Robot motion lifting method, device, robot, and computer program

Abstract

A method, apparatus, robot, storage medium, and product for the movement lifting of a robot, relating to the field of robots. The method includes: a step (410) of receiving a movement lifting instruction; in response to the movement lifting instruction, controlling a first leg portion of the robot to be in a suspended state in the air, and performing a leg retracting operation of the first leg portion, and when the suspended state ends, supporting a first mechanical wheel at the knee joint of the first leg portion on the ground (step 420); using the first mechanical wheel as a balance force receiving point, controlling a second leg portion of the robot to be in a suspended state in the air, and stabilizing it in a balanced state (step 430).

Description

Technical Field

[0001] The embodiments of the present application relate to the field of robots, and particularly to a method and apparatus for robot motion flipping, a robot, a storage medium, and a product.

[0002] [Cross-reference to related applications] This application claims priority based on a Chinese patent application with an application number of 202210877962.X and an invention title of "Method and Apparatus for Robot Motion Flipping, Robot, Storage Medium, and Product", which was filed on July 25, 2022, and incorporates the entire content thereof by reference.

Background Art

[0003] With the continuous development of robot technology, the functions of robots are becoming increasingly powerful, and different types of robots can handle various working environments and execute different operation tasks according to operation instructions.

[0004] In related technologies, in order to adapt to more scenarios, usually, a quadruped robot is used to handle various daily tasks, and by means of a flipping method, the quadruped robot is converted into a biped robot to meet the application scenarios of both biped and quadruped. For example, the hind legs of the quadruped robot move forward quickly, the front legs are separated from the ground, and the posture is adjusted during the flipping process to achieve a biped balance state.

[0005] During the above flipping process, the position where the robot is located needs to be wide enough to realize the movement process in which the hind legs move forward quickly. That is, the movement area supporting the robot to complete the flipping process needs to be large. When the position where the robot is located is relatively narrow, the above process cannot make the robot enter the biped balance state, which greatly limits the application scenarios of the robot.

Summary of the Invention

Problems to be Solved by the Invention

[0006] Embodiments of the present application provide a method and apparatus for a robot to perform a motion lift, a robot, a storage medium, and a product. In a situation where the movable area of the robot's leg is small, the first leg portion is controlled to perform a leg-returning operation in a suspended state, and after the leg-returning, the first mechanical wheel can be used as a ground support member, avoiding the lifting process that is only performed by the inertial movement of the foot, and effectively solving the problem of requiring a large driving area. The technical solution is as follows.

Means for Solving the Problem

[0007] According to one aspect, a method for a robot to perform a motion lift is provided. The robot includes a leg and a body portion connecting the leg. The leg includes a knee joint that moves by bending, the knee joint includes a mechanical wheel, the leg includes a first leg portion and a second leg portion, and the second leg portion and the first leg portion are arranged in sequence along the lifting direction of the robot. The method includes: receiving a motion lift command; in response to the motion lift command, controlling the first leg portion of the robot to be in a suspended state and performing a leg-returning operation on the first leg portion, and when the suspended state ends, supporting a first mechanical wheel at the knee joint of the first leg portion on the driving surface; using the first mechanical wheel as a balance force receiving point (acting point), controlling the second leg portion of the robot to be in a suspended state, and stabilizing it in a balanced state.

[0008] According to another aspect, a device for a robot to perform a motion lift is provided. The robot includes a leg and a body portion connecting the leg. The leg includes a knee joint that moves by bending, the knee joint includes a mechanical wheel, the leg includes a first leg portion and a second leg portion, and the first leg portion and the second leg portion are arranged in sequence along the lifting direction of the robot. The lift is used to indicate a change in the balance state by changing the contact state of the robot with the driving surface. The device includes: An instruction receiving module for receiving a motion lifting instruction, In response to the motion lifting instruction, controlling the first leg portion of the robot to be in a suspended state, executing a leg retracting operation of the first leg portion, and when the suspended state ends, supporting a first mechanical wheel at a knee joint of the first leg portion on the driving surface. A first control module for doing so, Using the first mechanical wheel as a balance force receiving point, controlling the second leg portion of the robot to be in a suspended state, and a second control module for stabilizing the balance state, wherein the balance force receiving point is a second control module used in the process of the lifting motion, and includes.

[0009] According to another aspect, a robot is provided, the robot includes a processor and a memory, and at least one instruction, at least one program, a code set or an instruction set is stored in the memory. When the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor, the motion lifting method of the robot according to any one of the embodiments of the present application is realized.

[0010] According to another aspect, a computer-readable storage medium is provided, and at least one instruction, at least one program, a code set or an instruction set is stored in the storage medium. When the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor, the motion lifting method of the robot according to any one of the embodiments of the present application is realized.

[0011] According to another aspect, there is provided a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and by executing the computer instructions, causes the computer device to execute the method for swinging up the motion of the robot described in any of the above embodiments.

Advantages of the Invention

[0012] The beneficial effects brought about by the technical solutions provided by the embodiments of the present application at least include the following.

[0013] In a robot that needs to perform a swinging-up motion, the leg includes a knee joint that bends and moves, and the knee joint correspondingly includes a mechanical wheel. After receiving a swinging-up motion instruction, the first leg part of the robot is controlled to be in a suspended state, and the leg-returning operation of the first leg part is executed. When the suspended state ends, the first mechanical wheel at the knee joint of the first leg part is supported on the driving surface, the second leg part of the robot is controlled to be in a suspended state, and the swinging-up process is realized. In a situation where the movable area of the legs of the robot is small, due to the suspended state and the leg-returning operation during the suspended state, after the robot goes through the suspended process, it is not always the foot that serves as the ground support member, but the first mechanical wheel after leg-returning can serve as the ground support member, avoiding the swinging-up process that is only carried out by the inertial movement of the foot, and effectively solving the problem of requiring a large driving area. Moreover, realizing the leg-returning operation during the suspended process further avoids the problem of multiple flow operations when the lower leg is supported, simplifies the operation flow when the robot performs the swinging-up operation, and can improve the efficiency of the swinging-up motion.

Brief Description of the Drawings

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Embodiments for Carrying Out the Invention

[0015] In the embodiment of the present application, a method for lifting the motion of a robot is provided. In a situation where the movable area of the robot's legs is small, the first leg part is controlled to perform a leg-returning operation in a suspended state, and the first mechanical wheel after the leg-returning can be used as a ground support member, avoiding the lifting process that is only carried out by the inertial motion of the feet, and effectively solving the problem of requiring a large driving area. The method for lifting the motion of the robot obtained in the training of the present application, when applied, includes at least one of a scene where the robot is operated on a flat surface and a scene where the robot is operated on a pile surface.

[0016] It should be noted that the above application scenarios are only schematic examples, and the method for lifting the motion of the robot provided by this embodiment may be further applied to other scenarios, and the embodiments of the present application do not limit this.

[0017] It should be noted that any information (including but not limited to the user's device information, user's personal information, etc.), data (including but not limited to analysis data, memory data, display data, etc.) and signals related to the present application are all those approved by the user or fully approved by each relevant party, and the collection, use, and processing of related data need to comply with the relevant laws, regulations and standards in the relevant region. For example, all data related to controlling the robot in the present application is obtained under a fully approved situation.

[0018] In one selectable embodiment, the robot that completes the above-described motion lifting method is realized as a bipedal robot. That is, when operating in a bipedal state, the robot realizes motion control with two legs. After completing the lifting motion, the robot is realized as a single-leg state. When operating in a single-leg state, the robot dog realizes motion control with a single leg.

[0019] In one selectable embodiment, the robot that completes the above-described motion lifting method is realized as a three-legged robot. That is, when operating in a three-legged state, the robot realizes motion control with three legs. After completing the lifting motion, the robot is realized as a single-leg or bipedal state. For example, when the robot is realized to operate in a single-leg state, the robot dog realizes motion control with a single leg. For example, when the contact area between the foot of the bipedal robot and the operating plane is large, the robot can be supported to realize a single-leg standing state, or when the robot is realized to operate in a bipedal state, the robot dog realizes motion control with two legs.

[0020] In this embodiment of the present application, the case where the robot is realized as a quadruped robot dog is taken as an example for explanation. That is, the robot dog correspondingly includes four driving wheels, and the four wheels are respectively connected to legs, and are connected to the main body part of the robot dog by the legs. When operating in a quadruped state, the robot dog realizes motion control with four legs. Optionally, after completing the lifting process, the robot dog is realized as a bipedal state. When operating in a bipedal state, the robot dog realizes motion control with two legs.

[0021] In addition, the robot in the present application is not limited to the above structure. According to the assembly style of the multi-legged robot, a robot that can realize the motion lifting process is regarded as the robot in the embodiment of the present application.

[0022] In a schematic diagram, FIG. 1 is a schematic side view of a quadruped robot dog 100 provided by one exemplary embodiment of the present application. As shown in FIG. 1, the quadruped robot dog 100 includes legs 110 and a body part 120 connecting the legs 110. The legs 110 include a first leg part 111 and a second leg part 112. The arrangement order of the first leg part 111 and the second leg part 112 is fixed and does not change. Optionally, the second leg part 112 and the first leg part 111 are arranged front and back along the lifting direction of the quadruped robot dog 100. Schematically, the first leg part 111 is called the hind leg of the quadruped robot dog 100, and the second leg part 112 is called the front leg of the quadruped robot dog 100. When the quadruped robot dog 100 performs the lifting process, by raising the second leg part 112 and using the first leg part 111 as the ground support leg after the lifting operation, it is possible to convert the quadruple balance state of the quadruped robot dog 100 into a bipedal balance state. In addition, the legs 110 further include knee joints that move by bending. For example, the first leg part 111 includes a first knee joint 131 that moves by bending, and the second leg part includes a second knee joint 132 that moves by bending. The knee joints include mechanical wheels. For example, the first knee joint 131 corresponding to the first leg part 111 includes a first mechanical wheel, and the second knee joint 132 corresponding to the second leg part 112 includes a second mechanical wheel.

[0023] In a modular manner, as shown in FIG. 2, FIG. 2 is a schematic diagram of the diagonal front structure of the quadruped robot dog 100 provided by one exemplary embodiment of the present application. For the quadruped robot dog 100, it includes legs and a body part connecting the legs. The legs include two first leg parts 111 and two second leg parts 112. The first leg part 111 includes a first knee joint 131 that moves by bending, and the second leg part 112 further includes a second knee joint 132 that moves by bending. And the first knee joint 131 correspondingly includes a first mechanical wheel, and the second knee joint 132 correspondingly includes a second mechanical wheel. Optionally, in FIGS. 1 to 2 above, when the quadruped robot dog 100 performs the movement lifting method provided by the embodiment of the present application, being supported on the ground by the foot corresponding to the first leg part 111 is converted into being supported on the driving surface by the first mechanical wheel corresponding to the first leg part 111. That is, after realizing the movement lifting process, the first mechanical wheel corresponding to the first leg part 111 is brought into contact with the driving surface so that the first mechanical wheel is the balance force receiving point.

[0024] In a modular manner, as shown in FIG. 3, it is used to indicate a partial enlarged view of the first leg part when the first mechanical wheel 310 is the balance force receiving point. The first mechanical wheel 310 maintains the balance state after the quadruped robot dog completes the lifting movement.

[0025] Combining the above content, the movement lifting method of the robot provided by the embodiment of the present application is introduced. FIG. 4 is a flowchart of the movement lifting method of the robot provided by one embodiment of the present application, and the method can be realized by the microprocessor of the robot. As shown in FIG. 4, the method includes the following steps 410 to 430.

[0026] Step 410, receive a movement lifting command.

[0027] In a modular manner, the movement lifting command is used to control the robot to perform the process of the lifting movement. The lifting movement means the operation of the robot to execute the lifting, that is, by changing the contact state between the robot and the driving surface, the robot is converted from the balance state to the standing state.

[0028] In a typical manner, the standing state means a state in which the first leg portion of the robot is supported on the operation surface, the second leg portion is suspended in the air, and the main body portion of the robot stands upright.

[0029] Optionally, changing the contact state between the robot and the operation surface includes adjusting from the state where both the first leg portion and the second leg portion of the robot are in contact with the operation surface to the state where only the first leg portion of the robot is supported on the operation surface, or adjusting from the state where both the first leg portion and the second leg portion of the robot are in contact with the operation surface to the state where only the second leg portion of the robot is supported on the operation surface, or first adjusting from the state where both the first leg portion and the second leg portion of the robot are in contact with the operation surface to the state where only the second leg portion of the robot is supported on the operation surface, and then further adjusting to the state where only the first leg portion of the robot is supported on the operation surface.

[0030] In a typical manner, the operation surface means the plane on which the legs move during the lifting movement of the robot. For example, when the robot performs a lifting movement on the ground, the ground is the operation surface, or when the robot performs a lifting movement on the table surface, the table surface is the operation surface.

[0031] In one selectable embodiment, the robot is realized as a type of quadruped robot dog, and the operation state of the quadruped robot dog is realized such that the four legs are in contact with the operation surface, that is, the quadruped robot dog moves with the support of the four legs and maintains the first balance state when the four legs support. After the quadruped robot dog receives a movement lifting command, based on the movement lifting command, by controlling the quadruped robot dog to change the ground support state in which the four legs are in contact with the operation surface, at least one leg is separated from the operation surface and enters a second balance state different from the first balance state. For example, after the quadruped robot dog receives a movement lifting command, based on the movement lifting command, by controlling two legs of the quadruped robot dog to separate from the operation surface, it enters a second balance state different from the first balance state.

[0032] Step 420: In response to the movement lifting command, control the first leg portion of the robot to be in a suspended state in the air, execute the leg retracting operation of the first leg portion, and support the first mechanical wheel at the knee joint of the first leg portion on the driving surface when the suspended state in the air ends.

[0033] Typically, after the robot receives the movement lifting command, the process of the lifting movement is performed by controlling the first leg portion and the second leg portion of the robot. Optionally, based on the movement lifting command, the robot adjusts the movement state of the first leg portion so that the first leg portion is in a suspended state in the air. Typically, the first leg portion correspondingly includes a first knee joint that moves by bending, and the bending situation of the first leg portion can be adjusted by controlling the output moment of the first knee joint. For example, increase the bending angle of the first leg portion, or decrease the bending angle of the first leg portion, or keep the bending angle of the first leg portion unchanged.

[0034] Typically, by controlling the robot to adjust the output moment of the first knee joint corresponding to the first leg portion based on the movement lifting command, the bending angle corresponding to the first leg portion is increased until the first leg portion is in a suspended state in the air.

[0035] Optionally, the second leg portion also correspondingly includes a second knee joint that moves by bending, and the bending situation of the second leg portion can be adjusted by controlling the output moment of the second knee joint.

[0036] Typically, by controlling the robot to adjust the output moment of the first knee joint corresponding to the first leg portion based on the movement lifting command, the bending angle corresponding to the first leg portion is increased, and by controlling the robot to adjust the moment of the second knee joint corresponding to the second leg portion, the bending angle corresponding to the second leg portion is decreased until the first leg portion is in a suspended state in the air, etc.

[0037] Optionally, the connection part between the main body part of the robot and the first leg part correspondingly includes a first leg joint, and the first leg joint controls the thigh part of the first leg part. When adjusting the motion state of the first leg part based on a motion lifting instruction, by controlling the output moment of the first leg joint, the thigh part of the first leg part is controlled to bend, for example, increasing the bending angle between the first leg part and the main body part, or decreasing the bending angle between the first leg part and the main body part.

[0038] In one selectable embodiment, when the first leg part embodies a suspended state, a leg retracting operation of the first leg part is executed.

[0039] The leg retracting operation means an operation of reducing the bending angle of the first leg part. The bending angle means the included angle between the first upper leg part connected to the first knee joint of the first leg part and the first lower leg part. Typically, by controlling the output moment of the first knee joint corresponding to the first leg part, the bending angle of the first leg part is reduced, thereby realizing the leg retracting process of the first leg part.

[0040] The suspended state means a state where the second leg part is separated from the driving surface of the robot, that is, a state of not contacting the driving surface. For example, one end of the first leg part is connected to the main body part of the robot, the other end is called the first foot, and the state where the first foot is separated from the driving surface is called the above suspended state.

[0041] Optionally, after the first leg part embodies the suspended state, that is, after the first foot is separated from the driving surface, by controlling the output moment of the first knee joint corresponding to the first leg part, the bending angle of the first leg part is reduced. Typically, after the first foot is separated from the driving surface, the driving current of the first leg part corresponding to the first foot rapidly decreases. After receiving a signal that the current has decreased, by controlling the output moment of the first knee joint corresponding to the first leg part, the leg retracting process of the first leg part is realized.

[0042] In one selectable embodiment, when the suspended state ends, the first mechanical wheel at the knee joint of the first leg portion is supported on the ground.

[0043] Optionally, after the execution of the leg-returning operation of the first leg portion is completed, the first mechanical wheel at the knee joint of the first leg portion is supported on the ground, or when the leg-returning operation of the first leg portion is executed, the first mechanical wheel at the knee joint of the first leg portion is supported on the ground, that is, after the first mechanical wheel at the knee joint of the first leg portion is supported on the ground, the leg-returning operation is continuously performed on the first leg portion.

[0044] Step 430: Using the first mechanical wheel as the balance force-receiving point, control the second leg portion of the robot to be in a suspended state and stabilize it in a balanced state.

[0045] The balance force-receiving point means the force-receiving point that supports the robot to adjust the motion posture and / or motion parameters of the robot towards the target of the balanced state during the execution of the lifting motion.

[0046] The motion posture means the posture of the robot when executing the lifting motion, and the motion parameter means the joint parameter corresponding to each of the legs and the body portion of the robot during the execution of the lifting motion. For example, it is the moment value of the first knee joint of the first leg portion during the execution of the lifting motion.

[0047] Optionally, after the first mechanical wheel drops onto the driving surface of the robot, the contact point between the first mechanical wheel and the driving surface is used as the balance force-receiving point. Typically, based on the balance force-receiving point, the force-receiving situation of the robot during the process of seeking and maintaining the balance state is determined. When controlling the second leg portion of the robot to be in a suspended state, with the first mechanical wheel as the balance force-receiving point, by assisting the second leg portion of the robot to perform the suspended process, a state where the second leg portion of the robot is in a suspended state is realized. For example, after the first mechanical wheel drops onto the driving surface, with the first mechanical wheel as the balance force-receiving point, by adjusting the rotation situation of the first mechanical wheel, the stability situation of the robot is controlled. For example, when the main body portion of the robot tends to tilt backward, the first mechanical wheel is rotated slightly forward, and when the main body portion of the robot tends to tilt forward, the first mechanical wheel is rotated slightly backward, etc., to make the main body portion of the robot enter a stable balance state.

[0048] Typically, as shown in FIG. 5, it is a schematic diagram of the first leg portion before the robot performs the lifting motion, including the first mechanical wheel 510 corresponding to the first knee joint. Before performing the lifting motion, the first foot 520 corresponding to the first leg portion is used as the balance force-receiving point before the robot performs the lifting motion. Typically, as shown in FIG. 3, it is a schematic diagram of the first leg portion after the robot performs the lifting motion, including the first mechanical wheel 310 corresponding to the first knee joint. After performing the lifting motion, when the suspended state of the first leg portion ends, the first mechanical wheel 310 at the knee joint of the first leg portion is supported on the ground, and the first mechanical wheel 310 corresponding to the first leg portion is used as the balance force-receiving point after the robot performs the lifting motion. That is, the first foot 320 is not used as the balance force-receiving point after the robot performs the lifting motion. The balance force-receiving point is related to the contact point between the first leg portion of the robot and the driving surface. In one optional embodiment, the motion allowable region of the first leg portion is determined. The motion allowable region refers to the region where the first leg portion is located on the driving surface when the robot performs the lifting motion.

[0049] In a pattern, when the robot moves on plum piles that are discontinuously distributed, the motion tolerance region is realized as a pile surface region corresponding to the plum piles. When the robot performs a lifting motion, the first leg portion corresponding to the robot should be within the pile surface region.

[0050] Optionally, during the process of the first upper leg portion and the first lower leg portion performing a leg-returning operation, the motion tolerance region is set as the driving surface support range of the first mechanical wheel. The driving surface support range means the range on the driving surface that can support the motion of the first mechanical wheel.

[0051] In one selectable embodiment, the robot is provided with an image collection device. For example, one camera for image collection is arranged on the head of the robot, or by using a micro camera as the robot's eye, the process of image collection is carried out during the driving process of the robot, or image collection devices are arranged at different joint positions of the robot, so that when different joints are driving, images around the joints are collected.

[0052] Optionally, the motion tolerance region is determined by the image collection device. In a pattern, the image collection device collects surrounding environmental images and transmits the collected multiple environmental images to a processor corresponding to the robot. The processor determines the motion tolerance region corresponding to the first leg portion based on the multiple environmental images.

[0053] For example, the first foot connected to the first leg portion is located on plum pile A. During the lifting operation of the robot, the image collection device can collect multiple environmental images and transmit the multiple environmental images to the processor. The processor recognizes the multiple environmental images and recognizes the environmental image corresponding to the first leg portion from them. For example, it recognizes plum pile A where the first leg portion is located and sets plum pile A as the above-mentioned motion tolerance region.

[0054] Optionally, the processor transmits the motion tolerance area obtained through the image recognition process to the corresponding joint motor, and the corresponding joint motor controls the output moment to control the first mechanical wheel to fall within the motion tolerance area.

[0055] In one selectable embodiment, the robot is provided with a joint position processing device, which is applied in the process of memorizing and adjusting the positions where different joints are located. For example, when the robot receives a lifting motion command, the first knee joint memorizes the current position information and sets the position information as the position information corresponding to the motion tolerance area. After the first leg part corresponding to the first knee joint completes the leg retracting operation, the first knee joint adjusts the first mechanical wheel to fall within the motion tolerance area corresponding to the position information based on the position information determined by memorization. That is, after determining the motion tolerance area, in the process of the first leg part executing the leg retracting operation, by setting the motion tolerance area as the operating surface support range of the first machine on the first leg part, it is ensured that the leg retracting operation of the robot can adapt to areas of different sizes, and the application scenarios of the robot's lifting motion are expanded.

[0056] In one selectable embodiment, the robot includes a first leg joint, and the first leg joint controls the moment of the first upper leg part. Typically, in the process of the first upper leg part and the first lower leg part executing the leg retracting operation of the first leg part, by controlling the moment of the first leg joint, the included angle between the first upper leg part and the horizontal plane is adjusted, and the first mechanical wheel is made to fall within the motion tolerance area. Optionally, in response to the first mechanical wheel falling within the motion tolerance area, the contact point between the first mechanical wheel and the inside of the motion tolerance area is used as the balance force receiving point.

[0057] In a pattern, after controlling the second leg portion of the robot to be suspended in the air, the rotation situation of the first mechanical wheel on the driving surface is adjusted, and then the stability situation of the robot is adjusted to stabilize the robot in a balanced state. For example, when the main body portion of the robot stops swinging, it is determined that the robot has completed the lifting process and entered the balanced state, or when the swing amplitude of the main body portion of the robot and the first upper leg portion connected to the first mechanical wheel is smaller than the preset swing amplitude, it is determined that the robot has completed the lifting process and entered the balanced state, etc. That is, in the process of performing the leg-returning operation, by controlling the moment of the first leg joint, the included angle between the first upper leg portion and the horizontal plane is adjusted, so that the first mechanical wheel is dropped within the motion allowable region, and the contact point between the first mechanical wheel and the motion allowable region is used as the balance force-receiving point, and it is guaranteed that the position of the balance force-receiving point is within the motion allowable region, avoiding the robot occupying an excessive contact area when performing the lifting operation.

[0058] In one selectable embodiment, the first leg portion includes a first knee joint that bends and moves, and the first knee joint realizes the process of supporting the first mechanical wheel at the knee joint of the first leg portion of the robot on the ground. In a pattern, as shown in FIG. 6, step 420 in the embodiment shown in FIG. 4 above may be further realized as steps 610 to 630 as follows.

[0059] Step 610, in response to the motion lifting command, control the moment of the first knee joint, and bend the first knee joint in a direction to increase the vertical height between the first mechanical wheel and the horizontal plane until the first leg portion of the robot is in a suspended state in the air.

[0060] In a modular manner, after receiving a lifting motion command, by controlling the moment of the first knee joint, the vertical height between the first mechanical wheel and the horizontal plane is increased. For example, before receiving the lifting motion command, the vertical height between the first mechanical wheel corresponding to the first knee joint and the horizontal plane is 80 cm. After receiving the lifting motion command, by controlling the moment of the first knee joint, the vertical height between the first mechanical wheel and the horizontal plane is increased. For example, after receiving the lifting motion command, by controlling the moment of the first knee joint, the vertical height between the first mechanical wheel and the horizontal plane is gradually increased to 100 cm.

[0061] In a modular manner, the horizontal plane means a plane parallel to the driving surface.

[0062] Optionally, the horizontal plane is higher than the driving surface, or the horizontal plane is lower than the driving surface, or the horizontal plane is at the same height as the driving surface. For example, the horizontal plane is the driving surface. Also, for example, the horizontal plane is a plane parallel to the driving surface but lower than the driving surface.

[0063] While increasing the vertical height between the first mechanical wheel and the horizontal plane, by bending the first knee joint in the direction of increasing the vertical height between the first mechanical wheel and the horizontal plane, the bending angle of the first leg portion is increased.

[0064] In one selectable embodiment, the first leg portion includes a first upper leg portion and a first lower leg portion. The first upper leg portion and the first lower leg portion are connected by a first knee joint, and the first upper leg portion is connected to the main body portion.

[0065] In a modular manner, as shown in FIG. 5, it is a schematic diagram of the first leg portion before the robot performs a lifting motion. The first leg portion includes a first upper leg portion 531 and a first lower leg portion 532. The first upper leg portion 531 and the first lower leg portion 532 are connected by a first knee joint, and the first knee joint correspondingly has a first mechanical wheel 510. The process of increasing the bending angle of the first leg portion is to increase the included angle α between the first upper leg portion 531 and the first lower leg portion 532.

[0066] Optionally, when the first knee joint is bent in a direction that increases the vertical height between the first mechanical wheel and the horizontal plane, the bending angle of the second leg portion is reduced until the first leg portion of the robot is in a suspended state.

[0067] In one selectable embodiment, in response to the bending angle of the first leg portion reaching a preset bending angle threshold, the moment of the first knee joint is controlled to reduce the included angle between the first upper leg portion and the first lower leg portion, thereby realizing the leg retraction operation of the first leg portion.

[0068] Step 620: Control the moment of the first knee joint to reduce the included angle between the first upper leg portion and the first lower leg portion, thereby realizing the leg retraction operation of the first leg portion.

[0069] Typically, when the first leg portion is in a suspended state, by controlling the moment of the first knee joint, the first lower leg portion is controlled, and the first lower leg portion is brought closer to the first upper leg portion, thereby reducing the included angle between the first upper leg portion and the first lower leg portion and realizing the leg retraction operation of the first leg portion. Or, when the first leg portion is in a suspended state, by controlling the moment of the first knee joint, the first upper leg portion and the first lower leg portion are simultaneously controlled, and the first lower leg portion is brought into close contact with the first upper leg portion, thereby reducing the included angle between the first upper leg portion and the first lower leg portion and realizing the leg retraction operation of the first leg portion, etc.

[0070] In one selectable embodiment, the first upper leg portion is assembled with a first magnetic adsorption member, the first lower leg portion is assembled with a second magnetic adsorption member, and there is a magnetic adsorption matching relationship between the first magnetic adsorption member and the second magnetic adsorption member.

[0071] The magnetic adsorption matching relationship means that the magnetic adsorption portions corresponding to the first magnetic adsorption member and the second magnetic adsorption member attract each other.

[0072] Optionally, the first magnetic adsorption member assembled to the first upper leg portion is realized as a magnet, and the second magnetic adsorption member assembled to the first lower leg portion is realized as a metal substance that can be attracted by the magnet. For example, it is a metal substance containing iron, nickel, or cobalt. Since there is a magnetic adsorption relationship between the magnet and the metal substance, there is a magnetic adsorption matching relationship between the first magnetic adsorption member and the second magnetic adsorption member.

[0073] Optionally, the first magnetic adsorption member assembled to the first upper leg portion is realized as the positive pole / north pole (N pole) of the magnet, and the second magnetic adsorption member assembled to the first lower leg portion is realized as the positive pole / south pole (S pole) of the magnet. Or, the first magnetic adsorption member assembled to the first upper leg portion is realized as the S pole, and the second magnetic adsorption member assembled to the first lower leg portion is realized as the N pole. Since there is a magnetic adsorption relationship between the N pole and the S pole, there is a magnetic adsorption matching relationship between the first magnetic adsorption member and the second magnetic adsorption member, etc.

[0074] Optionally, in the suspended state, the moment of the first knee joint is controlled to reduce the included angle between the first upper leg portion and the first lower leg portion. When the included angle reaches a preset included angle threshold, the first magnetic adsorption member assembled to the first upper leg portion and the second magnetic adsorption member assembled to the first lower leg portion attract each other to realize the leg-returning operation of the first leg portion.

[0075] Typically, the preset included angle threshold is preset included angle data. For example, the preset included angle threshold is 30°. Optionally, the fact that the included angle between the first upper leg portion and the first lower leg portion reaches the preset included angle threshold indicates that the included angle between the first upper leg portion and the first lower leg portion is less than or equal to the preset included angle threshold. For example, when the included angle between the first upper leg portion and the first lower leg portion is 30° or less, the magnetic adsorption function of the magnetic adsorption member is triggered, and the first magnetic adsorption member assembled to the first upper leg portion and the second magnetic adsorption member assembled to the first lower leg portion are attracted to each other to realize the leg-returning operation of the first leg portion.

[0076] In one selectable embodiment, when the included angle reaches a preset included angle threshold, the moment of the first knee joint is increased, and the first lower leg part is brought into closer contact with the first upper leg part more quickly, so as to reduce the included angle between the first upper leg part and the first lower leg part, and realize the leg retraction movement of the first leg part.

[0077] Step 630: Support the first mechanical wheel at the knee joint of the first leg part on the driving surface when the suspended state ends.

[0078] Typically, after the execution of the leg retraction movement of the first leg part is completed, support the first mechanical wheel at the knee joint of the first leg part on the ground, or when executing the leg retraction movement of the first leg part, support the first mechanical wheel at the knee joint of the first leg part on the ground.

[0079] Typically, as shown in FIG. 3, it is a schematic diagram in which the first mechanical wheel is supported on the driving surface, and includes the first mechanical wheel 310 corresponding to the first knee joint. After the lifting movement is performed, when the suspended state of the first leg part ends, the first foot 320 is no longer used as the contact member between the robot and the driving surface, and the first mechanical wheel 310 at the knee joint of the first leg part is supported on the driving surface, that is, the first mechanical wheel 310 is used as the contact member between the robot and the driving surface, and the subsequent suspended process of the second leg part is performed based on the first mechanical wheel 310.

[0080] In this embodiment, after receiving the movement lifting command, by controlling the moment of the first knee joint of the robot, the vertical height between the first mechanical wheel and the horizontal plane is increased in the direction of bending the first knee joint until the first leg part is in a suspended state, and it is possible to avoid occupying an excessive driving area during the process of the first leg part becoming in a suspended state. In this embodiment, by controlling the moment of the first knee joint, the leg retraction operation is realized by reducing the included angle between the first upper leg part and the first lower leg part, and the stability of the leg retraction operation can be improved, and it is possible to avoid occupying an excessive driving area during the process of the first leg part becoming in a suspended state. In this embodiment, by assembling magnetic adsorption members having a magnetic adsorption matching relationship to the first upper leg part and the first lower leg part respectively, during the process of reducing the included angle between the first upper leg part and the second upper leg part by controlling the moment of the first knee joint, the leg retraction operation of the first leg part is realized by the mutual attraction between the two magnetic adsorption members, a certain amount of human control cost can be saved, and the convenience and operation realization efficiency of the leg retraction operation can be improved.

[0081] In the embodiment of the present application, the process of the first mechanical wheel being supported by the ground is described. In response to the movement lifting command, the moment of the first knee joint is controlled, and the first knee joint is bent in the direction of increasing the vertical height between the first mechanical wheel and the horizontal plane until the first leg part of the robot is in a suspended state. In the suspended state, the moment of the first knee joint is controlled to reduce the included angle between the first upper leg part and the first lower leg part, and the leg retraction operation of the first leg part is realized. Then, when the suspended state ends, the first mechanical wheel at the knee joint of the first leg part is supported on the ground, so that the leg retraction process with a large movement area is completed in the suspended state, and the leg retraction process can be realized more quickly through the magnetic adsorption members assembled on the first upper leg part and the second lower leg part. After that, by using the first mechanical wheel corresponding to the first knee joint after leg retraction as the balance force receiving point during the process of the second leg part performing lifting, the lifting process performed only by the inertial movement of the foot is effectively avoided, and the problem of requiring a large driving area is actually solved.

[0082] In one selectable embodiment, after determining that the first mechanical wheel is the balance force application point, the functions of the second leg portion and the first leg portion of the robot are comprehensively utilized to realize the process in which the second leg portion of the robot becomes suspended in the air. Schematically, as shown in FIG. 7, the embodiment shown in FIG. 4 above may be further realized as steps 710 to 740 as follows.

[0083] Step 710, receive a motion lifting command.

[0084] The content of step 710 has already been described in step 410, and will not be elaborated here.

[0085] Step 720, in response to the motion lifting command, control the first leg portion of the robot to be in a suspended state in the air, and execute the leg retraction operation of the first leg portion. When the suspended state ends, support the first mechanical wheel at the knee joint of the first leg portion on the ground.

[0086] The content of step 720 has already been described in step 420, and will not be elaborated here.

[0087] Step 730, with the second leg portion as the force application point and the first mechanical wheel as the force receiving point, control the moments of the first mechanical wheel and the second knee joint to control the second leg portion of the robot to be in a suspended state in the air. The second leg portion includes a second knee joint that bends and moves.

[0088] Schematically, after supporting the first mechanical wheel at the knee joint of the first leg portion on the ground, with the second leg portion as the force application point, for example, with the second foot where the second leg portion contacts the driving surface of the robot as the force application point, and with the first mechanical wheel as the force receiving point corresponding to the force application point, by controlling the moment of the second knee joint, bend the second knee joint in the direction of increasing the vertical height between the second mechanical wheel and the horizontal plane. That is, increase the bending angle of the second knee joint in the direction of increasing the vertical height between the second mechanical wheel and the horizontal plane.

[0089] In one selectable embodiment, the second leg portion includes a second upper leg portion and a second lower leg portion, the second upper leg portion and the second lower leg portion are connected by a second knee joint, and the second upper leg portion is connected to the main body portion. Typically, increasing the bending angle of the second knee joint indicates increasing the included angle between the second upper leg portion and the second lower leg portion.

[0090] In one selectable embodiment, a first included angle between the second upper leg portion and the second lower leg portion and a second included angle between the second upper leg portion and the main body portion are determined.

[0091] Typically, in the process of bending the second knee joint in the direction of increasing the vertical height between the second mechanical wheel and the horizontal plane, at least two elements as follows need to be considered. First, in the case of the end of the lifting operation, in order to ensure that the robot can maintain a relatively stable balance state, it is necessary to plan the inclination angle (theta) during the lifting operation of the robot, and the inclination angle is used to indicate the included angle between the main body portion of the robot and the horizontal plane. Second, during the lifting operation, the second leg portion and the first mechanical wheel need to increase the resistance to avoid slipping, otherwise, there will be a loss of force during the lifting operation, affecting the effect of the lifting operation.

[0092] Optionally, in the process of bending the second knee joint in the direction of increasing the vertical height between the second mechanical wheel and the horizontal plane, a first included angle between the second upper leg portion and the second lower leg portion and a second included angle between the second upper leg portion and the main body portion are determined. For example, the first included angle between the second upper leg portion and the second lower leg portion and the second included angle between the second upper leg portion and the main body portion are obtained in real time by a processor corresponding to the robot, or the first included angle between the second upper leg portion and the second lower leg portion and the second included angle between the second upper leg portion and the main body portion are obtained periodically by a processor corresponding to the robot, etc.

[0093] In one selectable embodiment, any one process of obtaining the first included angle and the second included angle is described.

[0094] In a modular manner, when designing the total duration T (for example, in seconds) during which the first leg portion performs the lifting operation, the inclination angle θ (for example, in radians) of the robot needs to rotate from the initial angle θ0 before the start of the lifting operation to the end angle θ f = π / 2 within the duration T. Note that at the start and end of the lifting operation, the angular velocity of the inclination angle of the robot is

Number

[0095] In one selectable embodiment, the desired inclination angle trajectory θ ref (t) during the lifting process of the robot is obtained by four - time spline curve interpolation.

[0096] Optionally, during the process of the robot performing the lifting operation, an additional corresponding inclination angle of the robot at a certain point in time is set. For example, when t = T / 2, θ ref (t) is set to π / 3. In a modular manner, as shown in FIG. 8, it is a schematic diagram of the function of sample curve interpolation. The horizontal axis represents the time situation during the lifting process of the robot, and the vertical axis represents the position situation of the center of gravity of the robot during the lifting process.

[0097] The function p(t) is adopted to represent the situation of spline curve interpolation. From the function image shown in FIG. 8, four - time spline curve interpolation of the function p(t) is calculated, including point A 810, point B 820, and point C 830.

Number

[0098] p0, p1, and p2 are used to indicate the distance from the center of gravity of the robot to the horizontal plane, t0, t1, and t2 are used to indicate the time situation during the lifting process of the robot, v0, v2 are used to indicate the driving speed of the robot, and a0, a1, a2, a3, b0, b1, b2, b3 are used to indicate the coefficients of the spline curve. After designing the trajectory of the body tilt angle of the robot, it is necessary to solve the motion trajectories of the corresponding first leg part and second leg part, thereby realizing the tracking of the body tilt angle. Typically, as shown in FIG. 9, in any one process of obtaining the first included angle and the second included angle, it is a schematic diagram of the acquisition situation of the first included angle 910 and the second included angle 920. During the process of the robot performing the lifting operation, the distances of the total lengths of the main body part, the first leg part, and the second leg part are fixed, and based on the above process, the body tilt angle θ of the robot can be determined. Therefore, based on the geometric relationship, the first included angle 910 q f1 between the second upper leg part and the second lower leg part, the second included angle 920 q f2 between the second upper leg part and the main body part, and the third included angle q h1 between the main body part and the horizontal plane can be calculated.

[0099] Optionally, by designing the mechanical structure of the robot, after using the first mechanical wheel as the balance force receiving point, the angle q h1 between the first upper leg part and the second upper leg part corresponding to the first leg part is fixed. For example, q h1 = π / 6, and there is no need to process it during the lifting process. In one selectable embodiment, a rectangular coordinate system is created with the contact point between the first mechanical wheel and the driving surface of the robot as the origin, and q h1 = θ. Optionally, the second upper leg part and the main body part locations correspondingly include hip joints, and it is determined that the coordinates of the hip joints are represented as follows based on the geometric relationship.

Equation

[0100] x fh , y fh are p fhis used to indicate the horizontal and vertical coordinate values, l body is used to indicate the length of the main body part, r wheel is used to indicate the radius of the first leg part, l thigh is used to indicate the length of the second upper leg part.

[0101] Note that the coordinates of the contact point between the second lower leg part and the operation surface (i.e., the resting point of the second lower leg part) are expressed as follows.

Number

[0102] x ff , y ff is p ff is used to indicate the horizontal and vertical coordinate values, l gap is used to indicate the distance between the resting point of the second lower leg part and the origin.

[0103] p fh , p ff Based on, the distance between the hip joint and the resting point of the second lower leg part is determined, i.e., as follows.

Number

[0104] l thigh , l shank , and l fh,ff Based on, by the cosine theorem, the second included angle 920 q between the second upper leg part and the main body part f2 is obtained.

Number

[0105] l thigh is used to indicate the length of the first upper leg part, l shank is used to indicate the length of the first lower leg part.

[0106] In addition, a first included angle 910 q between the second upper leg portion and the second lower leg portion is determined. f1 is determined.

Number

[0107] In one selectable embodiment, based on the first included angle and the second included angle, a control moment for the second leg portion to execute a suspended state is determined. In one selectable embodiment, a monitoring process is performed on the first included angle and the second included angle, and a control moment for the second leg portion to execute a suspended state is determined.

[0108] Optionally, after obtaining included angles such as the first included angle and the second included angle, a corresponding angular velocity is obtained by difference. Finally, by transmitting the calculated included angles such as the first included angle and the second included angle, and the calculated angular velocity to the corresponding joint motors, the motors can follow the included angles and the angular velocity, and support the realization of the lifting operation of the second leg portion.

[0109] Typically, by additional particle dynamics control, and by pose feedback for the main body portion and the leg portions of the robot, a control moment corresponding to each motor is calculated, including the control moment when the second leg portion executes a suspended state.

[0110] In one selectable embodiment, the second leg portion of the robot is controlled to be suspended by the control moment. Typically, after determining the control moment, moment information corresponding to the control moment is transmitted to the motor that controls the second leg portion to be suspended, so that the motor controls the second leg portion of the robot to be suspended by the control moment.

[0111] In this embodiment, during the process of adjusting the second leg portion of the robot, by taking the second leg portion as the force point and the first mechanical wheel as the force-receiving point, the moment of the first mechanical wheel and the moment of the second knee joint are controlled to notify the suspension of the second leg portion, and it is ensured that the robot maintains balance during the process of adjusting the second leg portion of the robot to the suspended state, so that the stability of the lifting movement of the robot can be improved.

[0112] Step 740, by controlling the rotation of the first mechanical wheel, the robot is stabilized to the balanced state.

[0113] The balanced state is used to indicate the balanced state after completing the movement lifting command.

[0114] Typically, after controlling the second leg portion of the robot to be suspended, by controlling the rotation of the first mechanical wheel, the first upper leg portion is adjusted, so that the first upper leg portion can be made as smooth as possible and can support the second leg portion and the main body portion.

[0115] In one selectable embodiment, by controlling the rotation of the first mechanical wheel, the included angle between the first upper leg portion and the horizontal plane is adjusted, and when the included angle between the first upper leg portion and the horizontal plane reaches the preset adjustment condition, the robot is stabilized to the balanced state.

[0116] In a modular manner, the pre - provided adjustment conditions are used to indicate the pre - set adjustment conditions. When the angle between the first upper leg part and the horizontal plane reaches the pre - provided adjustment conditions, it indicates that the robot has entered a balanced state. For example, the pre - provided adjustment conditions are the condition that the first upper leg part can support the second leg part and the main body part, and the angle between the first upper leg part and the horizontal plane is within a pre - provided angle range. For example, if the pre - provided angle range is 5°, when the first upper leg part can support the second leg part and the main body part, and the angle with the horizontal plane is 5° or less, it indicates that the robot has entered a balanced state. Or, the pre - provided adjustment conditions are the condition that the first upper leg part can support the second leg part and the main body part, and the first upper leg part is perpendicular to the horizontal plane. When the first upper leg part can support the second leg part and the main body part and is perpendicular to the horizontal plane, it indicates that the robot has entered a balanced state, etc.

[0117] In one selectable embodiment, taking the example that the robot is realized as a quadruped robot dog. After two legs of the quadruped robot dog are separated from the driving surface, the quadruped robot dog is supported by the other two legs. After the quadruped robot dog enters a balanced state by the other two legs, the balanced state is called a two - wheel balanced state. That is, in this case, the body of the quadruped robot dog is vertical, the front legs are suspended in the air, and the driving wheels at the knee joints of the hind legs move back and forth on the ground, thereby maintaining the balanced state.

[0118] In a modular manner, after the second leg part embodies a suspended state in the air, there is no need to consider the geometric form constraints. By adjusting the knee joint, the first leg part is continuously rotated until it forms a straight line with respect to the main body part of the robot.

[0119] Optionally, by adjusting the first upper leg part with the first mechanical wheel, while stabilizing the robot in a balanced state, the second leg part is rotated into the form required in the balanced state, or, after stabilizing the robot in a balanced state by adjusting the first upper leg part with the first mechanical wheel, the second leg part is rotated into the form required in the balanced state, etc.

[0120] In a pattern, after the robot stabilizes in a balanced state, when the required form of the second leg portion is embodied as a curved state placed in front of the main body portion, the second leg portion is curved and placed in front of the main body portion. Or, when the robot stabilizes in a balanced state and the required form of the second leg portion is embodied as a fully extended state, the second leg portion is fully extended and so on.

[0121] In a pattern, referring to FIG. 10, it is a motor control module corresponding to the robot. First, the desired motor angle is obtained, subtracted from the position feedback output by the motor 1010, and then input to the position loop controller 1020. After that, the output of the position loop controller 1020 is added to the desired motor angle, and then further subtracted from the speed feedback fed back from the motor 1010. The result is input to the speed loop controller 1030. After that, the output of the speed loop controller 1030 is subtracted from the current feedback fed back from the motor 1010 and then input to the current loop controller 1040. After that, the output of the current loop controller 1040 is added to the feedforward moment and then input to the corresponding motor drive 1050. At the same time, the result of the motor drive is input to the motor 1010, so that the result is output from the motor 1010, and each joint of the robot is controlled by the corresponding click of the robot. For example, it is in the process of motion control, the process of lifting motion, etc.

[0122] In the embodiments of the present application, the process of suspending the second leg portion in the air was introduced. After taking the first mechanical wheel as the balance force receiving point, the second leg portion was taken as the force point, the first mechanical wheel was taken as the force receiving point, the moment of the second knee joint was controlled, the second knee joint was bent in the direction of increasing the vertical height between the second mechanical wheel and the horizontal plane, the first included angle between the second upper leg portion and the second lower leg portion, and the second included angle between the second upper leg portion and the main body portion were determined. Based on the first included angle and the second included angle, the control moment for the second leg portion to execute the suspended state in the air was determined. Thus, the second leg portion of the robot was controlled to be suspended in the air by the control moment. Through the monitoring process for the first included angle and the second included angle, the motion state during the lifting process of the robot could be more clearly understood. Thus, the operating condition of the robot could be adjusted more accurately by the control moment. In addition, the first upper leg portion could be further adjusted by the first mechanical wheel, so that the robot could quickly enter the balanced state after the lifting process.

[0123] In one selectable embodiment, taking the case where the robot is realized as a quadruped robot dog as an example, when the quadruped robot dog is on a pile surface with a small movable area, that is, the driving surface of the quadruped robot dog is a pile surface with discontinuously arranged piles, through the process of the first mechanical wheel supporting the ground, in the driving scene of the pile surface with discontinuously arranged piles, the lifting process of the robot can be realized more efficiently. Typically, as shown in FIG. 11, the embodiment shown in FIG. 4 above may also be realized as the following steps 1110 to 1150.

[0124] Step 1110, it is in the quadruped standing state.

[0125] In a pattern, as shown in FIG. 12, it is the initial state of the quadruped robot dog 1210. Still, the legs of the quadruped robot dog 1210 are located on the pile surface 1220 (for example, plum blossom piles arranged intermittently), and the four legs each fall on different pile surfaces. When the quadruped robot dog 1210 moves forward or backward, it is necessary to accurately drop the four legs onto other pile surfaces, and the legs must not leave the pile surface. When the quadruped robot dog 1210 performs a lifting motion, in order to avoid the phenomenon of failed lifting, it is necessary to ensure that the legs supported for lifting do not come out of the pile surface where they are located, that is, within the limited range of movement, it is necessary to maintain the stability of the legs supported for lifting.

[0126] During the lifting process, it includes two parts: (i) the part where the hind legs switch from supporting to the rear wheels supporting, and (ii) the part where the rear wheels support and lift.

[0127] (1) Switch from being supported by the hind legs to being supported by the rear wheels Optionally, during the process of switching from the hind legs supporting to the rear wheels supporting, it is realized as the following steps 1121 to 1126.

[0128] Step 1121, in a squatting state.

[0129] Optionally, the squatting state is the preparation state for the quadruped robot dog to perform the lifting process. In a pattern, as shown in FIG. 13, when the quadruped robot dog 1310 starts the lifting process, by performing the squatting state, more leg extension space is left for the subsequent movement of the first leg part, and it helps the first leg part to enter the suspended state. Optionally, after evaluation and analysis, if it is determined that the quadruped robot dog can complete the subsequent operations even without squatting, the squatting operation is not performed, that is, the squatting operation is not essential.

[0130] Step 1122, extend the first leg part and contract the second leg part so that the first leg part becomes suspended in the air.

[0131] In a modular manner, as shown in FIG. 14, the quadruped robot dog 1410 includes a first leg portion 1420 as a hind leg and a second leg portion 1430 as a front leg. When the hind leg (the first leg portion 1420) is used as the support leg after the end of the lifting operation, the lifting operation is used to instruct the operation of lifting the front leg (the second leg portion 1430). During the process of the second leg portion 1430 performing the lifting, the quadruped robot dog 1410 is controlled to extend the first leg portion 1420 (drag the hind leg), that is, to increase the bending angle of the knee joint corresponding to the first leg portion 1420, and the quadruped robot dog 1410 is controlled to contract the first leg portion 1420 (contract the front leg), that is, to decrease the bending angle of the knee joint corresponding to the second leg portion 1430. As a result, the first leg portion 1420 enters a suspended state in the air. For the same reason, when the front leg is used as the support leg after the end of the lifting operation, the lifting operation is used to instruct the operation of lifting the hind leg. The embodiments of the present application are not limited thereto.

[0132] Step 1123, rotate the first lower leg portion of the first leg portion to bring the first lower leg portion into close contact with the first upper leg portion.

[0133] In a modular manner, as shown in FIG. 15, the first leg portion 1520 of the quadruped robot dog 1510 enters a suspended state in the air. The first leg portion 1520 of the quadruped robot dog 1510 includes a first upper leg portion 1521 and a first lower leg portion 1522. By controlling the robot to rotate the first lower leg portion 1522, the included angle between the first lower leg portion 1522 and the first upper leg portion 1521 is reduced, and the first lower leg portion 1522 is brought into close contact with the first upper leg portion 1521.

[0134] Step 1124, rotate the first upper leg portion of the first leg portion to drop the first mechanical wheel onto the pile surface.

[0135] In a modular manner, as shown in FIG. 16, after the first lower leg portion of the quadruped robot dog 1610 is in close contact with the first upper leg portion, the first mechanical wheel 1620 corresponding to the first knee joint connecting the first lower leg portion and the first upper leg portion is controlled to drop onto the pile surface.

[0136] Step 1125, the first mechanical wheel drops onto the pile surface.

[0137] Typically, the pile surface 1630 is the pile surface where the first leg part drops before the quadruped robot dog 1610 performs a lifting operation, or the pile surface 1630 is a newly dropped pile surface during the process when the quadruped robot dog 1610 performs a lifting operation, etc.

[0138] Step 1126, adjust the angles of each joint to make the quadruped robot dog horizontal.

[0139] Typically, after the first mechanical wheel 1620 drops onto the pile surface 1630, by adjusting the angle of the first knee joint corresponding to the first mechanical wheel and the angle of the joint corresponding to the second leg part, etc., the quadruped robot dog is made horizontal, that is, the main body part of the quadruped robot dog is made horizontal with respect to the horizontal plane.

[0140] Step 1130, by controlling the linear motor, the driving is switched from the driving of the first leg part to the driving of the first mechanical wheel.

[0141] Typically, as shown in FIGS. 1 to 2, it is a schematic structural diagram of a quadruped robot dog.

[0142] For the legs of the quadruped robot dog, each leg includes three motor drives. Taking the partial enlarged schematic diagram of the first leg part shown in FIG. 5 as an example, the three motor drives are respectively the lateral swing motor 530 (ab / ad motor), the hip motor 540 (the first leg motor - hip motor), and the knee motor 550 (knee motor). The ab / ad motor is used to drive the lateral swing of the whole leg to rotate, the hip motor is used to drive the rotation of the upper leg (the first upper leg part or the second upper leg part), the knee motor drives the rotation of the lower leg (the first lower leg part or the second lower leg part) by the belt 560, and the mechanical wheel at the knee joint location is a passive wheel without drive.

[0143] In one selectable embodiment, when the first leg portion serves as the support leg after the end of the lifting movement, the first leg portion includes a first upper leg portion and a first lower leg portion. The first upper leg portion and the first lower leg portion are connected by the knee joint of the first mechanical wheel, and the first upper leg portion is connected to the main body portion. Optionally, the first lower leg portion includes an insertion rod, and the insertion rod is controlled by a linear motor to adjust the interlocking connection state between the first leg portion and the first knee joint. The linear motor refers to a motor that converts electrical energy into linear motion mechanical energy, and the insertion rod refers to a mechanical member controlled by the linear motor. The interlocking connection state is used to indicate that the insertion rod is connected to the annular groove corresponding to the groove plate.

[0144] In one selectable embodiment, the first knee joint includes a groove plate, and the groove plate correspondingly has at least one annular groove.

[0145] Optionally, the linear motor disposed on the first lower leg portion can control the insertion rod to perform an extension process and a retraction process. The extension process is used to indicate inserting the insertion rod controlled by the linear motor into the annular groove corresponding to the groove plate, and the retraction process is used to indicate retracting the insertion rod controlled by the linear motor from the annular groove corresponding to the groove plate.

[0146] Optionally, in response to controlling the insertion rod to retract from the annular groove, the interlocking connection state between the first knee joint and the first lower leg portion is cancelled. That is, based on the retraction process, the interlocking connection state between the first knee joint and the first lower leg portion is cancelled.

[0147] Schematically, as shown in FIG. 5, when the first leg portion serves as the support leg after the end of the lifting movement, for the second leg portion, one linear motor 580 is included in the first lower leg portion 532 of the first leg portion. The linear motor 580 controls the support state of the first leg portion and the first mechanical wheel by means of the insertion rod 581.

[0148] In a schematic mode, as shown in FIG. 17, it is a partial enlarged schematic view of the first mechanical wheel (the area indicated by the dotted line frame) in the partial enlarged schematic view of the first leg portion shown in FIG. 5. FIG. 17 includes a first mechanical wheel 1710 (pulley), a groove plate 1720 (Groove plate), a linear actuator 1730 arranged in the first lower leg portion, an insertion rod 1731 controlled by the linear actuator 1730, a first magnetic adsorption member 1740 (Magnet) arranged in the first upper leg portion, a second magnetic adsorption member 1750 (Steel) arranged in the first lower leg portion, and a belt 1760. The groove plate 1720 correspondingly includes a plurality of wheel grooves 1721.

[0149] When the linear actuator 1730 controls the insertion rod 1731 to perform an extension process, the insertion rod 1731 controlled by the linear actuator is inserted into the wheel groove 1721 corresponding to the groove plate 1720. Therefore, when a knee motor (not shown in FIG. 17 as shown in the knee motor 550 shown in FIG. 5) drives the first mechanical wheel by the belt 1760, it simultaneously drives the rotation of the first lower leg portion.

[0150] In a schematic mode, as shown in FIG. 18, it is a schematic view of the first leg portion after controlling the insertion rod so that the linear actuator performs a retraction process. It includes the area corresponding to the first mechanical wheel 1810 (as indicated by the dotted line frame). For the convenience of observation, the area corresponding to the first mechanical wheel 1810 is partially enlarged to obtain the partial enlarged schematic view of the first mechanical wheel shown in FIG. 19.

[0151] FIG. 19 includes a groove plate 1910, a plurality of wheel grooves 1911 correspondingly included in the groove plate 1910, a linear actuator 1920 arranged in the first lower leg portion, an insertion rod 1921 controlled by the linear actuator 1920, a first magnetic adsorption member arranged in the first upper leg portion, a second magnetic adsorption member arranged in the first lower leg portion, and a belt 1930.

[0152] Optionally, when controlling the insertion rod 1921 so that the linear motor 1920 performs a retraction process, the insertion rod 1921 controlled by the linear motor 1920 is retracted from the annular groove 1911 corresponding to the groove plate 1910, thereby canceling the interlocking connection state between the first mechanical wheel and the first lower leg portion. In this case, the knee motor (not shown in FIG. 19, as shown by the knee motor 340 shown in FIG. 3) cannot drive the first lower leg portion and can only drive the first mechanical wheel. Note that due to the magnetic adsorption matching relationship between the first magnetic adsorption member and the second magnetic adsorption member, the first upper leg portion and the second lower leg portion are attracted to each other. That is, by arranging the insertion rod on the first lower leg portion, based on the control of the linear motor for the insertion rod, the wheel type (supported by the first mechanical wheel) and the foot type (supported by the first foot corresponding to the first leg portion) states of the first leg portion can be switched.

[0153] In this embodiment, by adding a groove plate to the first knee joint and an insertion rod to the first lower leg portion, the linear motor controls the insertion rod to adjust the interlocking connection state between the first lower leg portion and the first knee joint, enabling automatic adjustment of the state and improving the control efficiency of the robot's lifting motion. In this embodiment, by controlling the motion state of the insertion rod, the interlocking connection state between the first knee joint and the first lower leg portion is adjusted in conjunction, improving the control efficiency and accuracy of the robot.

[0154] (2) The rear wheels support and lift up Optionally, in the process of switching from the rear leg supporting to the rear wheel supporting, it is realized as the following steps 1141 to 1142. Step 1141: Extend the second leg portion, rotate the first leg portion, and start the lifting process of the second leg portion.

[0155] In a modular manner, as shown in FIG. 20, after the quadruped robot dog is horizontal, extend the second leg portion 2010, that is, increase the included angle (the bending included angle at the knee joint) between the second upper leg portion and the second lower leg portion, and control and rotate the first mechanical wheel to control and rotate the first upper leg portion corresponding to the first leg portion, so that the quadruped robot dog embodies an upward-tilting operating posture and starts the lifting process of the second leg portion.

[0156] Step 1142, after the second leg portion leaves the ground, rotate the second leg portion to a desired posture and rotate the first lower leg portion of the first leg portion until it is in a straight line with the main body portion.

[0157] In a modular manner, as shown in FIG. 21, after the second leg portion 2110 leaves the ground, adjust the posture of the second leg portion 2110 and rotate the second leg portion 2110 to a desired posture. The desired posture is used to indicate the preset posture situation of the second leg portion 2110. For example, the desired posture is the posture of the front body portion where the second upper leg portion and the second lower leg portion embody an inclination angle of 30°, etc.

[0158] Step 1150, when the main body portion is basically vertical, the lifting process is completed.

[0159] In a modular manner, as shown in FIG. 22, after the second leg portion 2210 separates from the first pile surface 2220, control the output moment of the joint corresponding to the first leg portion to rotate the hip joint 2230 until it is in a straight line with the main body portion, that is, when the main body portion is basically vertical with the second pile surface 2240, complete the lifting process of the second leg portion. Optionally, during the process when the main body portion is basically vertical, the position of the first mechanical wheel 2250 on the second pile surface 2240 can be slightly adjusted, and on the premise that the first mechanical wheel 2250 does not leave the second pile surface 2240, complete the above-mentioned lifting process.

[0160] The above process is an introduction carried out for the process of simultaneously converting two first leg portions and simultaneously raising the second leg portions, taking a quadruped robot dog as an example. That is, the above content introduces the process of converting the first foot support corresponding to the first leg portion into the first mechanical wheel support, and simultaneously converting two second leg portions, and the visual effect of the operation in the switching process is relatively natural.

[0161] In one selectable embodiment, the method for lifting the movement of the robot provided by the embodiment of the present application can further be carried out in a manner of being realized separately. That is, each first leg portion is respectively converted from the first foot support to the first mechanical wheel support.

[0162] Optionally, taking a quadruped robot dog as an example, the process of converting two first leg portions from foot supports to wheel supports respectively is described. Schematically, as shown in FIG. 23, steps 1121 to 1126 shown in the process of switching from the above hind legs supporting to the rear wheels supporting may further be realized as the following steps 2310 to 2370.

[0163] Step 2310, it is in a quadruped standing state.

[0164] Schematically, as shown in FIG. 24, it is in a quadruped standing state of the quadruped robot dog 2410.

[0165] Step 2320, the main body part moves forward to the right front, and the projection of the center of gravity on the ground is positioned within the triangle surrounded by the front legs and the right hind leg.

[0166] Schematically, as shown in FIG. 25, the main body part 2511 of the quadruped robot dog 2510 moves forward to the right front so as to provide a larger movement space for the quadruped robot dog 2510, thereby facilitating the quadruped robot dog 2510 to raise its hind legs.

[0167] Step 2330, raise the left hind leg and keep the lower leg close to the thigh.

[0168] In a pattern, as shown in FIG. 26, while raising the left hind leg 2620 of the quadruped robot dog 2610, the lower leg of the left hind leg 2620 is brought into close contact with the thigh of the left hind leg 2620, that is, the included angle between the lower leg and the thigh of the left hind leg 2620 is reduced.

[0169] In step 2340, the main body part returns to the initial position, and the left hind thigh is retracted until the wheel can touch the ground.

[0170] In a pattern, as shown in FIG. 27, after the lower leg of the left hind leg of the quadruped robot dog 2710 is in close contact with the thigh, the main body part 2720 returns to the initial position, and the left hind thigh is retracted until the wheel 2730 can touch the ground, so as to support the wheel 2730 corresponding to the left hind thigh on the ground.

[0171] In step 2350, the main body part moves forward to the left, and the projection of the center of gravity on the ground is positioned within the triangle surrounded by the front legs and the right rear wheel.

[0172] In a pattern, as shown in FIG. 28, after the wheel 2810 corresponding to the left hind thigh is supported on the ground, by moving the main body part of the quadruped robot dog 2820 forward to the left, the projection of the center of gravity on the ground is positioned within the triangle surrounded by the front legs and the right rear wheel, facilitating the wheel 2830 corresponding to the right hind thigh to enter the ground support state.

[0173] In step 2360, the right hind leg is raised and the lower leg is brought into close contact with the thigh.

[0174] In a pattern, as shown in FIG. 29, while raising the right hind leg 2920 corresponding to the quadruped robot dog 2910, the lower leg of the right hind leg 2920 is controlled to be in close contact with the thigh of the right hind leg 2920, that is, the included angle between the lower leg and the thigh of the right hind leg 2920 is reduced.

[0175] In step 2370, the main body part returns to the initial state, and the right hind thigh is retracted until the wheel can touch the ground.

[0176] In a pattern, as shown in FIG. 30, after the lower leg of the right hind leg of the quadruped robot dog 3010 is in close contact with the thigh, the main body part 3020 returns to the initial position, and the right hind thigh is retracted until the wheel 3030 can touch the ground, so that the wheel 3030 corresponding to the right hind thigh supports on the ground.

[0177] FIG. 31 is a structural block diagram of a robot's motion lifting device provided by one exemplary embodiment of the present application. Taking the example that the device is installed on the robot, the robot includes legs and a main body part connecting the legs. The legs include a knee joint that moves by bending, the knee joint includes a mechanical wheel, the legs include a first leg part and a second leg part, and the first leg part and the second leg part are arranged front and back along the lifting direction of the robot. As shown in FIG. 31, the device includes an instruction receiving module 3110 for receiving a motion lifting instruction, a first control module 3120 that, in response to the motion lifting instruction, controls the first leg part of the robot to be in a suspended state, executes a leg returning operation of the first leg part, and supports the first mechanical wheel of the knee joint of the first leg part on the driving surface when the suspended state ends. The suspended state is a first control module 3120 used to indicate that the first leg part leaves the driving surface. a second control module 3130 that uses the first mechanical wheel as a balance force receiving point, controls the second leg part of the robot to be in a suspended state, and stabilizes it in a balanced state.

[0178] In an alternative exemplary embodiment, the first leg part includes a first knee joint that moves by bending. The first control module 3120 further controls the moment of the first knee joint in response to the motion lifting instruction, and bends the first knee joint in a direction to increase the vertical height between the first mechanical wheel and the horizontal plane until the first leg part of the robot is in a suspended state.

[0179] In one selectable embodiment, the first leg portion includes a first upper leg portion and a first lower leg portion. The first upper leg portion and the first lower leg portion are connected by the first knee joint. The first upper leg portion is connected to the main body portion. The first control module 3120 further controls the moment of the first knee joint, reduces the included angle between the first upper leg portion and the first lower leg portion, and realizes the leg retraction operation of the first leg portion.

[0180] In one selectable embodiment, a first magnetic adsorption member is assembled on the first upper leg portion, and a second magnetic adsorption member is assembled on the first lower leg portion. There is a magnetic adsorption matching relationship between the first magnetic adsorption member and the second magnetic adsorption member. The first control module 3120 further controls the moment of the first knee joint, reduces the included angle between the first upper leg portion and the first lower leg portion. When the included angle reaches a preset included angle threshold, the first magnetic adsorption member assembled on the first upper leg portion and the second magnetic adsorption member assembled on the first lower leg portion attract each other, thereby realizing the leg retraction operation of the first leg portion.

[0181] In one selectable embodiment, the first leg portion includes a first upper leg portion and a first lower leg portion. The first upper leg portion and the first lower leg portion are connected by the first knee joint that bends and moves. The first upper leg portion is connected to the main body portion. The first control module 3120 further determines the motion allowable region of the first leg portion. The motion allowable region means the region where the first leg portion is located on the driving surface when the robot performs the lifting motion. When the first upper leg portion and the first lower leg portion execute the leg retraction operation, the contact point of the motion allowable region is set as the driving surface support range of the first mechanical wheel.

[0182] In one selectable embodiment, the robot includes a first leg joint, the first leg joint controls the moment of the first upper leg portion, and the first control module 3120 further controls the moment of the first leg joint when the first upper leg portion and the first lower leg portion perform the leg return operation, so as to adjust the included angle between the first upper leg portion and the horizontal plane, drop the first mechanical wheel into the motion allowable area, and in response to the first mechanical wheel dropping into the motion allowable area, use the contact point between the first mechanical wheel and the motion allowable area as the balance force receiving point.

[0183] In one selectable embodiment, the first leg portion includes a first upper leg portion and a first lower leg portion. The first upper leg portion and the first lower leg portion are connected by the first knee joint. The first upper leg portion is connected to the main body portion. The first knee joint includes a groove plate, the groove plate correspondingly has at least one annular groove, the first lower leg portion includes an insertion rod, the insertion rod is controlled by a linear motor to adjust the interlocking connection state between the first leg portion and the first knee joint, the linear motor represents a motor that converts electrical energy into linear motion mechanical energy, and the insertion rod is a mechanical member controlled by the linear motor.

[0184] In one selectable embodiment, the second control module 3130 further cancels the interlocking connection state between the first knee joint and the first lower leg portion in response to the insertion rod being pulled back from the annular groove.

[0185] In one selectable embodiment, the second leg portion includes a second upper leg portion and a second lower leg portion. The second upper leg portion and the second lower leg portion are connected by the second knee joint that moves in a flexed manner. The second upper leg portion is connected to the main body portion. The second control module 3130 further controls the second leg portion of the robot to be in a suspended state by using the second leg portion as the force point and the first mechanical wheel as the force receiving point, and controlling the moment of the first mechanical wheel and the moment of the second knee joint.

[0186] In one selectable embodiment, the second control module 3130 further controls the rotation of the first mechanical wheel to bring the robot into the balanced state, and the balanced state is used to indicate the state after completing the motion lifting command.

[0187] In one selectable embodiment, the second control module 3130 further controls the rotation of the first mechanical wheel to adjust the included angle between the first upper leg portion and the horizontal plane. When the included angle between the first upper leg portion and the horizontal plane reaches a preset adjustment condition, the robot enters the balanced state.

[0188] It should be noted that the robot motion lifting device provided in the above embodiment only takes the partition of each of the above function modules as an example for description. In actual application, the above function distribution can be realized by different function modules as required, that is, the internal structure of the device is partitioned into different function modules to realize all or part of the functions described above. In addition, the robot motion lifting device provided in the above embodiment belongs to the same concept as the embodiment of the robot motion lifting method. For the specific realization process, please refer to the method embodiment in detail and no redundant description will be given here.

[0189] FIG. 32 shows a structural block diagram of a computer device 3200 provided by one exemplary embodiment of the present application. The computer device 3200 may be a portable mobile terminal, such as a smartphone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III), an MP4 (Moving Picture Experts Group Audio Layer IV) player, a notebook computer, or a desktop computer. The computer device 3200 may also be referred to by other names such as a user device, a portable terminal, a laptop terminal, a desktop terminal, etc.

[0190] Optionally, the computer device 3200 is a device for remotely connecting to a robot, or the computer device 3200 is a control device implemented in the robot.

[0191] In the embodiment of the present application, the computer device 3200 is realized as a control device part in a wheeled robot.

[0192] Generally, the computer device 3200 includes a processor 3201 and a memory 3202.

[0193] The processor 3201 may include one or more processing cores, for example, a 4-core processor, an 8-core processor, etc. The processor 3201 can be realized by adopting at least one kind of hardware form among DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 3201 may include a main processor and a coprocessor. The main processor is a processor for processing data in the wake state, and is also called a CPU (Central Processing Unit). The coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 3201 may integrate a GPU (Graphics Processing Unit). The GPU is for rendering and drawing the content that needs to be displayed on the display screen. In some embodiments, the processor 3201 may further include an AI (Artificial Intelligence) processor, and the AI processor is for processing calculation operations related to machine learning.

[0194] The memory 3202 may include one or more computer-readable storage media, and the computer-readable storage media may be non-transitory. The memory 3202 may further include high-speed random access memory and non-volatile memory, for example, one or more magnetic disk storage devices, flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 3202 is for storing at least one instruction, and the at least one instruction is executed by the processor 3201 to implement the robot's motion lifting method provided by the method embodiments in the present application.

[0195] As can be understood by those skilled in the art, the structure shown in FIG. 32 does not limit the computer device 3200, and it may include more or fewer components than shown in the figure, or combine some components, or adopt and arrange different components.

[0196] The embodiments of the present application further provide a robot, which includes a processor and a memory, and at least one instruction, at least one program, a code set or an instruction set is stored in the memory. The at least one instruction, at least one program, a code set or an instruction set is loaded and executed by the processor to implement the robot's motion lifting method provided by each of the above method embodiments.

[0197] The embodiments of the present application further provide a computer-readable storage media, and at least one instruction, at least one program, a code set or an instruction set is stored in the computer-readable storage media. The at least one instruction, at least one program, a code set or an instruction set is loaded and executed by the processor to implement the robot's motion lifting method provided by each of the above method embodiments.

[0198] Embodiments of the present application further provide a computer program product or a computer program, and the computer program product or the computer program includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and by executing the computer instructions, causes the computer device to execute the method for lifting the movement of the robot described in any of the above embodiments.

Explanation of Signs

[0199] 100 Quadruped robot dog 110 Leg 111 First leg portion 112 Second leg portion 120 Body portion 131 First knee joint 132 Second knee joint 310 First mechanical wheel 320 First foot 340 Knee motor 410 Step 420 Step 430 Step 510 First mechanical wheel 520 First foot 530 Lateral swing motor 531 First upper leg portion 532 First lower leg portion 540 Hip motor 550 Knee motor 560 Belt 580 Linear motor 581 Insertion rod 810 Point A 820 Point B 830 Point C 910 First included angle 920 Second included angle 1010 Motor 1020 Position loop controller 1030 Speed loop controller 1040 Current loop controller 1050 Motor drive 1210 Quadruped robot dog 1220 Pile surface 1310 Quadruped robot dog 1410 Quadruped robot dog 1420 First leg part 1430 Second leg part 1510 Quadruped robot dog 1520 First leg part 1521 First upper leg part 1522 First lower leg part 1610 Quadruped robot dog 1620 First mechanical wheel 1630 Pile surface 1710 First mechanical wheel 1720 Grooved plate 1721 Wheel groove 1730 Linear motor 1731 Insertion rod 1740 First magnetic adsorption member 1750 Second magnetic adsorption member 1760 Belt 1810 First mechanical wheel 1910 Grooved plate 1911 Wheel groove 1920 Linear motor 1921 Insertion rod 1930 Belt 2010 Second leg part 2110 Second leg part 2210 Second leg part 2220 First pile surface 2230 Hip joint 2240 Second pile surface 2250 First mechanical wheel 2410 Quadruped robot dog 2510 Quadruped robot dog 2511 Body part 2610 Quadruped robot dog 2620 Left hind leg 2710 Quadruped robot dog 2720 Body part 2730 Wheel 2810 Wheel 2820 Quadruped Robot Dog 2830 Wheel 2910 Quadruped Robot Dog 2920 Right Hind Leg 3010 Quadruped Robot Dog 3020 Main Body Part 3030 Wheel 3110 Command Receiving Module 3120 First Control Module 3130 Second Control Module 3200 Computer Device 3201 Processor 3202 Memory

Claims

1. A method for lifting the movement of a robot executed by a computer device, wherein the robot includes legs and a main body portion connecting the legs, the legs include knee joints that move by bending, the knee joints include mechanical wheels, the legs include a first leg portion and a second leg portion, and the second leg portion and the first leg portion are arranged in the front-rear direction along the lifting direction of the robot. The method includes: Receiving a movement lifting command; In response to the movement lifting command, controlling the first leg portion of the robot to be in a suspended state, performing a leg-returning operation of the first leg portion, and when the suspended state ends, supporting the first mechanical wheel at the knee joint of the first leg portion on the driving surface; Using the first mechanical wheel as a balance force receiving point, controlling the second leg portion of the robot to be in a suspended state, and stabilizing it in a balanced state. A method characterized by including the above.

2. The first leg portion includes a first knee joint that moves by bending. The step of controlling the first leg portion of the robot to be in a suspended state in response to the movement lifting command includes: In response to the movement lifting command, controlling the moment of the first knee joint, and bending the first knee joint in a direction to increase the vertical height between the first mechanical wheel and the horizontal plane until the first leg portion of the robot is in the suspended state. The method according to claim 1, characterized by including the above.

3. The first leg portion includes a first upper leg portion and a first lower leg portion, the first upper leg portion and the first lower leg portion are connected by the first knee joint, and the first upper leg portion is connected to the main body portion. The step of performing the leg-returning operation of the first leg portion includes: Controlling the moment of the first knee joint, reducing the included angle between the first upper leg portion and the first lower leg portion, and realizing the leg-returning operation of the first leg portion. The method according to claim 2, characterized by including the above.

4. A first magnetic adsorption member is assembled on the first upper leg portion, a second magnetic adsorption member is assembled on the first lower leg portion, and there is a magnetic adsorption matching relationship between the first magnetic adsorption member and the second magnetic adsorption member. The step of controlling the moment of the first knee joint, reducing the included angle between the first upper leg portion and the first lower leg portion, and realizing the leg returning movement of the first leg portion is as follows: The step of controlling the moment of the first knee joint and reducing the included angle between the first upper leg portion and the first lower leg portion; In a situation where the included angle reaches a preset included angle threshold value, the first magnetic adsorption member assembled on the first upper leg portion and the second magnetic adsorption member assembled on the first lower leg portion attract each other, thereby realizing the leg returning movement of the first leg portion; The method according to claim 3, characterized by including the above.

5. The first leg portion includes a first upper leg portion and a first lower leg portion. The first upper leg portion and the first lower leg portion are connected by a first knee joint that moves in a bent manner. The first upper leg portion is connected to the main body portion. After the step of controlling the first leg portion of the robot to be in a suspended state, further, The step of determining the movement allowable region of the first leg portion, where the movement allowable region refers to the region where the first leg portion is located on the operation surface when the robot performs the lifting movement. In the process of the first upper leg portion and the first lower leg portion performing the leg returning movement, the step of setting the movement allowable region as the operation surface support range of the first mechanical wheel. The method according to any one of claims 1 to 4, characterized by including the above.

6. The robot includes a first leg joint, and the first leg joint controls the moment of the first upper leg portion. In the process of the first upper leg portion and the first lower leg portion performing the leg returning movement, the step of setting the movement allowable region as the operation surface support range of the first mechanical wheel is as follows: In the process of the first upper leg portion and the first lower leg portion performing the leg returning movement, by controlling the moment of the first leg joint, the included angle between the first upper leg portion and the horizontal plane is adjusted, the first mechanical wheel is dropped into the movement allowable region, and in response to the first mechanical wheel dropping into the movement allowable region, the contact point between the first mechanical wheel and the inside of the movement allowable region is set as the balance force receiving point. The method according to claim 5, characterized by including the above.

7. The first leg portion includes a first upper leg portion and a first lower leg portion. The first upper leg portion and the first lower leg portion are connected by the first knee joint. The first upper leg portion is connected to the main body portion. The first knee joint includes a groove plate, and the groove plate correspondingly has at least one annular groove. The first lower leg portion includes an insertion rod. The insertion rod is controlled by a linear motor to adjust the interlocking connection state between the first lower leg portion and the first knee joint. The linear motor indicates a motor that converts electrical energy into linear motion mechanical energy. The insertion rod is a mechanical member controlled by the linear motor. The method according to any one of claims 1 to 6, characterized in that.

8. The method further includes responding to controlling the insertion rod to insert into the annular groove, and interlocking the rotation of the first lower leg portion by the rotation of the insertion rod performed by the first knee joint; responding to controlling the insertion rod to retract from the annular groove, and canceling the interlocking connection state between the first knee joint and the first lower leg portion. The method according to claim 7, characterized in that.

9. The second leg portion includes a second upper leg portion and a second lower leg portion. The second upper leg portion and the second lower leg portion are connected by a second knee joint that moves in a flexed manner. The second upper leg portion is connected to the main body portion. The step of controlling the second leg portion of the robot to be suspended in the air with the first mechanical wheel as the balance force receiving point includes using the second leg portion as the force point and the first mechanical wheel as the force receiving point, and controlling the moment of the first mechanical wheel and the moment of the second knee joint to control the second leg portion of the robot to be suspended in the air. The method according to any one of claims 1 to 8, characterized in that.

10. After the step of controlling the second leg portion of the robot to be suspended in the air by using the first mechanical wheel as the force receiving point and controlling the moment of the first mechanical wheel and the moment of the second knee joint, further a step of causing the robot to enter the balanced state by controlling the rotation of the first mechanical wheel, where the balanced state is used to indicate the state after completion of the movement lifting command. The method according to claim 9, characterized in that.

11. The step of causing the robot to enter the balanced state by controlling the rotation of the first mechanical wheel is The step of adjusting the angle between the first upper leg portion and the horizontal plane by controlling the rotation of the first mechanical wheel, wherein when the angle between the first upper leg portion and the horizontal plane reaches a preset adjustment condition, the step of the robot entering the balanced state is included. The method according to claim 10, characterized in that.

12. A robot motion lifting device, wherein the robot includes legs and a main body portion connecting the legs, the legs include a knee joint that bends and moves, the knee joint includes a mechanical wheel, the legs include a first leg portion and a second leg portion, and the first leg portion and the second leg portion are arranged front and back along the lifting direction of the robot. The device is An instruction receiving module for receiving a motion lifting instruction, In response to the motion lifting instruction, a first control module for controlling the first leg portion of the robot to be in a suspended state, performing a leg return operation of the first leg portion, and supporting the first mechanical wheel at the knee joint of the first leg portion on the operation surface when the suspended state ends. Using the first mechanical wheel as a balance force receiving point, a second control module for controlling the second leg portion of the robot to be in a suspended state and stabilizing it in a balanced state. A device characterized by including.

13. The first leg portion includes a first knee joint that bends and moves. The first control module further controls the moment of the first knee joint in response to the motion lifting instruction, and bends the first knee joint in a direction to increase the vertical height between the first mechanical wheel and the horizontal plane until the first leg portion of the robot enters the suspended state. The device according to claim 12, characterized in that.

14. The first leg portion includes a first upper leg portion and a first lower leg portion, the first upper leg portion and the first lower leg portion are connected by the first knee joint, and the first upper leg portion is connected to the main body portion. The first control module further controls the moment of the first knee joint, reduces the angle between the first upper leg portion and the first lower leg portion, and realizes the leg return operation of the first leg portion. The device according to claim 13, characterized in that.

15. A first magnetic adsorption member is assembled on the first upper leg portion, a second magnetic adsorption member is assembled on the first lower leg portion, and a magnetic adsorption matching relationship exists between the first magnetic adsorption member and the second magnetic adsorption member. The first control module further controls the moment of the first knee joint, reduces the included angle between the first upper leg portion and the first lower leg portion, and when the included angle reaches a preset included angle threshold, the first magnetic adsorption member assembled on the first upper leg portion and the second magnetic adsorption member assembled on the first lower leg portion attract each other, thereby realizing the leg return movement of the first leg portion. The apparatus according to claim 14, characterized in that.

16. The first leg portion includes a first upper leg portion and a first lower leg portion, the first upper leg portion and the first lower leg portion are connected by a first knee joint that moves in a bent manner, and the first upper leg portion is connected to the main body portion. The first control module further determines the motion allowable region of the first leg portion, and the motion allowable region refers to the region where the first leg portion is located on the driving surface when the robot performs the lifting motion. During the process in which the first upper leg portion and the first lower leg portion perform the leg return operation, the motion allowable region is set as the driving surface support range of the first mechanical wheel. The apparatus according to any one of claims 12 to 15, characterized in that.

17. The robot includes a first leg joint, and the first leg joint controls the moment of the first upper leg portion. The first control module further controls the moment of the first leg joint during the process in which the first upper leg portion and the first lower leg portion perform the leg return operation, thereby adjusting the included angle between the first upper leg portion and the horizontal plane, dropping the first mechanical wheel into the motion allowable region, and in response to the first mechanical wheel dropping into the motion allowable region, setting the contact point between the first mechanical wheel and the motion allowable region as the balance force receiving point. The apparatus according to claim 16, characterized in that.

18. A robot, the robot includes a processor and a memory, at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to realize the robot motion lifting method according to any one of claims 1 to 11. A robot characterized by the following.

19. A computer-readable storage medium, in which at least one instruction is stored, and when the at least one instruction is loaded and executed by a processor, it realizes the method for lifting the movement of the robot according to any one of Claims 1 to 11. A computer-readable storage medium characterized by the above.

20. A computer program product including computer instructions, and when the computer instructions are executed by a processor, it realizes the method for lifting the movement of the robot according to any one of Claims 1 to 11. A computer program product characterized by the above.

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