Mobile robot motion control method and mobile robot

Abstract

This application discloses a method for controlling the motion of a mobile robot and the mobile robot, which relates to the field of robotics. The mobile robot includes a first wheel unit with a telescopic leg, a second wheel unit with a telescopic leg, and a base unit connected to the first wheel unit and the second wheel unit, and the method for controlling the motion of the mobile robot includes a step (102) of controlling the first wheel unit and the second wheel unit to be in a standing equilibrium state, and a step (104) of controlling the mobile robot to perform pseudo-bipedal motion based on the standing equilibrium state, where the base unit is parallel to a horizontal reference plane in the standing equilibrium state, and in the process of the pseudo-bipedal motion, the first wheel unit and the second wheel unit land alternately, and the base unit tilts and swings.

Description

[Technical field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims priority to a Chinese patent application filed on August 20, 2022, bearing application number 202211002012.9 and entitled "Motion control method for a mobile robot and a mobile robot", the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the field of robotics, and in particular to a motion control method for a mobile robot and a mobile robot. [Background technology]

[0003] Taking a mobile robot as an example, an underactuated robot is a robot that has fewer actuators than the number of joint degrees of freedom, and a typical feature of such a robot is that it has a balance problem.

[0004] Regarding the related art, take as an example an underactuated robot as a leg-wheel-type robot. For a two-wheel balanced leg-wheel-type robot, the motion plane of the leg has no degree of freedom in the roll angle direction. Take as an example a leg-wheel-type robot including a first wheel unit, a second wheel unit, and a base unit connected to the first wheel unit and the second wheel unit, and the motion plane of the legs of the first wheel unit and the second wheel unit is held perpendicular to the base unit. Therefore, in the actual use process, the wheels of the leg-wheel-type robot are usually controlled to rotate, thereby realizing the motion of the robot.

[0005] However, in the above-mentioned related art, the leg-wheel type robot can only move by rotating the wheels, and the movement method is relatively single. Summary of the Invention

[0006] The embodiments of the present application provide a motion control method for a mobile robot and a mobile robot, and the technical solutions include at least the following solutions:

[0007] According to one aspect of the present application, there is provided a motion control method for a mobile robot, the motion control method being executed by a chip, the mobile robot including a first wheel unit having an extendable leg unit, a second wheel unit having an extendable leg unit, and a base unit connected to the first wheel unit and the second wheel unit, the motion control method for the mobile robot including: Controlling the first wheel section and the second wheel section so that they are in a standing equilibrium state; and controlling the mobile robot to perform pseudo-bipedal motion based on a standing equilibrium state; The base part is parallel to a horizontal reference plane in a standing equilibrium state, and during the pseudo-bipedal movement process, the first wheel part and the second wheel part land alternately, causing the base part to tilt and swing.

[0008] According to one aspect of the present application, there is provided a mobile robot, the mobile robot including a first wheel section having a telescopic leg section, a second wheel section having a telescopic leg section, and a base section connected to the first wheel section and the second wheel section; The mobile robot is provided with a controller, which is used to control the mobile robot to realize the above-described method for controlling the motion of the mobile robot.

[0009] According to one aspect of the present application, there is provided a motion control device for a mobile robot, the motion control device for the mobile robot comprising: a control module configured to control a first wheel unit having a telescopic leg and a second wheel unit having a telescopic leg, the first wheel unit being included in the mobile robot, so as to be in a standing equilibrium state; The control module is further configured to control the mobile robot to perform pseudo-bipedal motion based on a standing equilibrium state; Here, the base of the mobile robot is parallel to a horizontal reference plane in a standing equilibrium state, and in the process of pseudo-bipedal movement, the first wheel unit and the second wheel unit land alternately, causing the base unit to tilt and swing.

[0010] According to one aspect of the present application, there is provided a computer device including a memory and a processor, wherein a computer program is stored in the memory, and the computer program is loaded and executed by the processor to realize the above-described method for controlling the motion of a mobile robot.

[0011] According to one aspect of the present application, there is provided a computer-readable storage medium having a computer program stored therein, the computer program being executed by a processor to be used for implementing the above-described method for controlling the motion of a mobile robot.

[0012] According to one aspect of the present application, there is provided a chip, the chip including a programmable logic circuit and / or a computer program, which is used to realize the above-described method for controlling the movement of a mobile robot when an electronic device in which the chip is mounted is operating.

[0013] According to one aspect of the present application, there is provided a computer program product, the computer program product including computer instructions, the computer instructions being stored in a computer-readable storage medium, and a processor reading and executing the computer instructions from the computer-readable storage medium to realize the above-described method for controlling motion of a mobile robot.

[0014] The beneficial effects of the technical solutions provided by the embodiments of the present application include at least the following:

[0015] By using a first wheel section having an extendable leg section and a second wheel section having an extendable leg section, the mobile robot is controlled to perform pseudo-bipedal motion based on a standing equilibrium state, thereby providing a new motion method for the wheel-legged mobile robot and enriching the motion methods for the wheel-legged mobile robot. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a schematic structural diagram of a leg-wheel type robot according to an exemplary embodiment of the present application. [Diagram 2]FIG. 1 is a partial schematic diagram of a leg-wheel type robot according to an exemplary embodiment of the present application. [Diagram 3] FIG. 2 is a front view of a leg-wheel type robot according to an exemplary embodiment of the present application standing on two wheels. [Figure 4] FIG. 2 is a side view of a leg-wheel type robot standing on two wheels according to an exemplary embodiment of the present application. [Diagram 5] FIG. 2 is a plan view of a leg-wheel type robot according to an exemplary embodiment of the present application standing on two wheels. [Figure 6] FIG. 2 is a schematic perspective view of a leg-wheel type robot according to an exemplary embodiment of the present application, in which a counterweight leg is in a folded state; [Figure 7] FIG. 2 is a front view of a leg-wheel type robot according to an exemplary embodiment of the present application standing on three wheels. [Figure 8] FIG. 2 is a side view of a leg-wheel type robot standing on three wheels according to an exemplary embodiment of the present application. [Figure 9] FIG. 2 is a plan view of a leg-wheel type robot according to an exemplary embodiment of the present application standing on three wheels. [Figure 10] FIG. 2 is a schematic perspective view of a leg-wheel type robot according to an exemplary embodiment of the present application standing on three wheels. [Figure 11] FIG. 2 is another schematic perspective view of a leg-wheel type robot according to an exemplary embodiment of the present application standing on three wheels. [Figure 12] FIG. 1 is a schematic diagram of a leg-wheel type robot according to an exemplary embodiment of the present application. [Figure 13] FIG. 2 is a schematic diagram of three spatial angles according to an exemplary embodiment of the present application. [Figure 14] FIG. 1 is a block diagram of a pitch balance control according to an exemplary embodiment of the present application. [Figure 15] FIG. 2 is a schematic diagram of a roll angle balance control according to an exemplary embodiment of the present application; [Figure 16] FIG. 2 is a schematic diagram of yaw balance control according to an exemplary embodiment of the present application; [Figure 17] 1 is a flowchart of a method for controlling motion of a mobile robot according to an exemplary embodiment of the present application. [Figure 18] FIG. 2 is a schematic diagram of a standing equilibrium state according to an exemplary embodiment of the present application; [Figure 19] 1 is a flowchart of a method for controlling motion of a mobile robot according to an exemplary embodiment of the present application. [Figure 20] FIG. 13 is a motion decomposition diagram of a simulated bipedal movement according to an exemplary embodiment of the present application. [Figure 21] FIG. 2 is a schematic diagram of a first tilt state according to an exemplary embodiment of the present application. [Figure 22] FIG. 2 is a schematic diagram of a first single wheel landing state according to an exemplary embodiment of the present application; [Diagram 23] FIG. 2 is a schematic diagram of a second tilt state according to an exemplary embodiment of the present application. [Figure 24] FIG. 13 is a schematic diagram of a second single wheel landing state according to an exemplary embodiment of the present application. [Diagram 25] FIG. 13 is a motion decomposition diagram of a simulated bipedal movement according to an exemplary embodiment of the present application. [Figure 26] FIG. 2 is a schematic diagram showing a change from a standing equilibrium state to a first tilt state according to an exemplary embodiment of the present application. [Figure 27] FIG. 2 is a schematic diagram of returning from a first tilt state to a standing equilibrium state according to an exemplary embodiment of the present application. [Figure 28] FIG. 2 is a schematic diagram showing a change from a standing equilibrium state to a second tilt state according to an exemplary embodiment of the present application. [Figure 29] FIG. 13 is a schematic diagram of returning from a second tilt state to a standing equilibrium state according to an exemplary embodiment of the present application. [Diagram 30] FIG. 1 is a schematic diagram of simulating and deriving joint angle information from a cross section of a leg-wheel type robot according to an exemplary embodiment of the present application. [Diagram 31] FIG. 13 is a schematic diagram showing how the amount of leg movement is determined when a leg-wheel type robot according to an exemplary embodiment of the present application is in a first tilted state or a second tilted state. [Diagram 32] FIG. 1 is a schematic diagram of a motion control device for a mobile robot according to an exemplary embodiment of the present application. [Diagram 33] FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] The terms "front" and "rear" in the embodiments of the present application are based on the front and rear shown in the drawings. The terms "first end" and "second end" refer to opposite ends.

[0018] The motion control method for a mobile robot provided by the embodiment of the present application may be used in any of a redundantly actuated robot, a fully actuated robot, and an underactuated robot, where a redundantly actuated robot is a robot having more actuators than the number of joint degrees of freedom, a fully actuated robot is a robot having the same number of actuators as the number of joint degrees of freedom, and an underactuated robot is a robot having fewer actuators than the number of joint degrees of freedom, and all underactuated robots have a trunk balance problem.

[0019] It should be understood that underactuated robots are more difficult to control than the other two types of robots due to instability and trunk balance problems. Taking the leg-wheeled robot as an example, it needs to be realized using linear and nonlinear control techniques, and its balance control is challenging.

[0020] In some embodiments, the motion control method provided by the embodiments of the present application is applied to an underactuated robot. Optionally, the motion control method provided by the embodiments of the present application is applied to a leg-wheeled robot. In the following, the underactuated robot is described as an example, and the redundant actuation robot and the fully actuated robot are similar and can be referred to, so they will not be described further.

[0021] FIG. 1 illustrates a leg-wheeled robot 10 according to an exemplary embodiment of the present application. The leg-wheeled robot 10 is a kind of underactuated robot. The leg-wheeled robot 10 combines the advantages of wheeled and legged robots, has high wheel energy efficiency and strong adaptability, and can use legs to avoid obstacles on uneven terrain. The leg-wheeled robot 10 is an unstable underactuated system, and there are only two contact points between the ground and the wheels / support legs, so the balance control of the leg-wheeled robot 10 is challenging because it is difficult to obtain trunk balance.

[0022] Exemplarily, the leg-wheel robot 10 includes a base unit 11, a wheel unit 12, and a tail unit 13, and the wheel unit 12 and the tail unit 13 are respectively power-transmittingly connected to the base unit 11. Optionally, the wheel unit 12 can be divided into left and right sides, and the left and right sides may be completely symmetrical or incompletely symmetrical.

[0023] For example, the wheel unit 12 includes a leg and a wheel. Here, the leg includes a thigh unit 121 and a crus unit 122, and the wheel includes a driving wheel 123. Taking the example in which the thigh unit 121 is made of two rods and the crus unit 122 is made of two rods, the two rods of the thigh unit 121, the two rods of the crus unit 122, and the base unit 11 constitute a planar five-joint link mechanism.

[0024] Optionally, the first motor 1241 is fixed to the base portion 11 and is used to supply driving force to the thigh unit 121 .

[0025] For example, in the case where the first motor 1241 includes two motors, the two rods of the thigh unit 121 are fixedly connected to the output shafts of the two motors of the first motor 1241, respectively, and the connection ends of the two rods of the thigh unit 121 and the two rods of the lower leg unit 122 are all connected in the form of a revolute pair, thus forming a planar five-bar link mechanism.

[0026] Optionally, a second motor 1242 is fixed to one bar of the lower leg unit 122 and is used to supply driving force to the drive wheel 123 .

[0027] 2, the driving of the drive wheel 123 can be realized in the following manner. The second motor 1242 drives the rotating shaft 02 of the drive wheel 123 by belt transmission, and the rotating shaft 02 is coaxial with the rotating pair between the two rods of the lower leg unit 122 in the axial direction. A torsion spring 01 is wound around the rotating shaft 02, and the arms of the torsion spring 01 are fixed to the two rods of the lower leg unit 122, respectively.

[0028] Optionally, a timing pulley 04 is attached to the output shaft of the second motor 1242, the timing pulley 04 is fixed to the rotating shaft 02, a drive wheel 123 is fixed to the other end of the rotating shaft 02, and a timing belt 03 is attached to the timing pulley 04, and the second motor 1242 drives the timing belt 03 to drive and rotate the timing pulley 04, thereby driving the rotation of the drive wheel 123.

[0029] Optionally, in the leg-wheel type robot 10 provided by the embodiment of the present application, the tail 13 includes a counterweight leg 131, a passive wheel 132, and a third motor 133. Here, the counterweight leg 131 realizes a balancing function during the motion of the leg-wheel type robot 10, and the third motor 133 is used to supply driving force to the passive wheel 132.

[0030] 3 to 5 respectively show a front view, a left side view and a plan view of the leg-wheel type robot 10 standing on two wheels. Fig. 6 shows a schematic perspective view of the leg-wheel type robot 10 with the counterweight leg 131 in a folded-in state.

[0031] In one selectable implementation scene, the leg-wheel robot 10 may be in a state of standing on three wheels. Here, when the leg-wheel robot 10 is in a state of standing on three wheels, Fig. 7 to Fig. 9 show a front view, a left side view, and a plan view of the leg-wheel robot 10 standing on three wheels, and Fig. 10 and Fig. 11 each show different perspective views of the leg-wheel robot 10 standing on three wheels.

[0032] Referring to FIG. 7, for example, assuming that the angle formed by the axial lines of the two bars of the thigh unit 121 is θ, when the position angle θ<180°, the mechanism can be in a self-stabilizing state.

[0033] In one possible implementation scenario, the leg-wheel robot 10 may have other configurations, and FIG. 12 shows an example of one configuration.

[0034] It should be understood that the leg-wheel robot 10 is a type of underactuated robot, and the following embodiments of the present application only take the leg-wheel robot 10 as an example. The specific structure and shape of the leg-wheel robot 10 can be designed according to actual conditions, and do not constitute a limitation on the present application.

[0035] In order to realize the balance of the leg-wheeled robot 10, it is usually necessary to perform a balance feedback control on the leg-wheeled robot 10. The balance feedback control is mainly to feed back the self-balance measurement value to the control system and make the final balance measurement value reach the standard.

[0036] For illustration, FIG. 13 is a schematic diagram of three spatial angles according to an exemplary embodiment of the present application, which performs balancing mainly by three spatial angles, namely pitch, yaw, and roll.

[0037] 13, a right-handed Cartesian coordinate system in three-dimensional space is constructed for the leg-wheeled robot 10, where the roll angle is the angle of rotation around the x-axis, which is a coordinate axis along the forward direction of the leg-wheeled robot 10, corresponds to the roll angle, and is hereinafter represented as θ. The pitch angle is the angle of rotation around the y-axis, which is a coordinate axis along the connection direction of the two wheels of the leg-wheeled robot 10, corresponds to the pitch angle, and is hereinafter represented as Φ. The yaw angle is the angle of rotation around the z-axis, which is a coordinate axis along the vertical upward direction, corresponds to the yaw angle, and is hereinafter represented as φ.

[0038] The balance control of the three spatial angular directions is explained respectively.

[0039] Pitch balance control The pitch angle represents the swing range of the leg-wheel robot 10 in the forward direction, i.e., the pitch angle represents the angle at which the leg-wheel robot 10 swings back and forth in the control direction of the wheel rotation, because there is only one contact point between each wheel and the moving surface, and the wheels of the leg-wheel robot 10 are arranged horizontally.

[0040] Control in the pitch direction is realized by a proportional-integral-derivative (PID) controller. Here, the leg-wheeled robot 10 is projected onto a two-dimensional plane to form a two-dimensional simplified model, and X represents the distance that the wheel center moves laterally in the two-dimensional simplified model. If the wheels do not spin freely and do not leave the ground, X is equal to the product of the wheel rotation angle and the wheel radius.

[0041] For example, (outside 1) TIFF2025515253000002.tif13121 represents the moving speed of the wheel center, (outside 2) TIFF2025515253000003.tif14122 represents the reference speed at which the wheel center moves, and θ represents the pitch angle of the leg-wheel robot 10, that is, the angle of rotation around the direction perpendicular to the paper surface in the two-dimensional simplified model. (Outside 3) TIFF2025515253000004.tif12120 represents the pitch angular velocity of the leg-wheel type robot 10, (outside 4) TIFF2025515253000005.tif14121 represents the reference value of the pitch angular velocity of the leg-wheeled robot 10, and τ represents the moment input to the wheel motor of the leg-wheeled robot 10. Here, θ, (outside 5) TIFF2025515253000006.tif12121 and (outside 6) TIFF2025515253000007.tif16124 is collected by a sensor. For example, θ and (outer 7) TIFF2025515253000008.tif12122 was acquired by an inertial sensor (IMU: Inertial Measurement Unit), (outside 8) TIFF2025515253000009.tif13123 is acquired by the wheel's Encoder sensor.

[0042] FIG. 14 shows a block diagram of the pitch direction balance control according to an exemplary embodiment of the present application. Here, the control reference value of the outermost layer is the moving speed reference value of the wheel center. (outer 9) The file is TIFF2025515253000010.tif16120.

[0043] First, the reference speed of the wheel center (Outside 10) TIFF2025515253000011.tif13123, that is, the speed that the wheel is about to reach is obtained based on the motion prediction, and the moving speed of the wheel center is calculated by the sensor. (Outside 11) Collect and obtain TIFF2025515253000012.tif14123, (Outside 12) TIFF2025515253000013.tif15125: Wheel center movement speed The result of subtraction from TIFF2025515253000014.tif32 is input to the PID controller 1410, and the PID controller 1410 (Outside 13) The output is TIFF2025515253000015.tif15121.

[0044] Next, (Outside 14) TIFF2025515253000016.tif15122 is used as the control reference quantity for the next control loop. (Outside 15) After subtracting θ from TIFF2025515253000017.tif13122, a pitch angle difference value is obtained, that is, a pitch angle difference value between the current pitch angle and the reference pitch angle, and the pitch angle difference value is input to the PID controller 1420; (Outside 16) You get TIFF2025515253000018.tif15122. Then, (Outside 17) TIFF2025515253000019.tif14123 is used as the control reference quantity for the next control loop, (Outside 18) TIFF2025515253000020.tif13121 (Outside 19) The result after subtraction from TIFF2025515253000021.tif14122 is input to the PID controller 1430, and τ is output by the PID controller 1430. By transmitting τ to the wheel motors of the leg-wheeled robot 10, balance control of the robot can be realized.

[0045] At the same time, the state of the leg-wheel robot 10 changes as the corresponding changes occur: θ, (outside 20) TIFF2025515253000022.tif14121, (outside 21) The values ​​of TIFF2025515253000023.tif17121 change correspondingly, and these values ​​are acquired by the sensors and then used to control the next round of the leg-wheeled robot 10, thereby forming a control closed loop.

[0046] The τ obtained by the above balance control can be used as the wheel rotation reference signal of the whole-body type controller of the leg-wheeled robot 10. There are various ways to calculate and generate the reference signal, and the methods in this application are merely illustrative examples. Other calculation and generation methods for obtaining τ do not constitute a limitation on this application.

[0047] On balance control of roll angle in roll direction Optionally, the roll angle represents the lateral swing width caused by the difference between the length of both legs of the leg-wheel robot or the height at which both legs are located, and an ideal angle is input to the PID controller, and the leg length of the leg-wheel robot is controlled based on the difference between the current roll angle and the ideal angle, thereby maintaining the same height that both legs of the leg-wheel robot reach to support the main body of the leg-wheel robot. Usually, the ideal angle is 0, and the PID controller calculates the leg length that needs to be changed with the current roll angle, calculates the change amount of the joint angle based on the leg length that needs to be changed, and controls the joint angle of the leg form accordingly.

[0048] For example, referring to FIG. (outside 22) TIFF2025515253000024.tif14122 and roll angle (outside 23) The difference between this and TIFF2025515253000025.tif12123 is input to a PID controller 1510, which outputs the change in leg length, thereby determining the amount of change in the joint angle based on the change in leg length, and this amount of change in the joint angle is input to the motor that controls the leg configuration to control the joint angle.

[0049] Yaw angle balance control The yaw angle represents the angle that the leg-wheel robot makes while rotating. In this embodiment, φ represents the yaw angle of the leg-wheel robot. (outside 24) TIFF2025515253000026.tif13122 shows the yaw angular velocity of a leg-wheel type robot. (Outside 25) TIFF2025515253000027.tif13120 shows the reference yaw angle for a leg-wheel type robot. (outside 26) TIFF2025515253000028.tif14121 represents the yaw angular velocity reference value of a leg-wheel type robot. (outside 27) TIFF2025515253000029.tif14122 and (outside 28) The difference with TIFF2025515253000030.tif16120 is input to a PID controller 1610, which outputs a moment increment Δτ, which is applied to the wheel motor, thereby changing the yaw angle of the leg-wheel robot.

[0050] According to the above, the present application provides a method for controlling the motion of a mobile robot, which can realize pseudo bipedal motion in the mobile robot. It should be understood that the pseudo bipedal motion is a walking motion that imitates a human being and alternates between the left and right legs, and the walking motion can be realized in various ways, such as alternate walking, stepping, etc. For example, the mobile robot performs stepping motion, and the landing positions of the first and second wheel parts of the mobile robot are maintained unchanged, and as another example, the mobile robot performs linear motion, curvilinear motion, obstacle overcoming motion, etc. with the walking steps of alternating, and the first and second wheel parts of the mobile robot are displaced based on different motions.

[0051] In some embodiments, the mobile robot is an underactuated robot. Here, an underactuated robot is a robot with fewer actuators than the number of joint degrees of freedom. Here, the wheel motors of the underactuated robot are used to control the rotational position of the wheels in the pitch direction, and also to control the balance of the attitude of the base unit and adjust the pitch attitude. This is based on the fact that the attitude of the base unit and the rotational distance of the wheels have a dynamic relationship, and the dynamic relationship between the two allows control to be realized based on the dynamic relationship.

[0052] For example, a two-wheeled balanced leg-wheel robot is a type of underactuated robot. Compared with traditional biped robots, this type of robot has a common characteristic, that is, the plane in which the legs can move is perpendicular to the base, that is, the motion plane of the legs has no freedom in the roll direction.

[0053] In the embodiment of the present application, the underactuated robot can be understood as a robot lacking one degree of freedom in space. Optionally, the underactuated robot provided by the embodiment of the present application is a leg-wheel type robot that realizes two-wheel balance, and the degree of freedom in the roll angle direction is lacking between the motion plane of the leg and the base. For example, the leg-wheel type robot includes a first wheel unit, a second wheel unit, and a base unit connected to the first wheel unit and the second wheel unit, and the motion plane of the legs of the first wheel unit and the second wheel unit is held perpendicular to the base unit.

[0054] For a biped robot, since the biped robot has feet, the biped robot is inherently balanced in the pitch direction. For an underactuated robot, since the motion plane of the single leg is in a fixed position (e.g., vertical) relationship with the base, the motion of the leg only has degrees of freedom in the roll and yaw directions, and lacks degrees of freedom in the pitch direction, and furthermore, the motion of the leg lacks rotational degrees of freedom in the roll direction.

[0055] Therefore, the bipedal robot motion control method cannot realize adjustment of the stable state of the robot's centroid in a specified direction, and therefore cannot be used to realize stepping motion generation and motion control for robots that have poor degrees of freedom in the roll angle direction between the motion plane of the legs and the base.

[0056] Taking pseudo bipedal motion as an example, a bipedal robot can generate a motion trajectory based on a zero moment point (ZMP), and such a motion trajectory generation method does not need to consider balance control in the pitch angle direction. In contrast, an underactuated robot needs to consider balance control in the pitch angle direction and the roll angle direction. For example, in the motion control method for an underactuated robot provided by the embodiment of the present application, the change in the centroid position and the change in the posture of the underactuated robot can be changed based on related information such as the change in the leg length of the underactuated robot and the contact force between the wheel and the ground, thereby realizing balance control of the underactuated robot and enabling the walking of pseudo bipedal motion to be applied to the underactuated robot.

[0057] It should be understood that the mobile robot according to the embodiment of the present application may be an underactuated robot. Furthermore, the mobile robot according to the embodiment of the present application is an underactuated robot capable of realizing two-wheel balance, for example, a leg-wheel type robot that realizes two-wheel balance. Here, this type of robot lacks the degree of freedom in the roll angle direction between the motion plane of the leg and the base. For example, the leg-wheel type robot includes a first wheel unit, a second wheel unit, and a base unit connected to the first wheel unit and the second wheel unit, and the motion plane of the legs of the first wheel unit and the second wheel unit is held perpendicular to the base unit.

[0058] FIG. 17 shows a flowchart of a method for controlling motion of a mobile robot according to an exemplary embodiment of the present application.

[0059] In some embodiments, the mobile robot is an underactuated robot.

[0060] Here, the mobile robot includes a first wheel unit having a telescopic leg unit, a second wheel unit having a telescopic leg unit, and a base unit connected to the first wheel unit and the second wheel unit. Referring to Fig. 1, taking the underactuated robot as an example of a leg-wheel type robot 10, the leg-wheel type robot 10 includes two wheel units 12, and these two wheel units 12 can be understood as a first wheel unit and a second wheel unit.

[0061] The tail 13 of the leg-wheeled robot 10 shown in Figure 1 is in an unfolded state, and the tail 13 of the leg-wheeled robot 10 shown in Figure 6 is in a stowed state. In some embodiments, the geometric midpoint of the passive wheels 132 of the tail 13 overlaps with the axial direction of the counterweight legs 131. In some embodiments, in the stowed state, the axial direction of the counterweight legs 131 of the tail 13 is parallel to the base 11. Illustratively, with the tail 13 in the stowed state, the forward direction of the leg-wheeled robot 10 is the direction pointing from the counterweight legs 131 to the passive wheels 132.

[0062] In all of the following embodiments, the first wheel unit is the wheel unit 12 located on the left side of the leg-wheel type robot 10 in the forward direction, and the second wheel unit is the wheel unit 12 located on the right side of the leg-wheel type robot 10 in the forward direction.

[0063] Here, the first wheel unit includes a first leg unit and a first wheel, the second wheel unit includes a second leg unit and a second wheel, and the first leg unit and the second leg unit both include a thigh unit 121 and a lower leg unit 122. It should be understood that the first leg unit and the second leg unit have a telescopic function, the first wheel unit corresponds to the first driving motor, the second wheel unit corresponds to the second driving motor, the first driving motor and the second driving motor are respectively used to drive the movements of different wheel units, and the specific driving manner can be referred to the above content and will not be further described.

[0064] It should be understood that the mobile robot according to the embodiment of the present application may be an underactuated robot. Furthermore, the mobile robot according to the embodiment of the present application is an underactuated robot capable of realizing two-wheel balance, for example, a leg-wheel type robot that realizes two-wheel balance. Here, this type of robot lacks the degree of freedom in the roll angle direction between the motion plane of the leg and the base. For example, the leg-wheel type robot includes a first wheel unit, a second wheel unit, and a base unit connected to the first wheel unit and the second wheel unit, and the motion plane of the legs of the first wheel unit and the second wheel unit is held perpendicular to the base unit.

[0065] In the following, it will be explained in detail that all of the mobile robots are underactuated robots.

[0066] Illustratively, the motion control method provided by the embodiment of the present application includes step 102 and step 104 .

[0067] In step 102, the first wheel section and the second wheel section are controlled to be in a standing equilibrium state.

[0068] Illustratively, the base portion is parallel to a horizontal reference plane in an upright equilibrium state.

[0069] Here, a reference plane is a set of parameters and control points for defining the three-dimensional shape of the Earth, and a horizontal reference plane is a type of reference plane, and any connection line between any point on the horizontal reference plane and the center of the Earth is perpendicular to the ground tangent line of that point.

[0070] In one selectable implementation scenario, the mobile robot is located on a flat ground, and the base is held parallel to the ground in a standing equilibrium state. In another selectable implementation scenario, the mobile robot is located on a slope, and the base is held parallel to a horizontal reference plane in a standing equilibrium state. In the mobile robot control scenario, it can be understood that the mobile robot may encounter various road conditions. For example, the road conditions include flat road conditions and slope road conditions. In the case where the mobile robot performs pseudo-bipedal movement, the base is held parallel to the ground in a flat road condition in both standing equilibrium states.

[0071] The standing equilibrium state may be understood as a state in which the mobile robot is in static or dynamic equilibrium, in which the base is held parallel to a horizontal reference plane and the mobile robot maintains trunk equilibrium. In some embodiments, the position of the mobile robot in the standing equilibrium state is held unchanged, i.e., no displacement occurs. In other embodiments, the mobile robot performs motion in the standing equilibrium state, i.e., displacement occurs. All of the following embodiments take as an example a case in which the mobile robot is held unchanged in the standing equilibrium state.

[0072] Taking the underactuated robot as an example, Fig. 18 shows a schematic diagram of a standing equilibrium state according to an exemplary embodiment of the present application. Here, the leg-wheel robot 10 includes a base unit 11, a first wheel unit 1201 and a second wheel unit 1202.

[0073] Referring to the above, the forward direction of the leg-wheel type robot 10 is the direction from the counterweight leg 131 to the passive wheel 132, and can also be understood as the direction from the passive wheel 132 into the paper. For example, the first wheel unit 1201 is a wheel unit located on the left side of the leg-wheel type robot 10 in the forward direction, and the second wheel unit 1202 is a wheel unit located on the right side of the leg-wheel type robot 10 in the forward direction.

[0074] 18, the leg-wheel robot 10 is located on flat ground, and in a standing equilibrium state, both the first wheel unit 1201 and the second wheel unit 1202 are on the ground, and the base unit 11 is held parallel to the ground. Optionally, the heights of the first wheel unit 1201 and the second wheel unit 1202 are the same, that is, the first wheel unit 1201 and the second wheel unit 1202 are in an equal height state in the standing equilibrium state. Therefore, when the underactuated robot is located on flat ground, the standing equilibrium state can also be understood as an equal height state.

[0075] In step 104, the mobile robot is controlled to perform pseudo-bipedal movement based on a standing equilibrium state.

[0076] For example, in the process of the pseudo bipedal movement, the first wheel portion and the second wheel portion land alternately, and the base portion tilts and swings.

[0077] Here, the pseudo bipedal movement is a walking movement that imitates humans and alternates between the left and right legs, and the walking movement can be realized in various ways, such as alternate walking, stepping, etc. For example, the mobile robot performs stepping movement, and the landing positions of the first and second wheel units of the mobile robot are kept unchanged, and as another example, the mobile robot performs linear movement, curvilinear movement, obstacle-surmounting movement, etc. with alternating walking steps, and the first and second wheel units of the mobile robot are displaced based on different movements.

[0078] Taking the pseudo-bipedal movement as an example, in the process of stepping, the first wheel unit and the second wheel unit imitate the human biped and perform an alternating lifting motion to realize stepping.

[0079] According to the above, the first wheel unit and the second wheel unit have telescopic legs. For example, the first wheel unit includes a first leg unit and the second wheel unit includes a second leg unit. The alternate landing of the first wheel unit and the second wheel unit and the tilting and swinging of the base unit can be realized by the alternate telescopic movement of the first leg unit and the second leg unit.

[0080] For example, in a standing equilibrium state, the first leg is controlled to be shortened and the second leg is controlled to be extended, and the base is tilted in a first direction, and the first and second wheel parts continue to maintain a landing state. Thereafter, the first leg is controlled to be extended and the second leg is controlled to be shortened, and the second wheel part is lifted and lifted off the ground. After a certain period of time during which the first leg continues to be extended and the second leg continues to be contracted, the second wheel part again changes from a state of being lifted off the ground to a landing state, and the base also returns to a state parallel to the horizontal reference plane, that is, the mobile robot returns to a standing equilibrium state. Thereafter, the first leg is controlled to be continuously extended and the second leg is controlled to be continuously shortened, and the base is tilted in a second direction, and the first and second wheel parts continue to maintain a landing state, and the first and second directions are opposite to each other. Thereafter, the first leg can be controlled to shorten and the second leg to extend, so that the first wheel unit is lifted and raised off the ground, and after a certain period of time during which the first leg continues to shorten and the second leg continues to extend, the first wheel unit again changes from a state of being lifted off the ground to a landing state, and the base unit also returns to a state parallel to the horizontal reference plane, i.e., the mobile robot returns to a standing equilibrium state.

[0081] Based on the above process, the mobile robot completes one period of stepping motion. Then, the mobile robot can perform multiple periods of stepping motion by repeatedly controlling based on the process given above.

[0082] As can be seen from the above description, the mobile robot motion control method provided in the embodiment of the present application realizes controlling the mobile robot to perform pseudo-bipedal motion through a standing equilibrium state by using a first wheel unit with telescopic legs and a second wheel unit with telescopic legs, thereby providing a new motion mode for the mobile robot, where the pseudo-bipedal motion has relatively high terrain adaptability, relatively strong application value, and relatively strong robustness and stability.

[0083] Based on FIG. 17, FIG. 19 is a flowchart of a motion control method for a mobile robot according to an exemplary embodiment of the present application, in which step 104 may be realized as step 1041, step 1042, step 1043 and step 1044, and the pseudo-bipedal motion of the mobile robot is divided into a standing equilibrium state, a first tilt state, a standing equilibrium state, a second tilt state and a standing equilibrium state, and transitions therethrough repeatedly.

[0084] Taking the first wheel unit as an example, where the first wheel unit includes a first leg unit and a first wheel, and the second wheel unit includes a second leg unit and a second wheel, FIG. 20 is a motion exploded view of the pseudo-bipedal movement according to an exemplary embodiment of the present application.

[0085] In some embodiments, the mobile robot is an underactuated robot.

[0086] Taking an underactuated robot moving on flat ground as an example, when the underactuated robot needs to be controlled to perform pseudo-bipedal movement, the first and second wheel units are first controlled to be in a standing equilibrium state, where the first and second wheels land on the ground and the base unit is held parallel to the ground.

[0087] Alternatively, for example, the first wheel unit is located in a first direction of the base unit and the second wheel unit is located in a second direction of the base unit, and the pseudo-bipedal motion of the underactuated robot can be realized as follows.

[0088] In step 1, the underactuated robot is controlled to change from a standing equilibrium state to a first tilted state.

[0089] For example, in a standing equilibrium state, the first leg of the first wheel unit is controlled to shorten and the second leg of the second wheel unit is controlled to extend, thereby changing the underactuated robot into a first inclined state.

[0090] During the extension and retraction of the first and second legs, the base gradually tilts from a horizontal state parallel to the ground toward the first direction, and both the first and second wheels land on the ground.

[0091] 20, the underactuated robot is located on a flat road. In the standing equilibrium state, the underactuated robot maintains a static equilibrium, and the height of the first wheel unit and the second wheel unit are the same, so that the base unit is maintained parallel to the ground.

[0092] Then, the motor drives the first wheel section and the second wheel section to control the first leg section to shorten and the second leg section to extend. At this time, since the first leg section and the second leg section are connected to the base section, the base section is tilted, and the base section tilts from a horizontal state parallel to the ground to a first direction. At the same time, the first wheel section and the second wheel section are controlled to be maintained in a landing state.

[0093] In step 2, the underactuated robot changes from the first tilted state to the first single-wheel landing state.

[0094] For example, in a first tilted state, the first leg of the first wheel unit is controlled to extend and the second leg of the second wheel unit is controlled to shorten, thereby changing the underactuated robot into a first single-wheel landing state.

[0095] Here, the first single wheel landing state is a state in which the first wheel lands and the second wheel is lifted up.

[0096] Referring to FIG. 20, in the process of the first leg being retracted and the second leg being extended, the first and second wheels are always maintained in the landing state. Optionally, when the inclination of the torso of the underactuated robot satisfies the state switching condition, the first and second wheels are driven by the motor to control the first leg to be extended and the second leg to be shortened. It should be understood that at the time when the state switching condition is satisfied, the inclination angle of the base in the first direction reaches a maximum. When changing from the first inclined state to the first single-wheel landing state, the first leg is extended and the second leg is shortened at the same time, and the base gradually inclines in the second direction.

[0097] Then, due to the change in length of the first leg and the second leg, the first wheel is still kept in the grounded state, while the second wheel is lifted up and lifted off the ground. At this time, the underactuated robot still keeps the balance of the trunk, and the tilt angle of the base part in the first direction gradually decreases with the extension and contraction of the first leg and the second leg.

[0098] In step 3, the underactuated robot is controlled to return from the first single-wheel landing state to a standing equilibrium state.

[0099] For example, in the first single-wheel landing state, the first leg is controlled to be continuously extended and the second leg is controlled to be continuously shortened, thereby returning the underactuated robot from the first single-wheel landing state to a standing equilibrium state.

[0100] During the extension and retraction of the first and second legs, the base gradually tilts in the second direction until it returns to a horizontal state parallel to the ground, and the second wheel returns from the raised state to the grounded state.

[0101] 20, with the first leg continuing to extend and the second leg continuing to shorten, the change in length of the first and second legs causes the base to tilt in the second direction, so that the tilt angle of the base in the first direction is gradually reduced until it returns to being parallel to the ground. At this time, the second wheel returns from the lifted state to the grounded state, thereby returning the underactuated robot to a standing equilibrium state.

[0102] In the embodiment of the present application, during the process of the single wheel landing state, another raised single wheel can be raised, moved forward, or moved backward, thereby realizing the motion control of the robot.

[0103] In step 4, the underactuated robot is controlled to change from the standing equilibrium state to a second tilted state.

[0104] For example, in a standing equilibrium state, the first leg of the first wheel unit is controlled to extend and the second leg of the second wheel unit is controlled to shorten, thereby changing the underactuated robot into a second inclined state.

[0105] During the extension and retraction of the first and second legs, the base gradually tilts from a horizontal state parallel to the ground toward the second direction, and both the first and second wheels land on the ground.

[0106] 20, after the underactuated robot returns to a standing equilibrium state, the first wheel unit and the second wheel unit can be driven to control the first leg to extend and the second leg to shorten. At this time, the first leg and the second leg are connected to the base unit, so that the base unit is tilted, and the base unit is tilted from a horizontal state parallel to the ground to a second direction. At the same time, the first wheel and the second wheel are controlled to be maintained in a landing state.

[0107] In step 5, the underactuated robot changes from the second tilted state to the second single-wheel landing state.

[0108] For example, in the second tilted state, the first leg of the first wheel unit is controlled to shorten and the second leg of the second wheel unit is controlled to extend, thereby changing the underactuated robot into a second single-wheel landing state.

[0109] Here, the second single wheel landing state is a state in which the first wheel is lifted and the second wheel is landed.

[0110] Referring to FIG. 20, in the process of extending the first leg and retracting the second leg, the first wheel and the second wheel are always maintained in the landing state. Optionally, when the inclination of the torso of the underactuated robot satisfies the state switching condition, the first wheel and the second wheel are driven by the motor to control the first leg to be retracted and the second leg to be extended. It should be understood that at the time when the state switching condition is satisfied, the inclination angle of the base in the second direction reaches a maximum. When changing from the second inclined state to the second single-wheel landing state, the first leg is retracted and the second leg is extended at the same time, and the base gradually inclines in the first direction.

[0111] Then, due to the change in length of the first leg and the second leg, the second wheel still keeps the grounded state, while the first wheel is lifted up and lifted off the ground. At this time, the underactuated robot still keeps the balance of the trunk, and the tilt angle of the base part in the second direction gradually decreases with the extension and contraction of the first leg and the second leg.

[0112] In step 6, the underactuated robot is controlled to return from the second single wheel landing state to a standing equilibrium state.

[0113] For example, in the second single-wheel landing state, the first leg is controlled to continuously shorten and the second leg is controlled to continuously extend, thereby returning the underactuated robot from the second single-wheel landing state to a standing equilibrium state.

[0114] Here, during the extension and retraction of the first leg and the second leg, the base gradually tilts in the first direction until it returns to a horizontal state parallel to the ground, and the first wheel changes from a landing state to a lifted state and then returns to the landing state again.

[0115] 20, with the first leg continuing to shorten and the second leg continuing to extend, the change in length of the first and second legs causes the base to tilt in the first direction, so that the tilt angle of the base in the second direction gradually decreases until it returns to being parallel to the ground. At this time, the first wheel returns from the lifted state to the grounded state, thereby returning the underactuated robot to a standing equilibrium state.

[0116] In the above process, one motion cycle of the pseudo-bipedal motion of the underactuated robot is given, in which the base part gradually becomes parallel to the ground, tilts in a first direction, returns to being parallel to the ground, tilts in a second direction, and returns to being parallel to the ground, thereby generating a tilt swing of the base part.

[0117] It should be understood that the six steps given in the above process can be repeated to achieve multiple motion cycles of pseudo-bipedal motion, which will not be further described.

[0118] Referring to FIG. 19, taking an example in which the first wheel part is located in a first direction of the base part and the second wheel part is located in a second direction of the base part, steps 1041, 1042, 1043 and 1044 are specifically as follows:

[0119] In step 1041, the mobile robot is controlled to change from a standing equilibrium state to a first tilt state.

[0120] Exemplarily, the first tilted state is a state in which the base portion is tilted in a first direction.

[0121] In some embodiments, the mobile robot is an underactuated robot.

[0122] Taking the underactuated robot as an example, FIG. 21 shows a schematic diagram of a first tilt state according to an exemplary embodiment of the present application. Here, the leg-wheel robot 10 includes a base unit 11, a first wheel unit 1201 and a second wheel unit 1202.

[0123] Referring to the above, the forward direction of the leg-wheel type robot 10 is the direction from the counterweight leg 131 to the passive wheel 132, which can also be understood as the direction in which the passive wheel 132 points onto the paper. For example, the first wheel unit 1201 is a wheel unit located on the left side of the leg-wheel type robot 10 in the forward direction, and the second wheel unit 1202 is a wheel unit located on the right side of the leg-wheel type robot 10 in the forward direction.

[0124] Referring to FIG. 21, the leg-wheel robot 10 is located on a flat ground, in a first tilt state, the first wheel unit 1201 and the second wheel unit 1202 are both on the ground, and the base unit 11 is tilted in a first direction. Here, the base unit 11 tilts in the first direction, which results in the body of the leg-wheel robot 10 being tilted. In some embodiments, the base unit 11 tilts in the first direction, which results in the body of the leg-wheel robot 10 being tilted in the first direction. Optionally, the tilt angle of the leg-wheel robot 10 is used to indicate the tilt angle of the body of the leg-wheel robot 10. Referring to FIG. 21, the tilt angle is used to indicate the included angle between the base unit 11 and the horizontal plane of the ground.

[0125] Alternatively, step 1041 may be implemented as follows.

[0126] In order to put the underactuated robot into a first tilted state, the first leg of the first wheel unit is controlled to be shortened and the second leg of the second wheel unit is controlled to be extended.

[0127] During the extension and retraction of the first and second legs, the base gradually tilts from a horizontal state parallel to the horizontal reference plane toward the first direction, and both the first and second wheels land on the ground.

[0128] In this embodiment, during the extension and retraction process of the first leg and the second leg, both the first wheel and the second wheel land on the ground, thereby ensuring the stability of the entire robot body during the extension and retraction process, and thereby ensuring stability in the robot's motion control process.

[0129] In one selectable realization scenario, the mobile robot is located on a flat ground, and in a standing equilibrium state, the height of the first leg and the second leg are equal. Then, by controlling the first leg to shorten and the second leg to extend, the height of the first leg becomes lower and the height of the second leg becomes higher.

[0130] In another selectable realization scene, the mobile robot is located on a slope, and the heights of the first leg and the second leg are different in a standing equilibrium state. Taking the first leg as an example, in the process of controlling the first leg to shorten and the second leg to extend, the height of the first leg in a first period is still higher than that of the second leg. If the first leg is continuously controlled to shorten and the second leg to extend, at a certain time after the first period has elapsed, the heights of the first leg and the second leg may become equal. After that, if the first leg is continuously controlled to shorten and the second leg to extend, the height of the first leg in a second period becomes lower than that of the second leg, and the second period is a period after the first period.

[0131] In step 1042, the mobile robot is controlled to return from the first tilted state to a standing equilibrium state.

[0132] For example, in the process of the mobile robot returning from the first tilted state to the standing equilibrium state, the first wheel of the first wheel unit lands on the ground and the second wheel of the second wheel unit lifts up.

[0133] Referring to the above, in the process of the mobile robot returning from the first tilted state to the standing equilibrium state, the first wheel is kept in the landing state, and the second wheel goes through the sequential changes of landing, lifting, and returning to the landing state. Here, when the first wheel lands and the second wheel lifts, the state of the mobile robot can be regarded as the first single-wheel landing state.

[0134] Optionally, step 1042 may be implemented as follows.

[0135] The first leg of the first wheel unit is controlled to extend and the second leg of the second wheel unit is controlled to shorten so that the mobile robot is in a first single wheel landing state, the first single wheel landing state being a state in which the first wheel has landed and the second wheel has been lifted.

[0136] The underactuated robot is controlled to continuously extend the first leg and continuously shorten the second leg so that the robot returns from the first single-wheel landing state to a standing equilibrium state.

[0137] Here, during the extension and retraction of the first leg and the second leg, the base gradually tilts in the second direction until it returns to a horizontal state parallel to the horizontal reference plane, and the second wheel changes from a landing state to a lifted state and then returns to the landing state again.

[0138] In some embodiments, the mobile robot is an underactuated robot.

[0139] Taking the underactuated robot as an example, Fig. 22 shows a schematic diagram of a first single wheel landing state according to an exemplary embodiment of the present application. Here, the leg-wheel robot 10 includes a base unit 11, a first wheel unit 1201 and a second wheel unit 1202, and the forward direction of the leg-wheel robot 10 is the direction from the counterweight leg 131 to the passive wheel 132.

[0140] 22, in the first single-wheel landing state, the first wheel unit 1201 lands, the second wheel unit 1202 rises, and the base unit 11 tilts in the first direction. Here, the tilt of the base unit 11 in the first direction causes the torso of the leg-wheel type robot 10 to tilt. In some embodiments, the tilt of the base unit 11 in the first direction also causes the torso of the leg-wheel type robot 10 to tilt in the first direction.

[0141] In one possible realization scenario, the mobile robot is located on a flat ground, and the length of the first leg is the same as the height of the second leg in the standing equilibrium state. In this case, in the process of the mobile robot returning from the first tilt state to the standing equilibrium state, the heights of the first leg and the second leg change, and the change can also be measured using the lengths of the first leg and the second leg.

[0142] Optionally, when the length of the first leg and the length of the second leg are the same in a standing equilibrium state (i.e., the mobile robot is located on flat ground), the mobile robot is in a first single-wheel landing state within a first length of time, where: During the first length of time, the length of the first leg is less than the length of the second leg.

[0143] At the end of the first time period, the first leg and the second leg are the same length.

[0144] Here, before the initial time point of the first time period, the mobile robot is still in the first tilt state, the length of the first leg is much smaller than the length of the second leg, and the tilt angle of the base in the first direction reaches a maximum as the length of the first leg is shortened to a minimum and the length of the second leg is extended to a maximum.

[0145] Then, at the beginning of the first time length, the first leg is controlled to extend and the second leg is controlled to shorten, where the length of the first leg is still less than the length of the second leg. As time passes, as the first leg continues to extend and the second leg continues to shorten, the difference between the lengths of the first leg and the second leg is gradually reduced, until at the end of the first time length, the first leg and the second leg have the same length.

[0146] In step 1043, the mobile robot is controlled to change from the standing equilibrium state to a second tilted state.

[0147] Exemplarily, the second tilted state is a state in which the base portion is tilted in the second direction.

[0148] In some embodiments, the mobile robot is an underactuated robot.

[0149] Taking the underactuated robot as an example, Fig. 23 shows a schematic diagram of the second tilt state according to an exemplary embodiment of the present application. Here, the leg-wheel robot 10 includes a base unit 11, a first wheel unit 1201 and a second wheel unit 1202, and the forward direction of the leg-wheel robot 10 is the direction from the counterweight leg 131 to the passive wheel 132.

[0150] 23, the leg-wheel robot 10 is located on flat ground, and in the second tilted state, both the first wheel unit 1201 and the second wheel unit 1202 land, and the base unit 11 tilts in the second direction. Here, the base unit 11 tilts in the second direction, causing the body of the leg-wheel robot 10 to tilt.

[0151] Alternatively, step 1043 may be implemented as follows.

[0152] The underactuated robot is controlled to extend the first leg of the first wheel unit and to retract the second leg of the second wheel unit so that the underactuated robot is in a second tilted state.

[0153] During the extension and retraction of the first and second legs, the base gradually tilts from a horizontal state parallel to the horizontal reference plane toward the second direction, and both the first and second wheels land on the ground.

[0154] In one selectable realization scenario, the mobile robot is located on a flat ground, and the first leg and the second leg are equal in height after returning to a standing equilibrium state. Then, the first leg is controlled to extend and the second leg is controlled to shorten so that the height of the first leg is high and the height of the second leg is low.

[0155] In another selectable realization scene, the mobile robot is located on a slope, and the heights of the first leg and the second leg are different after returning to the standing equilibrium state. Taking the first leg as an example, in the process of controlling the first leg to extend and the second leg to shorten, the height of the first leg in the third period is still higher than the height of the second leg, the third period is the period after the second period, and the description of the second period can be referred to the above. If the first leg continues to be controlled to extend and the second leg to shorten, at a certain time after the third period has passed, the heights of the first leg and the second leg may become equal. After that, if the first leg continues to be controlled to extend and the second leg to shorten, the height of the first leg in the fourth period will be lower than the height of the second leg, and the fourth period is the period after the third period.

[0156] In step 1044, the mobile robot is controlled to return from the second tilted state to the standing equilibrium state.

[0157] For example, in the process in which the mobile robot returns from the second tilted state to the standing equilibrium state, the second wheel lands and the first wheel lifts up.

[0158] Referring to the above, in the process of the mobile robot returning from the second tilted state to the standing equilibrium state, the second wheel is maintained in the landing state, and the first wheel goes through the sequential changes of landing, lifting, and returning to the landing state. Here, when the first wheel is lifted and the second wheel is landed, the state of the mobile robot can be regarded as the second single-wheel landing state.

[0159] Optionally, step 1044 may be implemented as follows.

[0160] The first leg of the first wheel unit is controlled to be shortened and the second leg of the second wheel unit is controlled to be extended so that the mobile robot is in a second single wheel landing state, the second single wheel landing state being a state in which the first wheel is lifted and the second wheel is landed.

[0161] The underactuated robot is controlled to continuously shorten the first leg and continuously extend the second leg so that the robot returns from the second single-wheel landing state to a standing equilibrium state.

[0162] Here, during the extension and retraction of the first leg and the second leg, the base gradually tilts in the first direction until it returns to a horizontal state parallel to the horizontal reference plane, and the first wheel changes from a landing state to a lifted state and then returns to the landing state again.

[0163] In some embodiments, the mobile robot is an underactuated robot.

[0164] In the above embodiment, the inclination of the mobile robot can be controlled relatively gently and accurately by controlling the lengths of the first leg and the second leg.

[0165] Taking the underactuated robot as an example, Fig. 24 shows a schematic diagram of the second single wheel landing state according to an exemplary embodiment of the present application. Here, the leg-wheel robot 10 includes a base unit 11, a first wheel unit 1201 and a second wheel unit 1202, and the forward direction of the leg-wheel robot 10 is the direction from the counterweight leg 131 to the passive wheel 132.

[0166] 24, in the second single wheel landing state, the first wheel unit 1201 is lifted, the second wheel unit 1202 lands, and the base unit 11 tilts in the second direction. Here, the base unit 11 tilts in the second direction, causing the body of the leg-wheel robot 10 to tilt.

[0167] In one selectable realization scenario, the mobile robot is located on a flat ground, and the length of the first leg is the same as the height of the second leg in the standing equilibrium state. In this case, in the process of the mobile robot returning from the second tilt state to the standing equilibrium state, the heights of the first leg and the second leg change, and the change can also be measured using the lengths of the first leg and the second leg.

[0168] Optionally, when the length of the first leg and the length of the second leg are the same in a standing equilibrium state (i.e., the mobile robot is located on flat ground), the mobile robot is in a second single-wheel landing state within a second length of time, where: Within the second period of time, the length of the first leg is greater than the length of the second leg.

[0169] At the end of the second time period, the first leg and the second leg are the same length.

[0170] Here, before the initial time point of the second time period, the mobile robot is still in the second tilt state, where the length of the first leg is much longer than the length of the second leg, and the tilt angle of the base in the second direction reaches a maximum as the length of the first leg is extended to its maximum and the length of the second leg is shortened to its minimum.

[0171] Then, at the beginning of the second time period, the first leg is controlled to shorten and the second leg is controlled to lengthen, with the first leg still being longer than the second leg. As time passes, as the first leg continues to shorten and the second leg continues to lengthen, the difference between the lengths of the first and second legs gradually decreases, until at the end of the second time period, the first and second legs are the same length.

[0172] Taking the first tilt state as an example of a left tilt state and the second tilt state as a right tilt state, Fig. 25 is a motion decomposition diagram of the pseudo bipedal movement according to an exemplary embodiment of the present application, where the left vertical line in the figure is used to indicate the left wheel part, the right vertical line is used to indicate the right wheel part, and the area enclosed by the two vertical lines and the two horizontal lines is used to indicate the base part.

[0173] Referring to FIG. 25, taking the mobile robot located on flat ground as an example, pseudo-bipedal motion can be realized as follows.

[0174] The left and right wheel sections are controlled to be at the same height so that the base section is maintained parallel to the ground.

[0175] The base unit tilts to the left as the wheels on both sides extend and retract by controlling the legs of the left wheel unit to shorten and extend, respectively. At the same time, the wheels of both wheel units are controlled to be kept in a grounded state so that the mobile robot gradually changes from an equal height state to a left-tilted state. Optionally, when the tilt angle of the mobile robot reaches a first limit value, the control of the extension and retraction of both wheel units is stopped to prevent the mobile robot from rolling sideways. Here, the first limit value of the tilt angle of the mobile robot may be set according to actual needs, and is determined according to, for example, the mass of the mobile robot and the change in the length of the legs of the wheels on both sides.

[0176] When the tilt angle of the mobile robot reaches a first limit value, the legs of the left wheel unit are controlled to extend and the legs of the right wheel unit are controlled to shorten. At this time, the wheels of the right wheel unit are lifted and the mobile robot enters a first single-wheel landing state. With the extension of the legs of the left wheel unit and the shortening of the legs of the right wheel unit, the lengths of the legs of the wheel units on both sides become the same at the end of the first single-wheel landing state, and the mobile robot also returns from the first single-wheel landing state to a standing equilibrium state. At this time, due to the extension and contraction of the wheels on both sides, the base unit also returns from its left tilt to parallel to the ground.

[0177] Similarly to the left-tilt state, after the mobile robot returns to the standing equilibrium state, the legs of the left wheel part are extended and the legs of the right wheel part are shortened so that the base part tilts to the right with the extension and contraction of the wheels on both sides. At the same time, the wheels of both wheel parts are controlled to be kept in a landing state so that the mobile robot gradually changes from the equal height state of the wheels on both sides to a right-tilt state. Optionally, when the tilt angle of the mobile robot reaches a second limit value, the extension and contraction control of the wheels on both sides is stopped to prevent the mobile robot from rolling sideways. Here, the second limit value of the tilt angle of the mobile robot may be set according to actual needs, and is determined according to, for example, the mass of the mobile robot and the change in the length of the legs of the wheels on both sides.

[0178] When the tilt angle of the mobile robot reaches a second limit value, the legs of the left wheel unit are controlled to shorten and the legs of the right wheel unit are controlled to extend. At this time, the wheels of the left wheel unit are lifted and the mobile robot enters a second single-wheel landing state. As the legs of the left wheel unit shorten and the legs of the right wheel unit extend, the lengths of the legs of the wheel units on both sides become the same at the end of the second single-wheel landing state, and the mobile robot also returns from the second single-wheel landing state to a standing equilibrium state. At this time, due to the extension and contraction of the wheels on both sides, the base unit also returns from its right-side tilt to being parallel to the ground.

[0179] As can be seen from the above description, the method for controlling the movement of a mobile robot provided by the embodiment of the present application provides a specific process of one movement cycle of pseudo bipedal movement, where the pseudo bipedal movement of the mobile robot can be realized and the flexibility of the mobile robot can be improved by controlling the extension and retraction of the first wheel unit with the telescopic legs and the second wheel unit with the telescopic legs.

[0180] On the state switching conditions in pseudo-bipedal locomotion processes According to the above, in order to realize motion control for pseudo bipedal motion of a mobile robot, state switching can be performed by the mobile robot when different conditions are met.

[0181] Optionally, when the tilt angle of the mobile robot reaches a specified limit width, the state of the mobile robot is switched. Here, the tilt angle of the mobile robot is used to indicate the included angle between the plane on which the base unit is located and a plane parallel to the horizontal reference plane. Referring to FIG. 25, taking the mobile robot located on flat ground as an example, the tilt angle of the mobile robot can be understood to be the included angle between a first plane and a second plane. Here, the first plane is the plane on which the base unit is located, and the second plane is the plane parallel to the ground. By controlling the tilt angle of the mobile robot so as not to exceed the limit width, it is possible to prevent the mobile robot from tilting too much and tipping over, and also to ensure the stability of the motion control process.

[0182] The tilt angle of the mobile robot can be selectively used as a state switching condition, which specifically includes the following four situations:

[0183] In situation 1, the tilt angle of the mobile robot reaches a first limit width.

[0184] Optionally, step 1041 can be realized as follows: When the tilt angle of the mobile robot reaches a first limit width, the mobile robot is controlled to change from a standing equilibrium state to a first tilt state.

[0185] Taking the mobile robot located on flat ground as an example, Fig. 26 shows a schematic diagram of a change from a standing equilibrium state to a first tilted state according to an exemplary embodiment of the present application. When the mobile robot is in a standing equilibrium state, the first wheel unit and the second wheel unit are at the same height. Then, the first wheel unit is controlled to be shortened and the second wheel unit is controlled to be extended. In this process, the mobile robot undergoes a posture change, and the base unit is tilted toward the first direction where the first wheel unit is located.

[0186] For example, the control of the shortening of the first wheel part and the extension of the second wheel part needs to satisfy the condition that the tilt angle of the mobile robot reaches a first limit width θ1. Referring to Fig. 26, θ1 may be 0 degrees, that is, the base part is parallel to the ground. In another selectable realization scene, the mobile robot is located on a slope, and θ1 may still be 0 degrees, at which time the base part is no longer held parallel to the ground.

[0187] In situation 2, the tilt angle of the mobile robot reaches a second limit width.

[0188] Optionally, step 1042 can be realized as follows: When the tilt angle of the mobile robot reaches a second limit width, control the mobile robot to return from the first tilt state to a standing equilibrium state.

[0189] Taking the mobile robot located on a flat ground as an example, FIG. 27 shows a schematic diagram of returning from a first tilted state to a standing equilibrium state according to an exemplary embodiment of the present application. Referring to FIG. 26, in the first tilted state, the first wheel unit and the second wheel unit land, and then the first wheel unit is controlled to extend and the second wheel unit is controlled to shorten so that the mobile robot changes from the first tilted state to a first single-wheel landing state. The left side of FIG. 27 shows the first single-wheel landing state after changing from the first tilted state, in which the first wheel unit lands and the second wheel unit lifts up. Then, the first wheel unit is controlled to extend and the second wheel unit is controlled to shorten. In this process, the mobile robot undergoes a posture change, and the base unit tilts in the second direction where the second wheel unit is located until it returns to being parallel to the ground.

[0190] For example, the control to extend the first wheel part and shorten the second wheel part needs to satisfy the condition that the tilt angle of the mobile robot reaches the second limit width θ2. With reference to Fig. 26 and Fig. 27, when the tilt angle of the mobile robot reaches θ1, the mobile robot is controlled to change from the standing equilibrium state to the first tilt state. When the tilt angle of the mobile robot reaches θ2, the mobile robot is controlled to change from the first tilt state to the first single wheel landing state until it returns to the standing equilibrium state.

[0191] It should be understood that the value of θ2 may be set according to actual needs.

[0192] For example, the mechanical structure and mass distribution of the mobile robot are combined, and the deflection range of the center of the pseudo bipedal motion process of the mobile robot projected on the ground is calculated based on the change in the magnitude and change speed of the leg length of the first wheel unit and the second wheel unit. Here, the deflection range affects the posture change of the mobile robot, and the value of θ2 can be determined based on the calculated deflection range. For example, the value of θ2 is one of 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, 35 degrees, 40 degrees, and 45 degrees.

[0193] In situation 3, the tilt angle of the mobile robot reaches the third limit width.

[0194] Optionally, step 1043 can be realized as follows: When the tilt angle of the mobile robot reaches a third limit width, control the mobile robot to change from the standing equilibrium state to a second tilt state.

[0195] Taking the mobile robot located on a flat ground as an example, Fig. 28 shows a schematic diagram of a change from a standing equilibrium state to a second tilted state according to an exemplary embodiment of the present application. After returning to the standing equilibrium state, the first wheel unit and the second wheel unit return to the same height. Then, the first wheel unit is controlled to extend and the second wheel unit is controlled to shorten. During this process, the mobile robot undergoes a posture change, and the base unit tilts toward the second direction where the second wheel unit is located.

[0196] For example, the implementation of controlling the first wheel part to be extended and the second wheel part to be shortened needs to satisfy the condition that the tilt angle of the mobile robot reaches the third limit width θ3. Referring to FIG. 28, similar to the first limit width, θ3 may be 0 degrees, that is, the base part is parallel to the ground. In another selectable implementation scene, the mobile robot is located on a slope, and θ3 may still be 0 degrees, at which time the base part is no longer held parallel to the ground.

[0197] In situation 4, the tilt angle of the mobile robot reaches a fourth limit width.

[0198] Optionally, step 1044 can be implemented as follows: When the tilt angle of the mobile robot reaches a fourth limit width, control the mobile robot to return from the second tilt state to a standing equilibrium state.

[0199] Taking the mobile robot located on the flat ground as an example, FIG. 29 shows a schematic diagram of returning from the second tilt state to the standing equilibrium state according to an exemplary embodiment of the present application. Referring to FIG. 28, in the second tilt state, the first wheel unit and the second wheel unit land, and then the first wheel unit is controlled to be shortened and the second wheel unit is controlled to be extended so that the mobile robot changes from the second tilt state to the second single-wheel landing state. The left side of FIG. 29 shows the second single-wheel landing state after changing from the second tilt state, in which the first wheel unit is lifted and the second wheel unit lands. Then, the first wheel unit is controlled to be shortened and the second wheel unit is controlled to be extended. In this process, the mobile robot undergoes a posture change, and the base unit tilts in the first direction where the first wheel unit is located until it returns to being parallel to the ground.

[0200] For example, the implementation of controlling the first wheel unit to shorten and the second wheel unit to extend needs to satisfy the condition that the tilt angle of the mobile robot reaches a fourth limit width θ4. Referring to Figures 26 and 27, similar to the second limit width, when the tilt angle of the mobile robot reaches θ3, the mobile robot is controlled to change from the standing equilibrium state to the second tilt state. When the tilt angle of the mobile robot reaches θ4, the mobile robot is controlled to change from the second tilt state to the second single wheel landing state until it returns to the standing equilibrium state.

[0201] It should be understood that the value of θ4 may be set according to actual needs.

[0202] For example, the mechanical structure and mass distribution of the mobile robot are combined, and the deflection range of the center of the pseudo bipedal motion process of the mobile robot projected on the ground is calculated based on the change in the magnitude and change speed of the leg length of the first wheel unit and the second wheel unit. Here, the deflection range affects the posture change of the mobile robot, and the value of θ4 can be determined based on the calculated deflection range. For example, the value of θ4 is one of 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, 35 degrees, 40 degrees, and 45 degrees.

[0203] On the classification of pseudo-bipedal movements According to the above, it should be understood that the pseudo bipedal movement is a walking movement that imitates a human being by moving the left and right legs alternately, and the walking movement can be specifically realized in various ways such as alternate walking, stepping, etc. Optionally, the pseudo bipedal movement is: Footstep exercise, linear motion, curved motion, Stepping and rotating movements, and At least one of the following exercises involves overcoming obstacles:

[0204] Here, the stepping motion can be understood as a motion in which the mobile robot does not displace, and in the process of the mobile robot performing the stepping motion, the landing positions of the first and second wheel units of the mobile robot are maintained so as not to change. Linear motion, curvilinear motion, and motion to overcome an obstacle can also be understood as motions in which the mobile robot displaces, and in the process of the mobile robot performing linear motion, curvilinear motion, stepping and rotating motion, and motion to overcome an obstacle with alternating walking steps, the first and second wheel units of the mobile robot displace according to different motions.

[0205] Optionally, the pseudo bipedal motion includes a stepping motion. In the stepping motion process, the landing position after the first wheel unit and the second wheel unit are lifted is the same as the initial landing position, or the distance difference between the landing position after the first wheel unit and the second wheel unit are lifted and the initial landing position is smaller than a first allowable value. That is, the distance between the landing position after the first wheel unit is lifted (i.e., the landing position after the first wheel is lifted) and the initial landing position is smaller than a first allowable value, and / or the distance between the landing position after the second wheel unit is lifted (i.e., the landing position after the second wheel is lifted) and the initial landing position is smaller than a first allowable value. In this embodiment, the distance between the landing position of the wheel unit and the initial landing position is controlled to be smaller than the first allowable value, thereby ensuring that the mobile robot maintains the stepping motion.

[0206] In the process in which the mobile robot imitates a human being by alternately lifting the left and right feet to achieve stepping motion, the mobile robot does not move, so the first and second wheel units are lifted up and land at the initial landing positions.

[0207] For example, the first tolerance can be understood as an error value of the distance difference, and the first tolerance can be set according to actual needs. It should be understood that the landing position after the first wheel part and the second wheel part are lifted and the initial landing position should be at the same position. In order to ensure the balance of the body of the mobile robot, a relatively small tolerance can be set for the distance difference between the two positions, and the first tolerance is a numerical value in the tolerance range, for example, the maximum value of the tolerance range.

[0208] Optionally, the pseudo bipedal motion includes at least one of a linear motion, a curvilinear motion, a stepping and turning motion, and an obstacle-surmounting motion. In the process of the linear motion, the curvilinear motion, the stepping and turning motion, or the obstacle-surmounting motion, a landing position after the first wheel unit or the second wheel unit is lifted is different from a landing position before the lifting, and the distance difference is equal to or greater than a second allowable value. The base unit alternately tilts and swings in a third direction and a fourth direction, and an included angle between the third direction or the fourth direction and a forward direction of the mobile robot is an acute angle. That is, in the process of linear motion, curvilinear motion, stepping while rotating motion, or obstacle climbing motion, the distance between the landing position after the first wheel part is lifted (i.e., the landing position after the first wheel is lifted) and its initial landing position is equal to or greater than the second allowable value, and / or the distance between the landing position after the second wheel part is lifted (i.e., the landing position after the second wheel is lifted) and its initial landing position is equal to or greater than the second allowable value. In this embodiment, by controlling the distance between the landing position of the wheel part and the initial landing position to be equal to or greater than the second allowable value, the moving distance and moving speed of the mobile robot each time are guaranteed, that is, the moving efficiency is guaranteed.

[0209] Here, linear motion can be understood as the mobile robot imitating humans by alternately walking forward or backward with its left and right feet, curved motion can be understood as the mobile robot imitating humans by alternately walking non-linearly with its left and right feet along multiple curved trajectories such as an S-line, a figure-eight shape, or around a stake, and obstacle overcoming motion can be understood as the mobile robot imitating humans by alternately walking in a straight line or curved line with its left and right feet to overcome obstacles such as small piles of soil.

[0210] For example, the second allowable value can be set according to actual needs. It should be understood that the landing position after the first wheel part and the second wheel part are lifted and the initial landing position should be different based on the fact that the displacement and / or posture adjustment is required to occur in the linear motion, the curved motion, the stepping and rotating motion, and the motion to overcome an obstacle. In order to realize the displacement and / or posture adjustment of the mobile robot, a predetermined allowable range can be set for the distance difference between the two positions, and the second allowable value is a numerical value in the allowable range, for example, the minimum value of the allowable range.

[0211] In the above three movements, the mobile robot will be displaced, so the landing positions after the first and second wheel parts are lifted are different from the landing positions before they are lifted. At the same time, the centroid position of the mobile robot will also change with the forward direction of the mobile robot, based on the need for the mobile robot to displace.

[0212] Taking curvilinear motion as an example, when the mobile robot changes from a standing equilibrium state to a first tilted state, the first wheel unit and the second wheel unit are held to land. The mobile robot is controlled to change from the first tilted state to a first single-wheel landing state, and at this time, the turning of the first wheel unit of the mobile robot is controlled, for example, to the right front (which can be understood as the third direction) of the initial forward direction. After that, the mobile robot is controlled to return from the first single-wheel landing state to the standing equilibrium state, and the forward direction of the mobile robot changes, the mobile robot moves to the left front, and the centroid position of the mobile robot also moves to the right front of the initial forward direction.

[0213] The mobile robot is controlled to change from the standing equilibrium state to a second tilted state, and the first and second wheel units are held to land. Then, the mobile robot is controlled to change from the second tilted state to a second single-wheel landing state, and at this time, the second wheel unit of the mobile robot is controlled to turn, for example, to the left front (which can be understood as the fourth direction) of the initial forward direction. Then, the mobile robot is controlled to return from the second single-wheel landing state to the standing equilibrium state, and the forward direction of the mobile robot changes, the mobile robot moves to the right front, and the centroid position of the mobile robot also moves to the left front of the initial forward direction.

[0214] In the above process, the angles between the left front and right front and the forward direction of the mobile robot are acute angles. It can be understood that the mobile robot can move forward in any sub-direction of the original forward direction during the curved motion.

[0215] According to the above, in pseudo-bipedal motion, in the process of changing the mobile robot from a first single-wheel landing state to a second single-wheel landing state, the mobile robot needs to transition through one standing equilibrium state so as to maintain the balance of the torso.

[0216] In some embodiments, the mobile robot further includes a tail section power-transmitted to the base section, the tail section is provided with a third wheel, the tail section is stored in the standing equilibrium state, and the third wheel does not touch the ground. Referring to the leg-wheel type robot 10 shown in FIG. 1, the third wheel is a passive wheel 132 provided on the tail section 13. Referring to FIG. 6, when the tail section 13 is in the stored state, the passive wheel 132 does not touch the ground, and may be fixed to the bottom of the base section 11 so as not to affect the movement of the wheel section 12.

[0217] Alternatively, step 104 may be implemented as follows.

[0218] The mobile robot is controlled to change from a standing equilibrium state to a first single wheel landing state, where the first single wheel landing state is a state in which the first wheel lands and the second wheel is lifted.

[0219] Control the tail to deploy until the third wheel touches down.

[0220] The mobile robot is controlled to shorten the first leg of the first wheel unit and extend the second leg of the second wheel unit so that the mobile robot changes from a first single wheel landing state to a second single wheel landing state, the second single wheel landing state being a state in which the first wheel is lifted and the second wheel lands.

[0221] The mobile robot is controlled to return from the second single wheel landing state to a standing equilibrium state.

[0222] Here, the mobile robot can refer to the above content for a detailed description of the change from the standing equilibrium state to the first single wheel landing state. It should be understood that when the mobile robot is in the second single wheel landing state, the wheel landing by the tail can be adjusted in the same way, and the following content can be referred to for details, and no further description will be given.

[0223] In the first single wheel landing state, the tail can be controlled to be deployed until the third wheel lands so that the mobile robot can maintain the balance of the body with the first and second wheels on the ground, thereby improving the stability of the mobile robot.

[0224] Then, the first leg of the first wheel unit is controlled to be shortened and the second leg of the second wheel unit is controlled to be extended, which can be understood as lifting the first leg of the mobile robot and lowering the second leg until the second wheel lands. During this process, only the third wheel provided at the tail of the mobile robot lands, and after the second wheel lands, the first wheel is no longer shortened and remains lifted, so that the mobile robot changes from the first single wheel landing state to the second single wheel landing state.

[0225] Then, the mobile robot is controlled to return from the second single wheel landing state to the standing equilibrium state. This process can be specifically referred to above, and will not be described further.

[0226] According to the above, in pseudo-bipedal motion, when a mobile robot changes from a first single-wheel landing state to a second single-wheel landing state, it does not need to transition through one standing equilibrium state, and the landing wheel can be replaced by assisting with the tail.

[0227] For example, the change manner from the first single wheel landing state to the second single wheel landing state given above can all be applied to the pseudo bipedal movement of a mobile robot, and will not be described further.

[0228] There are various ways to realize the pseudo bipedal movement, and the above examples provide various specific ways to realize the stepping movement, linear movement, curvilinear movement, stepping and rotating movement, and obstacle-surmounting movement. It should be understood that other ways in which the imitation of bipedal movement can be realized are all within the scope of protection of this application and will not be described further.

[0229] For example, add another motion manner between the first wheel unit and the second wheel unit. Optionally, the motion control method for a mobile robot provided by the embodiment of the present application further includes: The pseudo bipedal movement includes controlling the movement of the first wheel unit and the second wheel unit.

[0230] Exemplarily, step 104 may be implemented as follows.

[0231] The mobile robot is controlled to change from a standing equilibrium state to a first single wheel landing state, where the first single wheel landing state is a state in which the first wheel lands and the second wheel is lifted.

[0232] The first wheel is controlled to leave the ground so that the mobile robot performs at least one jumping motion.

[0233] The mobile robot is controlled to change from a first single wheel landing state to a second single wheel landing state, where the first wheel is lifted and the second wheel is landed.

[0234] The second wheel is controlled to leave the ground so that the mobile robot performs at least one jumping motion.

[0235] The mobile robot is controlled to return from the second single wheel landing state to a standing equilibrium state.

[0236] Here, the mobile robot changes from a standing equilibrium state to a first single wheel landing state, changes from the first single wheel landing state to a second single wheel landing state, and returns from the second single wheel landing state to a standing equilibrium state. The above content can be referred to for these changes, and no further explanation will be given.

[0237] In the state where the single wheel lands, the landing wheel can be controlled to leave the ground so that the mobile robot performs at least one jumping motion, thereby simulating a human and imitating a one-legged jumping motion. It should be understood that the number of jumps of the mobile robot's one leg can be set according to actual needs. For example, in the first single wheel landing state, the first wheel is controlled to leave the ground twice so that the mobile robot performs two jumping motions. Then, it changes to the second single wheel landing state, and the second wheel is controlled to leave the ground twice.

[0238] On the wheel state during pseudo-bipedal locomotion In the process of the mobile robot performing pseudo bipedal movement, the mobile robot imitates humans by alternately moving the left and right legs. Referring to the above content, both the first wheel unit and the second wheel unit include wheels, and compared with the bipedal movement performed by humans, the mobile robot can further control the sliding of the wheels.

[0239] For example, during the process of a mobile robot performing bipedal movement, the pseudo-bipedal movement can be made more flexible by locking or unlocking the first wheel of the first wheel unit and / or the second wheel of the second wheel unit.

[0240] Optionally, during the pseudo-bipedal movement, the first wheel and the second wheel are in a locked state.

[0241] Optionally, during the simulated bipedal movement, the first wheel and / or the second wheel are in an unlocked state.

[0242] In one selectable realization scenario, the first wheel and the second wheel are in a locked state, and the first wheel and the second wheel are locked, so that the wheels do not slip during the pseudo-bipedal motion of the mobile robot.

[0243] Here, the locked state can be understood as determining one position-invariant reference signal for the first wheel and / or the second wheel. Based on the reference signal, the first wheel and / or the second wheel can move slightly near the reference point. That is, the first wheel and / or the second wheel in the locked state have a motion error at the reference point, and the error is used to realize the balance of the body of the mobile robot. It should be understood that the motion error at the reference point of the first wheel and / or the second wheel is small and can be neglected.

[0244] In another selectable realization scene, at least one of the first wheel and the second wheel is in an unlocked state, and turning and / or sliding of the wheel in the unlocked state is realized.

[0245] Optionally, the method for controlling the motion of a mobile robot provided by the embodiment of the present application further includes: The pseudo bipedal movement process includes controlling the first wheel unit and / or the second wheel unit in the unlocked state to move, thereby enabling the wheel units in the unlocked state to realize various movements and improving the diversity of the robot's movement methods.

[0246] For example, the movement performed by the first wheel unit and / or the second wheel unit in the pseudo bipedal movement may be one of a gliding movement, a jumping movement, and a rolling movement.

[0247] It should be understood that the movement performed by the first wheel section and / or the second wheel section in the pseudo-bipedal movement may be performed in any of the following states: a standing equilibrium state, a first tilted state, a first single-wheel landing state, a second tilted state, or a second single-wheel landing state.

[0248] Next, we will give two different examples of gliding motion.

[0249] For example, the first wheel unit and the second wheel unit are controlled to be in a standing equilibrium state, and then the mobile robot is controlled to change from the standing equilibrium state to a first tilted state. When the mobile robot is in the first tilted state, the first wheel and the second wheel are controlled to be unlocked, and then a driving force is supplied to the first wheel and the second wheel, so that the first wheel and the second wheel move the mobile robot and slide with the body tilted.

[0250] As another example, the first wheel unit and the second wheel unit are controlled to be in a standing equilibrium state, and then the mobile robot is controlled to gradually change from the standing equilibrium state to a first single-wheel landing state. When the mobile robot is in the first single-wheel landing state, the first wheel is controlled to be unlocked, and then the first wheel is controlled to glide so that the mobile robot imitates a one-foot skating motion.

[0251] Exemplarily, the first wheel and / or the second wheel can be locked and unlocked multiple times in the pseudo bipedal motion, so that the mobile robot can realize a combination of gliding and alternate landing of the left and right wheel parts, and further improve the flexibility of the mobile robot. For example, in the process of the pseudo bipedal motion, the first wheel and / or the second wheel can be locked and unlocked multiple times, so that the mobile robot is controlled to perform an anthropomorphic skating show.

[0252] Optionally, controlling the first wheel unit and / or the second wheel unit in an unlocked state to move during the pseudo bipedal movement can be realized as at least one of the following realization methods.

[0253] In (1), the mobile robot glides along on a single wheel.

[0254] The mobile robot is controlled to change from a standing equilibrium state to a first single wheel landing state, where the first single wheel landing state is a state in which the first wheel lands and the second wheel is lifted.

[0255] If the first wheel is in an unlocked state, the first wheel is controlled to skid a first distance.

[0256] Here, the mobile robot can refer to the above content for a detailed description of the change from the standing equilibrium state to the first single wheel landing state. It should be understood that when the mobile robot is in the second single wheel landing state, it can also perform a single wheel gliding motion, and the following content can be referred to for details, and no further description will be given.

[0257] Exemplarily, in a state where a single wheel lands, the landing wheel can be unlocked, thereby putting it in an unlocked state, and the lifting wheel may or may not be unlocked. Then, the landing wheel is controlled to slide so that the mobile robot is displaced. For example, the first wheel is unlocked and put in an unlocked state, the second wheel is locked, and the first wheel is controlled to slide.

[0258] Here, the first distance can be set according to actual needs, and is not limited in this application.

[0259] In some embodiments, the mobile robot can repeatedly perform single-wheel gliding motion in the first single-wheel landing state or the second single-wheel landing state. For example, the mobile robot changes from a standing equilibrium state to the first single-wheel landing state, then performs single-wheel gliding motion, and after the gliding time length 1 has elapsed, the mobile robot is controlled to change from the first single-wheel landing state to the second single-wheel landing state, and then performs single-wheel gliding motion.

[0260] In (2), the mobile robot performs single-wheel rotation.

[0261] The mobile robot is controlled to change from a standing equilibrium state to a first single wheel landing state, where the first single wheel landing state is a state in which the first wheel lands and the second wheel is lifted.

[0262] When the first wheel is in an unlocked state, the first wheel is controlled to rotate.

[0263] Here, the mobile robot can refer to the above content for a detailed description of the change from the standing equilibrium state to the first single wheel landing state. It should be understood that when the mobile robot is in the second single wheel landing state, it can also perform a single wheel gliding motion, and the following content can be referred to for details, and no further description will be given.

[0264] Exemplarily, in a state where a single wheel lands, the landing wheel may be unlocked to be in an unlocked state, and the lifting wheel may be unlocked or not unlocked. Then, the landing wheel is controlled to rotate so as to change the forward direction of the mobile robot. For example, the first wheel is unlocked to be in an unlocked state, the second wheel is locked, and the first wheel is controlled to rotate.

[0265] Here, the rotation angle of the first wheel can be set according to actual needs and is not limited in the present application. Exemplarily, the rotation angle of the first wheel is 360 degrees, so that the mobile robot can imitate a movement of rotating one revolution on the spot. Alternatively, the rotation angle of the first wheel may be determined based on environmental information in which the mobile robot is located, and the environmental information includes at least road condition information in which the mobile robot is located, surrounding obstacle information, etc. For example, if there is a columnar obstacle on the surrounding side of the mobile robot, the first wheel can be controlled to rotate 90 degrees to change the forward direction of the mobile robot and avoid the obstacle.

[0266] In some embodiments, the mobile robot can repeatedly perform a single wheel rotation in the first single wheel landing state or the second single wheel landing state. For example, the mobile robot changes from a standing equilibrium state to a first single wheel landing state, and then controls the first wheel to perform a 90 degree rotation on the single wheel. After a sliding time length 2 has elapsed, the mobile robot is controlled to change from the first single wheel landing state to a second single wheel landing state, and then controls the second wheel to perform a 180 degree rotation on the single wheel, and after a sliding time length 3 has elapsed, the mobile robot is controlled to change from the second single wheel landing state to the first single wheel landing state, and then controls the second wheel to perform a 270 degree rotation on the single wheel.

[0267] In (3), the mobile robot performs skateboarding motion.

[0268] The mobile robot is controlled to change from a standing equilibrium state to a first single wheel landing state, where the first single wheel landing state is a state in which the first wheel lands and the second wheel is lifted.

[0269] If the first wheel is in an unlocked state, the first wheel is controlled to skid a second distance.

[0270] When the second wheel is in a locked state, the second leg of the second wheel unit is controlled to extend until the second wheel lands, and the second leg is controlled to shorten until it returns to the length it had when in the locked state.

[0271] Here, the mobile robot can refer to the above content for a detailed description of the change from the standing equilibrium state to the first single wheel landing state. It should be understood that when the mobile robot is in the second single wheel landing state, it can also perform skateboarding motion, and the following content can be referred to for details, and no further description will be given.

[0272] Exemplarily, in a state where a single wheel lands, the landing wheel may be unlocked to be in an unlocked state, and the lifting wheel may not be unlocked to be in a locked state. Then, the landing wheel is controlled to slide so that the mobile robot is displaced. After sliding a certain distance, the lifting wheel is controlled to be lifted after landing once, and the landing wheel continues to be controlled to slide. For example, the first wheel is unlocked to be in an unlocked state, the second wheel is not unlocked but is in a locked state, and the first wheel is controlled to slide a second distance, and then the second leg of the second wheel part is controlled to extend and then re-shorten so that the second wheel behaves similarly to re-contraction after a single point landing, and then the first wheel continues to be controlled to slide.

[0273] Here, the second distance can be set according to actual needs, and is not limited in this application.

[0274] It should be understood that the unlocked or locked state of the first wheel and the second wheel can be controlled not only when the mobile robot is in a standing equilibrium state, but also when the mobile robot is in a single-wheel landing state, and is not limited in this application.

[0275] It should be understood that the above contents are only illustrative examples, and other movement methods of the wheel units and combinations of the left and right wheel units' alternate landing movements are all within the protection scope of the present application and will not be described further.

[0276] In the above-mentioned embodiments, methods for realizing pseudo bipedal motion are provided, where in each realization method, the first wheel and the second wheel can perform various different types of motions such as gliding, rolling, jumping, etc. It should be understood that the above-mentioned various methods for realizing pseudo bipedal motion and various types of motions of the first wheel and the second wheel can be realized in any combination.

[0277] For example, the mobile robot is controlled to change to a first one-footed landing state, then the first wheel is unlocked and the first wheel is controlled to rotate so that the mobile robot rotates once on the spot, then the mobile robot is controlled to change to a second tilted state, the first and second wheels are unlocked and the first and second wheels are controlled to slide so that the mobile robot slides with its body tilted, then the mobile robot is controlled to change to a second one-footed landing state, the second wheel is unlocked and the second wheel is controlled to slide so that the mobile robot performs a single-wheel gliding motion.

[0278] Based on this, the mobile robot can be controlled to realize more complex and rich pseudo-bipedal motion, for example, the mobile robot can be controlled to perform pseudo-bipedal motion of figure skating by imitating humans.

[0279] According to the above, in the process of pseudo-bipedal movement, when the first wheel unit and the second wheel unit land alternately, the leg lengths of the first wheel unit and the second wheel unit do not remain the same, but the heights of the two wheels change.

[0280] In some embodiments, the mobile robot is an underactuated robot.

[0281] Taking an example where the underactuated robot is a leg-wheel robot, referring to Figures 13 and 14, in the right-handed Cartesian coordinate system in the three-dimensional space constructed by the leg-wheel robot 10, the balance control in the pitch angle direction has different motor moments of the corresponding wheel sections depending on the landing conditions of the first wheel and the second wheel.

[0282] Optionally, when both the first wheel section and the second wheel section are on the ground, the sum of the motor moments of the first drive motor corresponding to the first wheel section and the second drive motor corresponding to the second wheel section is a first moment.

[0283] When the first wheel section lands and the second wheel section lifts up, the motor moment of the first drive motor is the first moment.

[0284] When the second wheel section lands and the first wheel section lifts up, the motor moment of the second drive motor is the first moment.

[0285] For example, in the standing equilibrium state, the first tilt state and the second tilt state, the first wheel and the second wheel are on the ground, that is, the contact points between the underactuated robot and the ground are the two wheels. At this time, the PID controller can obtain that the motor moment of the first driving motor corresponding to the first wheel unit and the second driving motor corresponding to the second wheel unit are both τ.

[0286] For example, in the first single wheel landing state, the first wheel section lands and the second wheel section is lifted. In the second single wheel landing state, the second wheel section lands and the first wheel section is lifted. That is, in the first single wheel landing state or the second single wheel landing state, the contact point between the underactuated robot and the ground is a single wheel. At this time, the PID controller can obtain that the motor moment of the driving motor corresponding to the landing wheel section is 2τ, thereby realizing balance control in the pitch direction in the pseudo-bipedal motion process of the robot using the contact moment between the single wheel and the ground.

[0287] According to the above, the pseudo bipedal motion can be realized by controlling the mobile robot by planning the change and the change speed of the leg length of the first wheel unit and the second wheel unit of the mobile robot. Here, the pseudo bipedal motion can be divided into a plurality of states according to the above by analyzing the motion and structural characteristics of the mobile robot. The mobile robot is controlled to perform the planned operation during the state change. At the same time, the mechanical structure and mass distribution of the mobile robot can be combined to calculate the deflection range of the center of gravity projected on the ground during the entire motion process of the robot, and the state switching conditions for different states can be determined. For details, please refer to the above, and no further description will be given.

[0288] For example, in the process of pseudo bipedal motion, the control information of each joint of the mobile robot can be determined in the following manner: After the pseudo bipedal motion is determined, the pseudo bipedal motion can be decomposed and divided into a plurality of states, each state corresponding to a set of control parameters, and the set of control parameters can be used to determine information such as the position, angle, moment, etc. of each joint. Then, the set of control parameters and the whole body dynamics model of the mobile robot are input, and the control information in the set of control parameters is obtained through processing by the mobile robot controller, and the control information includes at least information such as the joint moment, joint angular velocity, and base inclination of each joint, and the control of the robot is realized based on the control information.

[0289] It should be understood that the above process is only an illustrative example, which can be specifically adjusted according to actual needs, and is not limited in the present application.

[0290] Optionally, during the pseudo-bipedal movement, the movement of the first wheel portion, the second wheel portion and the base portion is A change in length of the first leg of the first wheel section; An angle and a change amount of at least one joint motor of the first leg; A change in length of the second leg of the second wheel section; An angle and a change amount of at least one joint motor of the second leg; A contact force between the first wheel of the first wheel unit and the ground, A contact force between the second wheel of the second wheel unit and the ground; Pitch angle information and angular velocity of a mobile robot, Roll angle information and angular velocity of the mobile robot, and The control is based on at least one of the yaw angle information and the angular velocity of the mobile robot.

[0291] In some embodiments, the mobile robot is an underactuated robot.

[0292] Taking the underactuated robot as an example, a leg-wheel robot, referring to the right-handed Cartesian coordinate system of the leg-wheel robot 10 shown in FIG. 13, FIG. 30 shows a schematic diagram of simulating and deriving joint angle information from a cross section of the leg-wheel robot 10 according to an exemplary embodiment of the present application.

[0293] 13, FIG. 30 shows an XZ coordinate system constructed corresponding to a cross section of the leg-wheel robot 10, where the wheel 3300 may be one of the first wheel and the second wheel. Here, the origin is located at the midpoint between points x1 and x5, and the distance between x1 and x5 is l0, for example, the coordinate of x1 is (0.5l0, 0), and the coordinate of x5 is (-0.5l0, 0). It is known that the coordinate of the wheel 3300 is (x3, z3), and the purpose is to calculate joint angle information including the joint angle 3310, the joint angle 3320, the joint angle 3330, and the joint angle 3340.

[0294] Since the coordinates of the wheel 3300 are known, and x1 and x5 are known, the lengths of the line segments l5 and l6 can be calculated based on the coordinates. For example, the calculation formulas are as shown in the following Equation 1 and Equation 2.

[0295]

number

number

[0296]

number

[0297] Based on the joint angle obtained by calculation, it is input to the drive motor corresponding to the wheel 3300, and the motor torque is output by the controller, thereby controlling the rotation of the leg form corresponding to the wheel 3300 to the corresponding joint angle, thereby controlling the wheel 3300 to reach the specified position (x3, z3).

[0298] 31 shows a schematic diagram of determining the change amount of the leg when the leg-wheeled robot according to an exemplary embodiment of the present application is in the first tilt state or the second tilt state, and the mobile robot is an underactuated robot. Here, in the triangle ACD, when the length of DC is 0.510, the calculation formula of the change length AC of the wheel leg is shown in the following formula 4.

[0299]

number

[0300] In some embodiments, when the first wheel and / or the second wheel of the underactuated robot turns, a roll angle tilt occurs on the body, the robot generates centrifugal force, the magnitude of the centrifugal force is correlated with the horizontal velocity v, and the body needs to tilt to maintain balance, and a component of gravity is generated to balance the magnitude of the centrifugal force, and the relationship between the magnitude of the roll angle φ corresponding to the tilted body and the horizontal velocity v is as shown in the following Equation 5.

[0301]

number

[0302] For example, the change in the wheel leg of an underactuated robot can be divided into the following two situations.

[0303] For situation 1, the roll angle generated by the underactuated robot is relatively small.

[0304] Illustratively, the roll angle generated by the underactuated robot is less than (or equal to) a predetermined angle threshold. If the roll angle is relatively small, (Outside 31) TIFF2025515253000038.tif14121, and the amount of change in the ring leg is calculated as shown in the following equation 6.

[0305]

number

[0306] Illustratively, the roll angle generated by the underactuated robot is greater than (or equal to) a predetermined angle threshold. When the roll angle is relatively large, the calculation of the change in the wheel leg is as shown in the following Equation 7 and Equation 8.

[0307]

number

number

[0308] In step 1, trajectory planning information is obtained, and the trajectory planning information is used to represent a desired motion trajectory of an underactuated robot.

[0309] Here, the trajectory planning information may be predetermined information, or the trajectory planning information may be generated by the underactuated robot by collecting road information in real time.

[0310] When the trajectory planning information is the predetermined information, a trajectory of the under-actuated robot can be set based on road information, and the trajectory can be input into a memory of the under-actuated robot to generate trajectory planning information, and the under-actuated robot moves according to the trajectory set based on the trajectory planning information. When the trajectory planning information is generated by the under-actuated robot collecting road information in real time, the under-actuated robot includes a road scanning device. Optionally, the under-actuated robot includes a camera for collecting images of the road and making road planning based on the collected images.

[0311] In step 2, the leg configuration of the underactuated robot is adjusted based on the trajectory planning information, and reference motion state data and / or robot posture data are determined based on the trajectory planning information.

[0312] Here, the reference motion state data is used to represent the motion state when the underactuated robot moves along a desired motion trajectory, and the robot posture data is used to represent the structural state when the underactuated robot moves along a desired motion trajectory.

[0313] In some embodiments, the reference motion state data is used to represent the requirements that the motion state must meet when the underactuated robot moves in a manner that matches the desired motion trajectory, i.e., after determining the reference motion state data, the underactuated robot needs to adjust its current motion state with the reference motion state data as a goal. In some embodiments, the reference motion state data includes reference velocity information, reference yaw angle information, reference motion curvature radius information, etc. In some embodiments, the reference motion state data is calculated based on the trajectory planning information, or the reference motion state data is pre-stored based on the trajectory planning information, i.e., when setting the motion trajectory of the underactuated robot, the motion state data of a specified position on the motion trajectory is pre-set, the reference motion state data corresponding to the specified position is obtained, and the reference motion state data is stored corresponding to the trajectory planning information. As a result, when the underactuated robot moves to the specified position, the reference motion state data can be obtained from the stored data.

[0314] Exemplarily, the manner of obtaining the reference motion state data includes at least one of the following manners.

[0315] In the first method, a control operation of a remote controller is received, and reference motion state data is determined according to the control operation of the remote controller. Here, the remote controller can control the motion speed, motion direction, motion mode, etc. of the underactuated robot, and a motion state change of the underactuated robot is determined according to the control operation of the remote controller, thereby determining the reference motion state data.

[0316] In the method 2, a data file is read, and the reference motion state data of the current underactuated robot is obtained from the data file. That is, the reference motion state data of the underactuated robot at different positions is preset and stored in the data file, and the corresponding reference motion state data is determined according to the position where the current underactuated robot is located.

[0317] In method 3, visual information of the underactuated robot is collected, and reference motion state data is generated based on the visual information. That is, a camera is installed on the underactuated robot, road information on the planned trajectory of the underactuated robot is collected by the camera, and reference motion state data for the next motion is calculated and obtained based on the road information.

[0318] It should be noted that the above method of obtaining the reference motion state data is merely a schematic example, and the embodiments of the present application do not limit the manner of obtaining the reference motion state data.

[0319] Similarly, the control signal for the pseudo bipedal movement of the underactuated robot may be provided by a remote controller, or the control signal for the pseudo bipedal movement may be obtained by analyzing visual and / or tactile information. Optionally, a camera and / or a tactile sensor may be set in the underactuated robot to collect road information and a force receiving state of the underactuated robot, and the road information and the force receiving state may be analyzed to determine whether to control the underactuated robot to perform the pseudo bipedal movement.

[0320] In some embodiments, when the reference motion state data includes the reference velocity information, pitch angle information of the underactuated robot is obtained, and the pitch angle information represents the angle in the forward / reverse direction of the underactuated robot, i.e., the angle at which the underactuated robot looks down in the forward direction or looks up in the reverse direction due to the wheel control action. Based on the reference velocity information and the pitch angle information, a balance control moment for controlling the underactuated robot is determined, and the balance control moment is a moment for keeping the underactuated robot in a balanced state, thereby determining a moment for controlling the underactuated robot based on the balance control moment. Here, the balanced state is a state in which the underactuated robot maintains balance in the pitch angle direction, i.e., in the balanced state, the underactuated robot does not tend to tilt forward or backward. Here, when the underactuated robot remains stationary, the balanced state is a state in which the underactuated robot remains stable and motionless and does not tend to tilt forward or backward. When an underactuated robot moves, the equilibrium state is a state in which the underactuated robot moves in a balanced manner in accordance with the rotation of the wheels, where the main body part of the underactuated robot is supported by the wheel legs and remains vertical, with no tendency to tilt forward or backward.

[0321] In some embodiments, when the underactuated robot is controlled to move forward in a straight line, the balance control moment is directly input to the wheel control motor to control the rotation of the wheel, thereby controlling the motion of the underactuated robot. In another embodiment, when the underactuated robot is controlled to move forward in a curved trajectory, the moments applied to the motors corresponding to the two wheels of the underactuated robot are different, so that one wheel runs faster and the other wheel runs slower, thereby realizing the curved forward movement of the underactuated robot, where reference yaw angle information is determined based on the curved trajectory, and then incremental moments applied to the motors corresponding to the different wheels are determined based on the reference yaw angle information.

[0322] In some embodiments, a degree of bending of two wheel legs of the underactuated robot is adjusted based on the trajectory planning information, and the degree of bending of the wheel legs of the underactuated robot is related to a length of the wheel legs. Optionally, the greater the degree of bending of the wheel legs of the underactuated robot, the shorter the length of the wheel legs.

[0323] In some embodiments, the robot posture data includes wheel leg adjustment data of the first wheel unit and the second wheel unit, i.e., the wheel leg adjustment data is determined based on the trajectory planning information. In some embodiments, the magnitude of the roll angle that the under-actuated robot needs to generate is first determined based on the trajectory planning information, i.e., the wheel leg adjustment data of the under-actuated robot is determined based on the given roll angle.

[0324] Optionally, the magnitude of the roll angle determined based on the trajectory planning information is a value within a predetermined roll angle range, to avoid the roll angle exceeding the predetermined roll angle range and causing imbalance problems due to excessive control.

[0325] In step 3, the underactuated robot is controlled to perform pseudo-bipedal motion along a desired motion trajectory based on the reference motion state data and / or the robot posture data in accordance with the adjusted leg morphology.

[0326] According to the above, the under-actuated robot includes a first wheel and a second wheel, where the first wheel and the second wheel are respectively set on both sides of the under-actuated robot, the first wheel is driven and controlled by a first drive motor, and the second wheel is driven and controlled by a second drive motor, and when determining the motor moments for controlling the under-actuated robot, a first moment for driving the first drive motor and a second moment for driving the second drive motor are determined.

[0327] The first moment is input to a first drive motor, and the first drive motor drives the rotation of the first wheel. The second moment is input to a second drive motor, and the second drive motor drives the rotation of the second wheel. In this way, the underactuated robot is driven to perform pseudo-bipedal motion along a desired motion trajectory based on the rotation of the first wheel and the rotation of the second wheel.

[0328] In some embodiments, when the underactuated robot is controlled to perform pseudo-bipedal motion based on the reference motion state data, it is necessary to further collect and obtain pitch angle information and / or yaw angle information of the underactuated robot by an inertial sensor (IMU: Inertial Measurement Unit), where the pitch angle information represents angular information of the underactuated robot in the forward and backward directions, and the yaw angle information represents angular information of the underactuated robot in the direction around a vertical rotation axis.

[0329] Then, a balance control moment and an incremental moment of the under-actuated robot are determined based on the pitch angle information and / or yaw angle information. Here, the balance control moment can refer to the related description in FIG. 13, and the incremental moment is a moment for controlling the rotation of the under-actuated robot. Then, the control of the under-actuated robot is realized by combining the balance control moment and the incremental moment.

[0330] In some embodiments, when the underactuated robot is controlled to perform pseudo-bipedal motion based on the robot posture data, the robot posture data includes leg adjustment data, i.e., leg change amount. For example, the leg change amount is Δl, and one leg is lengthened and another leg is shortened according to the leg change amount.

[0331] In some embodiments, the adjusted position coordinates of the wheel are determined based on the amount of change in the wheel leg, the joint angle of the wheel leg is calculated based on the adjusted position coordinates, and the joint angle is input to a motor that controls the wheel leg to achieve adjustment to the wheel leg.

[0332] Illustratively, embodiments of the present application further provide a mobile robot.

[0333] Illustratively, the mobile robot includes a first wheel unit having telescopic legs, a second wheel unit having telescopic legs, and a base unit connected to the first wheel unit and the second wheel unit, and a controller is provided on the mobile robot, and the controller is used to control the mobile robot to realize the above-described mobile robot motion control method.

[0334] It should be understood that the mobile robot according to the embodiment of the present application may be an underactuated robot. Furthermore, the mobile robot according to the embodiment of the present application may be a mobile robot that can achieve two-wheel balance, for example, a leg-wheel type robot that achieves two-wheel balance.

[0335] Here, this type of robot lacks the degree of freedom in the roll angle direction between the motion plane of the leg and the base. For example, the leg-wheel type robot includes a first wheel unit, a second wheel unit, and a base unit connected to the first wheel unit and the second wheel unit, and the motion plane of the legs of the first wheel unit and the second wheel unit is maintained perpendicular to the base unit.

[0336] Here, the setting of the controller may be set according to actual needs, and is not limited in this application, and any mobile robot that can achieve the goal of preventing the load object from falling off the base part by the motion control of the controller is within the scope of protection of this application. The motion control method of the mobile robot has been described in detail in the above content and can be referred to, so no further description will be given.

[0337] FIG. 32 shows a schematic diagram of a motion control device for a mobile robot according to an exemplary embodiment of the present application. a control module 3220 configured to control a first wheel unit having a telescopic leg and a second wheel unit having a telescopic leg, the first wheel unit being included in the mobile robot, so as to be in a standing equilibrium state; The control module 3220 is further configured to control the mobile robot to perform pseudo-bipedal movement based on a standing equilibrium state.

[0338] Here, the base of the mobile robot is parallel to a horizontal reference plane in a standing equilibrium state, and in the process of pseudo-bipedal movement, the first wheel unit and the second wheel unit land alternately, causing the base unit to tilt and swing.

[0339] Optionally, the first wheel unit is located in a first direction of the base unit and the second wheel unit is located in a second direction of the base unit, and the control module 3220 is configured to control the mobile robot to change from a standing equilibrium state to a first tilted state, the first tilted state being a state in which the base unit is tilted in the first direction, to control the mobile robot to return from the first tilted state to the standing equilibrium state, and to control the mobile robot to change from the standing equilibrium state to a second tilted state, the second tilted state being a state in which the base unit is tilted in the second direction, to control the mobile robot to return from the second tilted state to the standing equilibrium state, where in the process of the mobile robot returning from the first tilted state to the standing equilibrium state, the first wheel of the first wheel unit lands and the second wheel of the second wheel unit is lifted, and in the process of the mobile robot returning from the second tilted state to the standing equilibrium state, the second wheel lands and the first wheel is lifted.

[0340] Optionally, the control module 3220 is configured to control the first leg of the first wheel unit to shorten and the second leg of the second wheel unit to extend so that the underactuated robot is in a first tilted state, where during the process of the first leg and the second leg extending and retracting, the base unit gradually tilts from a horizontal state parallel to the horizontal reference plane to a first direction, and both the first wheel and the second wheel land.

[0341] Optionally, the control module 3220 is configured to control the first leg of the first wheel unit to extend and the second leg of the second wheel unit to shorten so that the mobile robot is in a first single wheel landing state, the first single wheel landing state being a state in which the first wheel lands and the second wheel is lifted, and to control the first leg to continuously extend and the second leg to continuously shorten so that the underactuated robot returns from the first single wheel landing state to a standing equilibrium state, where during the extension and contraction of the first leg and the second leg, the base unit gradually tilts in the second direction until it returns to a horizontal state parallel to the horizontal reference plane, and the second wheel changes from the landing state to a lifted state and then returns to the landing state again.

[0342] Optionally, the length of the first leg and the length of the second leg are the same in a standing equilibrium state, and the mobile robot is in a first single-wheel landing state within a first length of time, wherein during the first length of time, the length of the first leg is shorter than the length of the second leg, and at the end of the first length of time, the first leg and the second leg are the same length.

[0343] Optionally, the control module 3220 is configured to control the first leg of the first wheel unit to extend and the second leg of the second wheel unit to shorten so that the underactuated robot is in a second tilted state, where during the extension and retraction of the first leg and the second leg, the base unit gradually tilts from a horizontal state parallel to the horizontal reference plane to a second direction, and both the first wheel and the second wheel land.

[0344] Optionally, the control module 3220 is configured to control the first leg of the first wheel unit to shorten and the second leg of the second wheel unit to extend so that the mobile robot is in a second single wheel landing state, the second single wheel landing state being a state in which the first wheel is lifted and the second wheel is landed, and to control the first leg to continuously shorten and the second leg to continuously extend so that the underactuated robot returns from the second single wheel landing state to a standing equilibrium state, where during the extension and retraction process of the first leg and the second leg, the base unit gradually tilts in the first direction until it returns to a horizontal state parallel to the horizontal reference plane, and the first wheel changes from the landing state to a lifted state and then returns to the landing state again.

[0345] Optionally, the length of the first leg and the length of the second leg are the same in a standing equilibrium state, and the mobile robot is in a second single-wheel landing state within a second length of time, wherein within the second length of time, the length of the first leg is longer than the length of the second leg, and at the end of the second length of time, the first leg and the second leg are the same length.

[0346] Optionally, the control module 3220 is configured to control the mobile robot to change from a standing equilibrium state to a first tilt state when the tilt angle of the mobile robot reaches a first limit width, where the tilt angle of the mobile robot is used to indicate the included angle between a plane on which the base portion is located and a plane parallel to a horizontal reference plane.

[0347] Optionally, the control module 3220 is configured to control the mobile robot to return from the first tilt state to a standing equilibrium state when the tilt angle of the mobile robot reaches a second limit width, where the tilt angle of the mobile robot is used to indicate the included angle between a plane on which the base portion is located and a plane parallel to a horizontal reference plane.

[0348] Optionally, the control module 3220 is configured to control the mobile robot to change from a standing equilibrium state to a second tilt state when the tilt angle of the mobile robot reaches a third limit width, where the tilt angle of the mobile robot is used to indicate the included angle between a plane on which the base portion is located and a plane parallel to a horizontal reference plane.

[0349] Optionally, the control module 3220 is configured to control the mobile robot to return from the second tilt state to a standing equilibrium state when the tilt angle of the mobile robot reaches a fourth limit width, where the tilt angle of the mobile robot is used to indicate the included angle between a plane on which the base portion is located and a plane parallel to the horizontal reference plane.

[0350] Optionally, the simulated bipedal motion includes at least one of stepping motion, linear motion, curvilinear motion, stepping and rotating motion, and obstacle overcoming motion.

[0351] Optionally, the pseudo-bipedal movement includes a stepping movement, and during the stepping movement, the landing position after the first wheel unit and the second wheel unit are lifted is the same as the initial landing position, or the distance difference between the landing position after the first wheel unit and the second wheel unit are lifted and the initial landing position is smaller than a first tolerance value.

[0352] Optionally, the pseudo bipedal movement includes at least one of linear movement, curvilinear movement, stepping and rotating movement, and obstacle-crossing movement, and during the linear movement, curvilinear movement, stepping and rotating movement, or obstacle-crossing movement, a landing position after the first wheel unit or the second wheel unit is lifted is different from a landing position before the lifting, a distance difference between the landing position after the first wheel unit or the second wheel unit is lifted and the landing position before the lifting is equal to or greater than a second allowable value, the base unit tilts and swings alternately in a third direction and a fourth direction, and an included angle between the third direction or the fourth direction and the forward direction of the mobile robot is an acute angle.

[0353] Optionally, during the pseudo-bipedal movement, the first wheel of the first wheel unit and the second wheel of the second wheel unit are in a locked state.

[0354] Optionally, during the course of the simulated bipedal movement, the first wheel of the first wheel unit and / or the second wheel of the second wheel unit are in an unlocked state.

[0355] Optionally, the control module 3220 is further configured to control the first wheel unit and / or the second wheel unit in the unlocked state to perform a gliding motion during the pseudo-bipedal motion.

[0356] Optionally, during the pseudo bipedal movement process, the movement of the first wheel unit, the second wheel unit and the base unit is controlled based on at least one of the following: a change in length of the first leg of the first wheel unit, an angle and amount of change of at least one joint motor of the first leg, a change in length of the second leg of the second wheel unit, an angle and amount of change of at least one joint motor of the second leg, a contact force between the first wheel of the first wheel unit and the ground, a contact force between the second wheel of the second wheel unit and the ground, pitch angle information and angular velocity of the mobile robot, roll angle information and angular velocity of the mobile robot, and yaw angle information and angular velocity of the mobile robot.

[0357] Selectively, when both the first wheel section and the second wheel section are on the ground, the sum of the motor moments of the first drive motor corresponding to the first wheel section and the second drive motor corresponding to the second wheel section is a first moment, when the first wheel section is on the ground and the second wheel section is lifted, the motor moment of the first drive motor is the first moment, and when the second wheel section is on the ground and the first wheel section is lifted, the motor moment of the second drive motor is the first moment.

[0358] FIG. 33 illustrates a structural block diagram of an electronic device 3300 according to an exemplary embodiment of the present application.

[0359] The electronic device 3300 may be a portable mobile terminal, such as a smartphone, a tablet computer, a Moving Picture Experts Group Audio Layer III (MP3) player, a Moving Picture Experts Group Audio Layer IV (MP4) player, a notebook computer or a desktop computer, for implementing control over a mobile robot. The electronic device 3300 may also be called other names, such as a user device, a mobile terminal, a laptop terminal, a desktop terminal, etc. In an embodiment of the present application, the electronic device 3300 may be implemented as a control device part in a robot.

[0360] Generally, the electronic device 3300 includes a processor 3301 and a memory 3302 .

[0361] The processor 3301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 3301 may be realized by adopting at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 3301 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in a wake-up state, also called a central processing unit (CPU), and the coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 3301 may integrate an image processor (Graphics Processing Unit (GPU)), where the GPU is used to render and draw the contents that need to be displayed on the display screen. In some embodiments, the processor 3301 may further include an artificial intelligence (AI) processor, where the AI ​​processor is used to process computing operations related to machine learning.

[0362] The memory 3302 may include one or more computer readable storage media, which may be non-transitory. The memory 3302 may further include high speed random access memory and non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer readable storage media in the memory 3302 is used to store at least one instruction, which is executed by the processor 3301 to realize the method for controlling the motion of a mobile robot provided by the embodiment of the method in the present application.

[0363] In some embodiments, the electronic device 3300 further includes a peripheral interface 3303 and at least one peripheral device, which may be selected. The processor 3301, the memory 3302, and the peripheral interface 3303 may be connected via a bus or signal lines. Each peripheral device may be connected to the peripheral interface 3303 via a bus, signal lines, or a circuit board. Specifically, the peripheral device includes at least one of a radio frequency circuit 3304, a display screen 3305, a camera component 3306, an audio circuit 3307, a positioning component 3308, and a power source 3309.

[0364] The peripheral interface 3303 may be used to connect at least one peripheral associated with input / output (I / O) to the processor 3301 and memory 3302. In some embodiments, the processor 3301, memory 3302, and peripheral interface 3303 are integrated on the same chip or circuit board. In some other embodiments, any one or two of the processor 3301, memory 3302, and peripheral interface 3303 may be implemented on a single chip or circuit board, and is not limited to this embodiment.

[0365] The radio frequency circuit 3304 is used to receive and transmit radio frequency (RF) signals, also called electromagnetic signals. The radio frequency circuit 3304 communicates with communication networks and other communication devices via electromagnetic signals. The radio frequency circuit 3304 converts electrical signals into electromagnetic signals for transmission or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency circuit 3304 includes an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, and the like. The radio frequency circuit 3304 can communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to, the Web, metropolitan area networks, intranets, each generation mobile communication network (2G, 3G, 4G, and 5G), wireless local area networks, and / or wireless fidelity (Wi-Fi) networks. In some embodiments, the radio frequency circuitry 3304 may further include circuitry related to Near Field Communication (NFC), which is not limited in this application.

[0366] The display screen 3305 is used to display a user interface (UI). The UI may include graphics, text, icons, videos, and any combination thereof. If the display screen 3305 is a touch display screen, the display screen 3305 also has the ability to collect touch signals on or above the surface of the display screen 3305. The touch signals may be input as control signals to the processor 3301 for processing. In this case, the display screen 3305 may be used to provide virtual buttons and / or virtual keyboards, which are also called soft buttons and / or soft keyboards. In some embodiments, the display screen 3305 may be one and is provided on the front panel of the electronic device 3300. In other embodiments, the display screen 3305 may be at least two, each provided on a different surface of the electronic device 3300, or in a folded design. In other embodiments, the display screen 3305 may be a flexible display screen provided on a curved or folded surface of the electronic device 3300. Furthermore, the display screen 3305 may be configured as a non-rectangular irregular shape, i.e., an irregularly shaped screen. The display screen 3305 may be manufactured using materials such as a liquid crystal display (LCD) and an organic light-emitting diode (OLED).

[0367] The camera component 3306 is used to collect images or videos. Optionally, the camera component 3306 includes a front camera and a rear camera. Typically, the front camera is provided on the front panel of the terminal, and the rear camera is provided on the back of the terminal. In some embodiments, there are at least two rear cameras, each of which is one of a main camera, a depth of field camera, a wide-angle camera, and a telephoto camera, and the main camera and the depth of field camera are combined to realize a background virtualization function, a panoramic shooting and a virtual reality (VR) shooting function, or other fusion shooting functions, by combining the main camera and the wide-angle camera. In some embodiments, the camera component 3306 may further include a strobe. The strobe may be a single color temperature strobe or a two-color temperature strobe. The two-color temperature strobe is a combination of a warm light strobe and a cold light strobe, and may be used for light compensation at different color temperatures.

[0368] The audio circuit 3307 may include a microphone and a speaker. The microphone is used to collect sound waves of the user and the environment, convert the sound waves into electrical signals and input them to the processor 3301 for processing, or input them to the radio frequency circuit 3304 to realize voice communication. For the purpose of stereo collection or noise reduction, the microphones may be multiple, each provided at a different part of the electronic device 3300. The microphone may further be an array microphone or an omnidirectional collection microphone. The speaker is used to convert the electrical signal from the processor 3301 or the radio frequency circuit 3304 into sound waves. The speaker may be a conventional membrane speaker or a piezoelectric ceramic speaker. If the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves that can be heard by humans, but also convert the electrical signal into sound waves that cannot be heard by humans for applications such as distance measurement. In some embodiments, the audio circuit 3307 may also include a headphone jack.

[0369] The positioning component 3308 is used to determine the current geographic location of the electronic device 3300 to realize navigation or location-based services (LBS). The positioning component 3308 may be a positioning component based on the Global Positioning System (GPS), the Beidou system, or the Galileo system.

[0370] The power source 3309 is used to provide power to each component in the electronic device 3300. The power source 3309 may be an AC power source, a DC power source, a disposable battery, or a rechargeable battery. If the power source 3309 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is recharged via a wired line, and a wireless rechargeable battery is a battery that is recharged via a wireless coil. The rechargeable battery may also be used to support fast charging technology.

[0371] In some examples, the electronic device 3300 further includes one or more sensors 3310. The one or more sensors 3310 include, but are not limited to, an acceleration sensor 3311, a gyroscope sensor 3312, a pressure sensor 3313, an optical sensor 3314, and a proximity sensor 3315.

[0372] The acceleration sensor 3311 can detect the magnitude of acceleration on three coordinate axes of a coordinate system established by the electronic device 3300. For example, the acceleration sensor 3311 can be used to detect components of gravitational acceleration on three coordinate axes. The processor 3301 can control the display screen 3305 to display the user interface in a horizontal view or a vertical view based on the gravitational acceleration signal collected by the acceleration sensor 3311. The acceleration sensor 3311 can further be used to collect game or user motion data.

[0373] The gyroscope sensor 3312 can detect the body direction and rotation angle of the electronic device 3300, and the gyroscope sensor 3312 can cooperate with the acceleration sensor 3311 to collect the user's 3D motion with respect to the electronic device 3300. Based on the data collected by the gyroscope sensor 3312, the processor 3301 can realize functions such as motion guidance (e.g., changing the UI based on the user's tilt operation), image stabilization during shooting, game control, and inertial navigation.

[0374] The pressure sensor 3313 may be set on a side frame of the electronic device 3300 and / or on a lower layer of the display screen 3305. When the pressure sensor 3313 is set on a side frame of the electronic device 3300, it can detect a grip signal of the user on the electronic device 3300, and the processor 3301 performs left and right hand recognition or shortcut operation based on the grip signal collected by the pressure sensor 3313. When the pressure sensor 3313 is set on a lower layer of the display screen 3305, the processor 3301 realizes control of an operable control on the UI interface based on the pressure operation of the user on the display screen 3305. The operable control includes at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0375] The optical sensor 3314 is used to collect the ambient light intensity. In one embodiment, the processor 3301 can control the display brightness of the display screen 3305 based on the ambient light intensity collected by the optical sensor 3314. Specifically, when the ambient light intensity is high, the display brightness of the display screen 3305 is increased, and when the ambient light intensity is low, the display brightness of the display screen 3305 is decreased. In another embodiment, the processor 3301 can further dynamically adjust the shooting parameters of the camera component 3306 based on the ambient light intensity collected by the optical sensor 3314.

[0376] The proximity sensor 3315 is also called a distance sensor and is usually provided on the front panel of the electronic device 3300. The proximity sensor 3315 is used to collect the distance between the user and the front of the electronic device 3300. In one embodiment, when the proximity sensor 3315 detects that the distance between the user and the front of the electronic device 3300 is gradually decreasing, the processor 3301 controls the display screen 3305 to switch from the bright screen state to the idle screen state, and when the proximity sensor 3315 detects that the distance between the user and the front of the electronic device 3300 is gradually increasing, the processor 3301 controls the display screen 3305 to switch from the idle screen state to the bright screen state.

[0377] Those skilled in the art will appreciate that the structure shown in FIG. 33 does not constitute a limitation on the electronic device 3300, which may include more or fewer components than shown, combine some components, or employ different component arrangements.

[0378] An embodiment of the present application further provides a computer device including a memory and a processor. A computer program is stored in the memory, and the computer program is loaded and executed by the processor to realize the above-described method for controlling the motion of a mobile robot. In some embodiments, the computer device may be the above-described electronic device. In some embodiments, the computer device may be the above-described mobile robot, or may be an electronic device that has established a communication connection with the mobile robot.

[0379] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, the computer program being executed by a processor and used to realize the above-described method for controlling the motion of a mobile robot.

[0380] An embodiment of the present application further provides a chip, which includes a programmable logic circuit and / or a computer program, which, when executed, is used to realize the above-described method for controlling the motion of a mobile robot.

[0381] An embodiment of the present application further provides a computer program product or a computer program, the computer program product or the computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium, and a processor reading and executing the computer instructions from the computer-readable storage medium to realize the above-described method for controlling the motion of a mobile robot.

[0382] In this application, it is to be understood that the terms "first," "second," etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or the number of technical features depicted.

[0383] All the above optional technical solutions can be adopted in any combination to form optional embodiments of the present application, and will not be described repeatedly here.

[0384] What is described above is only a selectable embodiment of the present application, and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application should be included within the protection scope of the present application. [Explanation of symbols]

[0385] 10-legged wheeled robot 11 Base 12 Wheel section 121 Thigh Unit 122 Lower Leg Unit 123 Drive Wheel 124 Drive unit 1241 First Motor 1242 Second Motor 13 Tail 131 Counterweight leg 132 Passive Wheel 133 3rd Motor 01 Torsion spring 02 Rotation axis 03 Timing belt 04 Timing pulley

Claims

1. A method for controlling motion of a mobile robot, the method being executed by a chip, the mobile robot including a first wheel unit having an extendable leg unit, a second wheel unit having an extendable leg unit, and a base unit connected to the first wheel unit and the second wheel unit, the method for controlling motion of the mobile robot including: controlling the first wheel section and the second wheel section to be in a standing equilibrium state; and controlling the mobile robot to perform pseudo-bipedal motion in the standing equilibrium state; A method for controlling movement of a mobile robot, wherein the base unit is parallel to a horizontal reference plane in the standing equilibrium state, and during the pseudo-bipedal movement, the first wheel unit and the second wheel unit land alternately, causing the base unit to tilt and sway.

2. The first wheel portion is located in a first direction of the base portion, and the second wheel portion is located in a second direction of the base portion. The step of controlling the mobile robot to perform pseudo bipedal motion in the standing equilibrium state includes: a step of controlling the mobile robot to change from the standing balanced state to a first tilted state, the first tilted state being a state in which the base part is tilted in the first direction; controlling the mobile robot to return from the first tilted state to the standing equilibrium state; a step of controlling the mobile robot to change from the standing balanced state to a second tilted state, the second tilted state being a state in which the base portion is tilted in the second direction; and controlling the mobile robot to return from the second tilted state to the standing equilibrium state, In a process of the mobile robot returning from the first inclined state to the standing equilibrium state, a first wheel of the first wheel unit lands on the ground and a second wheel of the second wheel unit is lifted up, and in a process of the mobile robot returning from the second inclined state to the standing equilibrium state, the second wheel lands on the ground and the first wheel is lifted up. The method for controlling the motion of a mobile robot according to claim 1.

3. The step of controlling the mobile robot to change from the standing equilibrium state to a first tilted state includes: a step of controlling a first leg of the first wheel unit to be shortened and a second leg of the second wheel unit to be extended so that the mobile robot is in the first tilted state; During the extension and contraction of the first leg and the second leg, the base gradually inclines from a horizontal state parallel to the horizontal reference plane toward the first direction, and both the first wheel and the second wheel land on the ground. The method for controlling the motion of a mobile robot according to claim 2.

4. The step of controlling the mobile robot to return to the standing equilibrium state from the first tilted state includes: a step of controlling the mobile robot to extend a first leg of the first wheel unit and shorten a second leg of the second wheel unit so that the mobile robot is in a first single-wheel landing state, the first single-wheel landing state being a state in which the first wheel lands and the second wheel is lifted; and controlling the first leg to continuously extend and the second leg to continuously shorten so that the mobile robot returns from the first single-wheel landing state to the standing equilibrium state, During the extension and contraction of the first leg and the second leg, the base gradually tilts in the second direction until it returns to a horizontal state parallel to the horizontal reference plane, and the second wheel changes from a landing state to a lifted state and then returns to the landing state. The method for controlling the motion of a mobile robot according to claim 2.

5. a length of the first leg and a length of the second leg are the same in the standing equilibrium state, and the mobile robot is in the first single-wheel landing state within a first length of time; during the first length of time, the length of the first leg is less than the length of the second leg; at the end of the first time period, the first leg and the second leg are equal in length.

5. A method for controlling the motion of a mobile robot according to claim 4.

6. The step of controlling the mobile robot to change from the standing equilibrium state to a second tilted state includes: a step of controlling a first leg of the first wheel unit to extend and a second leg of the second wheel unit to shorten so that the mobile robot is in the second tilted state; During the extension and contraction of the first leg and the second leg, the base gradually inclines from a horizontal state parallel to the horizontal reference plane toward the second direction, and both the first wheel and the second wheel land on the ground. The method for controlling the motion of a mobile robot according to claim 2.

7. The step of controlling the mobile robot to return to the standing equilibrium state from the second tilted state includes: a step of controlling the first leg of the first wheel unit to be shortened and the second leg of the second wheel unit to be extended so that the mobile robot is in a second single wheel landing state, the second single wheel landing state being a state in which the first wheel is lifted and the second wheel is landed; and controlling the first leg to continuously shorten and the second leg to continuously extend so that the mobile robot returns from the second single-wheel landing state to the standing equilibrium state, In a process of extending and retracting the first leg and the second leg, the base part gradually tilts in the first direction until it returns to a horizontal state parallel to the horizontal reference plane, and the first wheel changes from a landing state to a lifted state and then returns to the landing state again. The method for controlling the motion of a mobile robot according to claim 2.

8. a length of the first leg and a length of the second leg are the same in the standing equilibrium state, and the mobile robot is in the second single-wheel landing state within a second length of time; during the second period of time, the length of the first leg is greater than the length of the second leg; At the end of the second period of time, the first leg and the second leg are equal in length. The method for controlling the motion of a mobile robot according to claim 7.

9. The step of controlling the mobile robot to change from the standing equilibrium state to a first tilted state includes: When a tilt angle of the mobile robot reaches a first limit width, the mobile robot is controlled to change from the standing equilibrium state to the first tilt state; The tilt angle of the mobile robot is used to indicate an included angle between a plane on which the base part is located and a plane parallel to the horizontal reference plane. The method for controlling the motion of a mobile robot according to claim 2.

10. The step of controlling the mobile robot to return to the standing equilibrium state from the first tilted state includes: When the tilt angle of the mobile robot reaches a second limit width, controlling the mobile robot to return from the first tilt state to the standing equilibrium state; The tilt angle of the mobile robot is used to indicate an included angle between a plane on which the base part is located and a plane parallel to the horizontal reference plane. The method for controlling the motion of a mobile robot according to claim 2.

11. The step of controlling the mobile robot to change from the standing equilibrium state to the second tilted state includes: When a tilt angle of the mobile robot reaches a third limit width, controlling the mobile robot to change from the standing equilibrium state to the second tilt state; The tilt angle of the mobile robot is used to indicate an included angle between a plane on which the base part is located and a plane parallel to the horizontal reference plane. The method for controlling the motion of a mobile robot according to claim 2.

12. The step of controlling the mobile robot to return to the standing equilibrium state from the second tilted state includes: When the tilt angle of the mobile robot reaches a fourth limit width, controlling the mobile robot to return from the second tilt state to the standing equilibrium state; The tilt angle of the mobile robot is used to indicate an included angle between a plane on which the base part is located and a plane parallel to the horizontal reference plane. The method for controlling the motion of a mobile robot according to claim 2.

13. The pseudo bipedal movement is Footstep exercise, linear motion, curved motion, Stepping and rotating movements, and and overcoming obstacles. The method for controlling the motion of a mobile robot according to claim 1.

14. the pseudo-bipedal movement includes the stepping movement, In the stepping motion, a landing position after the first wheel section and the second wheel section are lifted is the same as an initial landing position, or a distance difference between the landing position after the first wheel section and the second wheel section are lifted and the initial landing position is smaller than a first allowable value. The method for controlling motion of a mobile robot according to claim 13.

15. In the process of the linear motion, the curved motion, the stepping and rotating motion, or the obstacle climbing motion, a landing position after the first wheel portion or the second wheel portion is lifted is different from a landing position before the first wheel portion or the second wheel portion is lifted, and a distance difference between the landing position after the first wheel portion or the second wheel portion is lifted and the landing position before the first wheel portion or the second wheel portion is lifted is equal to or greater than a second allowable value; the base portion is tilted and swung alternately in a third direction and a fourth direction, and an included angle between the third direction or the fourth direction and a forward direction of the mobile robot is an acute angle. The method for controlling motion of a mobile robot according to claim 14.

16. During the pseudo bipedal movement, the first wheel of the first wheel unit and the second wheel of the second wheel unit are in a locked state. The method for controlling the motion of a mobile robot according to claim 1.

17. During the pseudo bipedal movement, the first wheel of the first wheel unit and / or the second wheel of the second wheel unit are in an unlocked state. The method for controlling the motion of a mobile robot according to claim 1.

18. The method further includes a step of controlling the first wheel unit and / or the second wheel unit in the unlocked state to perform a movement during the pseudo bipedal movement.

20. A method for controlling motion of a mobile robot according to claim 17.

19. In the process of the pseudo bipedal movement, the movements of the first wheel unit, the second wheel unit, and the base unit are as follows: A change in length of a first leg of the first wheel portion; An angle and a displacement of at least one joint motor of the first leg; A change in length of the second leg of the second wheel portion; An angle and a displacement of at least one joint motor of the second leg; a contact force between a first wheel of the first wheel unit and the ground; a contact force between the second wheel of the second wheel unit and the ground; Pitch angle information and angular velocity of the mobile robot; Roll angle information and angular velocity of the mobile robot; and The control is based on at least one of the yaw angle information and the angular velocity of the mobile robot. The method for controlling the motion of a mobile robot according to claim 1.

20. When both the first wheel portion and the second wheel portion are on the ground, a sum of a motor moment of a first drive motor corresponding to the first wheel portion and a second drive motor corresponding to the second wheel portion is a first moment; When the first wheel portion lands and the second wheel portion is raised, the motor moment of the first drive motor is the first moment; When the second wheel portion lands and the first wheel portion is raised, the motor moment of the second drive motor is the first moment. The method for controlling the motion of a mobile robot according to claim 1.

21. A mobile robot, the mobile robot including: a first wheel unit having an extendable leg portion; a second wheel unit having an extendable leg portion; and a base unit connected to the first wheel unit and the second wheel unit; A mobile robot, comprising: a controller provided in the mobile robot; and the controller being used to control the mobile robot so as to realize the method for controlling the motion of a mobile robot according to any one of claims 1 to 20.

22. A motion control device for a mobile robot, comprising: A control module configured to control a first wheel unit having a telescopic leg and a second wheel unit having a telescopic leg, the first wheel unit being included in the mobile robot, so as to be in a standing equilibrium state; The control module is further configured to control the mobile robot to perform pseudo-bipedal movement through the standing equilibrium state; A motion control device for a mobile robot, wherein the base portion of the mobile robot is parallel to a horizontal reference plane in the standing equilibrium state, and during the pseudo-bipedal movement, the first wheel portion and the second wheel portion land alternately, and the base portion tilts and swings.

23. A computing device, the computing device including a memory and a processor; A computer device, wherein a computer program is stored in the memory, and the computer program is loaded and executed by the processor to realize the method for controlling the movement of a mobile robot according to any one of claims 1 to 20.

24. A chip, the chip including a programmable logic circuit and / or a computer program, which is used to realize the method for controlling the movement of a mobile robot according to any one of claims 1 to 20 when an electronic device equipped with the chip is in operation.

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