, the control system predicts future imbalance trends in real time based on the terrain information on the robot's path, and formulates and executes control strategies for the robot's center of gravity adjustment device in real time to counteract the robot's imbalance trends.

[0059] In some embodiments, the robot's torso includes a cavity 30, within which a robot center of gravity adjustment device is housed.

[0060] In some embodiments, the first end of any telescopic rod in the telescopic rod assembly 20 is connected to the counterweight 10 via a universal joint, and the second end of any telescopic rod is connected to the bottom, side wall, or top of the cavity 30 via a universal joint.

[0061] In some embodiments, such as Figure 1 As shown, the telescopic rod assembly 20 includes a first telescopic rod 21, a second telescopic rod 22, a third telescopic rod 23, a fourth telescopic rod 24, and a fifth telescopic rod 25. The first ends of the first telescopic rod 21, the second telescopic rod 22, the third telescopic rod 23, the fourth telescopic rod 24, and the fifth telescopic rod 25 are respectively connected to a counterweight via universal joints. The second ends of the first telescopic rod 21, the second telescopic rod 22, the third telescopic rod 23, and the fourth telescopic rod 24 are respectively connected to the bottom of the cavity 30 via universal joints, and the second end of the fifth telescopic rod 25 is connected to the top of the cavity 30 via a universal joint. In this way, the movement of the counterweight 10 in all directions is well supported.

[0062] In some embodiments, the torque that causes the robot to become unbalanced or tend to become unbalanced is called the imbalance torque. The target pose of the counterweight 10 is calculated based on the imbalance torque, and the target length of each telescopic rod in the telescopic rod assembly 20 is calculated based on the target pose. The length of each telescopic rod is adjusted to the corresponding target length to adjust the pose of the counterweight 10. In some cases, the imbalance torque may come from the external environment, such as wind, collision force, or the imbalance torque caused by the robot tilting when passing over undulating ground or going up and down slopes.

[0063] In some embodiments, the unbalanced moment is calculated using the following formula:

[0064] in, For unbalanced torque, Let be the vector from the robot's center of mass to the support boundary, and m be the robot's total mass. The vector of gravitational acceleration. Environmental forces. The support boundary refers to the boundary between the robot and the support surface. For example, when a humanoid robot stands on the ground supported by bionic feet, the part of the bionic foot in contact with the ground is the support boundary. In some embodiments, environmental forces... Data obtained from a force sensor.

[0065] In some embodiments, the target pose and the unbalanced moment satisfy the following relationship:

[0066] in, To compensate for the unbalanced torque, the compensating torque is the same in magnitude but opposite in direction to the unbalanced torque. The mass of counterweight 10, The vector of gravitational acceleration. Let be the displacement vector of the target pose of counterweight 10 relative to the initial point. Let be the moment of inertia tensor of counterweight 10. Let be the angular acceleration of the counterweight 10. In some embodiments, the moment of inertia tensor of the counterweight 10 is... The angular acceleration of counterweight 10 is obtained from the moment of inertia sensor. Data obtained from an accelerometer.

[0067] In some embodiments, the target length of any telescopic pole in the telescopic pole assembly 20 is calculated using the following formula:

[0068] in, Let be the target length of the i-th telescopic rod in the telescopic rod assembly 20. Let be the coordinate vector of the center target pose of counterweight 10. Let be the coordinate vector of the connection point between the i-th telescopic rod in the telescopic rod assembly 20 and the robot's torso.

[0069] In some embodiments, the coordinate vector of the center target pose of the counterweight 10 is calculated using the following formula:

[0070] in, Let be the coordinate vector of the center target pose of counterweight 10. Let be the displacement vector of the target pose of counterweight 10 relative to the initial point. is the initial coordinate vector of counterweight 10.

[0071] The robot with a center of gravity adjustment device will be described below with reference to an exemplary scenario.

[0072] like Figure 3 As shown, when the robot is going uphill, the telescopic rod assembly 20 drives the counterweight 10 to move in the uphill direction and upward, raising the center of gravity and generating a forward tilting torque, which can suppress the backward tilting torque of the robot and reduce the load on the joint motors. Preferably, the movement of the counterweight 10 keeps the robot in a posture within ±1.5° forward and backward. like Figure 4 As shown, when the robot is going downhill, the telescopic rod assembly 20 drives the counterweight 10 to move uphill and downhill, lowering the center of gravity and generating a backward tilting torque, which can suppress the forward tilting torque of the robot and reduce the load on the joint motors. Preferably, the movement of the counterweight 10 keeps the robot in a posture within ±1.5° forward and backward.

[0073] When the robot tilts due to terrain or external forces, the telescopic rod assembly 20 drives the counterweight 10 to move in the opposite direction of the tilt to suppress the tilt.

[0074] According to a third aspect of the invention, such as Figure 5 As shown, a method for adjusting the center of gravity of a robot is provided, including: Real-time acquisition of terrain data obtained by the vision system; The unbalanced moment is calculated in real time based on terrain data; The corresponding compensation amount is calculated in real time based on the unbalanced torque; The robot's center of gravity is adjusted in real time based on the compensation amount using the robot's center of gravity adjustment device.

[0075] The following will combine the embodiments and Figure 5 Instructions for adjusting the robot's center of gravity: S101, Start; Enter S102; S102, Real-time acquisition of terrain data obtained by the vision system; Proceed to S103; S103. Predict the imbalance trend in real time based on terrain data; proceed to S104. S104. Calculate the corresponding compensation amount in real time based on the imbalance trend; proceed to S105. S105. Adjust the robot's center of gravity in real time according to the compensation amount using the robot's center of gravity adjustment device; proceed to S106. S106. Determine if the robot has entered a stable terrain. If yes, proceed to S107; otherwise, proceed to S103. S107, End.

[0076] In some embodiments, the step of calculating the unbalanced moment in real time based on the terrain data includes: The environmental forces acting on the robot are calculated in real time based on the terrain data. The unbalanced torque experienced by the robot is calculated based on the environmental forces described.

[0077] In some embodiments, the step of calculating the unbalanced moment in real time based on the terrain data includes: The environmental forces that the robot will experience are calculated in real time based on the terrain data. The unbalanced torque that the robot will experience is calculated based on the environmental forces.

[0078] In some embodiments, the step of calculating the corresponding compensation amount in real time based on the unbalanced torque includes: Calculate the target pose of the counterweight based on the unbalanced torque; The target movement vector of the counterweight is calculated based on the target pose of the counterweight, and the target movement vector is the compensation amount.

[0079] In some embodiments, the step of calculating the corresponding compensation amount in real time based on the unbalanced torque includes: Calculate the time interval at which the robot will be subjected to an unbalanced torque; Calculate the target pose of the counterweight based on the unbalanced torque that the robot will soon experience; The target movement vector of the counterweight is calculated based on the target pose of the counterweight, and the target movement vector is the compensation amount.

[0080] In some embodiments, the real-time control of the robot center of gravity adjustment device to adjust the center of gravity according to the compensation amount includes: adjusting the center of gravity of the robot center of gravity adjustment device according to the compensation amount after the time interval.

[0081] In some embodiments, if there is an error between the center of gravity adjusted according to the compensation amount and the current actual center of gravity, the robot's center of gravity is readjusted according to the current actual center of gravity.

[0082] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein computer-executable instructions are stored therein, which, when executed by a processor, are used to implement the robot center of gravity adjustment method as described in the third aspect of the present invention.

[0083] According to a fifth aspect of the present invention, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the robot center of gravity adjustment method as described in the third aspect of the present invention.

[0084] According to a sixth aspect of the present invention, an electronic device is provided, comprising a processor and a memory, the memory for storing a computer program, and the processor for implementing a robot center of gravity adjustment method as described in the third aspect of the present invention when executing the computer program stored in the memory.

[0085] According to a seventh aspect of the present invention, a vehicle is provided, comprising the robot described in the second aspect of the present invention.

[0086] The various embodiments described in this specification are mainly those that differ from other embodiments. For the same or similar parts between the various embodiments, please refer to each other.

[0087] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0088] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, computer-readable storage media, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0089] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0090] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0091] In the description of this application, the terms "first" and "second" 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. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0092] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0093] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0094] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. In the embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant content of other embodiments. Any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of this application without departing from the content of the technical solution of this application shall still fall within the scope of the technical solution of this application.

[0095] The foregoing has provided a detailed description of a robot center of gravity adjustment device, a robot, a computer-readable storage medium, a computer program product, and an electronic device provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A robot center of gravity adjustment device, characterized in that, include: A counterweight and telescopic rod assembly, wherein the telescopic rod assembly includes a plurality of telescopic rods, each of which is connected to the counterweight. The telescopic rod assembly is adapted to adjust the position of the counterweight by adjusting the length of the plurality of telescopic rods, thereby adjusting the center of gravity of the robot.

2. The robot center of gravity adjustment device according to claim 1, characterized in that, When the robot becomes unbalanced or tends to become unbalanced, the telescopic rod assembly is adjusted to move the counterweight in the opposite direction to the direction of the imbalance or the tendency to become unbalanced.

3. The robot center of gravity adjustment device according to claim 2, characterized in that the torque causing the robot to become unbalanced or tend to become unbalanced is an unbalance torque, the target pose of the counterweight is calculated based on the unbalance torque, the target length of each telescopic rod in the telescopic rod assembly is calculated based on the target pose, and the length of each telescopic rod is adjusted to the corresponding target length to adjust the pose of the counterweight.

4. The robot center of gravity adjustment device according to claim 3, characterized in that, The unbalanced torque is calculated using the following formula: ， in, For unbalanced torque, Let be the vector from the robot's center of mass to the support boundary, and m be the robot's total mass. The vector of gravitational acceleration. Environmental forces.

5. The robot center of gravity adjustment device according to claim 3, characterized in that, The target pose and the unbalanced moment satisfy the following relationship: ， in, The compensating torque is the same in magnitude but opposite in direction to the unbalanced torque. For the mass of the counterweight, The vector of gravitational acceleration. Let be the displacement vector of the target pose of the counterweight relative to the initial point. Let be the moment of inertia tensor of the counterweight. Let be the angular acceleration of the counterweight.

6. The robot center of gravity adjustment device according to claim 5, characterized in that, The target length of any telescopic pole in the telescopic pole assembly is calculated using the following formula: ， in, Let i be the target length of the i-th telescopic rod in the telescopic rod assembly. Let be the coordinate vector of the target pose at the center of the counterweight. Let be the coordinate vector of the connection point between the i-th telescopic rod and the robot's torso in the telescopic rod assembly.

7. The robot center of gravity adjustment device according to claim 6, characterized in that, The coordinate vector of the target pose at the center of the counterweight is calculated using the following formula: ， in, Let be the coordinate vector of the target pose at the center of the counterweight. Let be the displacement vector of the target pose of the counterweight relative to the initial point. Let be the initial coordinate vector of the counterweight.

8. The robot center of gravity adjustment device according to claim 1, characterized in that, The vertical movement of the counterweight can adjust the robot's gravitational potential energy, and the horizontal movement of the counterweight can adjust the direction of the robot's inertial torque.

9. The robot center of gravity adjustment device according to claim 1, characterized in that, The first end of any telescopic rod in the telescopic rod assembly is connected to the counterweight via a universal joint, and the second end of any telescopic rod is connected to the robot torso via a universal joint.

10. A robot, characterized in that, The device includes the robot center of gravity adjustment device according to any one of claims 1-9, wherein the robot center of gravity adjustment device is adapted to adjust the center of gravity of the robot.

11. The robot according to claim 10, characterized in that, Also includes: A vision system is used to acquire terrain data; A sensor system is used to acquire external forces, the moment of inertia tensor of the counterweight, and the angular acceleration of the counterweight. A control system is configured to formulate and execute a control strategy for the robot's center of gravity adjustment device based on data acquired by the vision system and / or the sensor system.

12. The robot according to claim 11, characterized in that, When the robot becomes unbalanced or tends to become unbalanced, the control system adjusts the counterweight of the robot's center of gravity adjustment device to move in the opposite direction to the direction of imbalance or the trend of imbalance, based on the current data from the sensor system, in order to counteract the robot's current imbalance or imbalance trend.

13. The robot according to claim 11, characterized in that, The vision system acquires terrain information in real time, and the control system predicts future imbalance trends in real time based on the terrain information on the robot's travel path, and formulates and executes the control strategy of the robot's center of gravity adjustment device in real time to counteract the robot's imbalance trend.

14. The robot according to claim 10, characterized in that, The robot's torso contains a cavity, and the robot's center of gravity adjustment device is housed within the cavity.

15. The robot according to claim 14, characterized in that, The first end of any telescopic rod in the telescopic rod assembly is connected to the counterweight via a universal joint, and the second end of any telescopic rod is connected to the bottom, side wall, or top of the cavity via a universal joint.

16. A method for adjusting the center of gravity of a robot, characterized in that, include: Real-time acquisition of terrain data obtained by the vision system; The imbalance moment is calculated in real time based on the terrain data. The corresponding compensation amount is calculated in real time based on the unbalanced torque; The robot's center of gravity is adjusted in real time based on the compensation amount controlled by the robot's center of gravity adjustment device.

17. The robot center of gravity adjustment method according to claim 16, characterized in that, The real-time calculation of the unbalanced moment based on the terrain data includes: The environmental forces acting on the robot are calculated in real time based on the terrain data. The unbalanced torque experienced by the robot is calculated based on the environmental forces described.

18. The robot center of gravity adjustment method according to claim 16, characterized in that, The real-time calculation of the unbalanced moment based on the terrain data includes: The environmental forces that the robot will experience are calculated in real time based on the terrain data. The unbalanced torque that the robot will experience is calculated based on the environmental forces.

19. The robot center of gravity adjustment method according to claim 17, characterized in that, The step of calculating the corresponding compensation amount in real time based on the unbalanced torque includes: Calculate the target pose of the counterweight based on the unbalanced torque; The target movement vector of the counterweight is calculated based on the target pose of the counterweight, and the target movement vector is the compensation amount.

20. The robot center of gravity adjustment method according to claim 18, characterized in that, The step of calculating the corresponding compensation amount in real time based on the unbalanced torque includes: Calculate the time interval at which the robot will be subjected to an unbalanced torque; Calculate the target pose of the counterweight based on the unbalanced torque that the robot will soon experience; The target movement vector of the counterweight is calculated based on the target pose of the counterweight, and the target movement vector is the compensation amount.

21. The robot center of gravity adjustment method according to claim 20, characterized in that, The real-time control of the robot's center of gravity adjustment device to adjust its center of gravity according to the compensation amount includes: adjusting the center of gravity of the robot's center of gravity adjustment device according to the compensation amount after the time interval.

22. The robot center of gravity adjustment method according to claim 21, characterized in that, If there is an error between the center of gravity adjusted according to the compensation amount and the current actual center of gravity, the robot's center of gravity shall be readjusted according to the current actual center of gravity.

23. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the robot center of gravity adjustment method as described in claim 16.

24. A computer program product, characterized in that, Includes a computer program, which, when executed by a processor, implements the robot center of gravity adjustment method as described in claim 16.

25. An electronic device, characterized in that, It includes a processor and a memory, the memory being used to store a computer program, and the processor being used to implement the robot center of gravity adjustment method as described in claim 16 when executing the computer program stored in the memory.

26. A vehicle, characterized in that, Including the robot described in claim 10.

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