Mobile robot control method, device, mobile robot, and computer program

Abstract

The present application discloses a mobile robot control method, device, mobile robot, and storage medium, which relate to the field of robots. The mobile robot includes a first swing leg group and a second swing leg group, where at least one of the first swing leg group and the second swing leg group includes a plurality of swing legs, the first swing leg group and the second swing leg group are arranged in parallel, and the rotation axis of the first swing leg group and the rotation axis of the second swing leg group are located on the same vertical plane. The method includes a step (320) of controlling the first swing leg group to position on a first step or a first support surface, and a step (340) of controlling the first swing leg group to swing up to a third step using the second swing leg group as a supporting leg, and a step (360) of controlling the second swing leg group to swing up to a fourth step using the first swing leg group as a supporting leg. The above provides a solution for climbing stairs for a mobile robot.

Description

Cross-reference to related applications

[0001] This application claims priority from a Chinese patent application filed on April 25, 2023, bearing application number 202310472257.6 and entitled "Control method, device, equipment and storage medium for mobile robot," the entire contents of which are incorporated herein by reference. [Technical Field]

[0002] The present application relates to the field of robots, and more particularly to a control method and device for a mobile robot, a mobile robot, and a storage medium. [Background technology]

[0003] The related art provides several methods for robots to climb stairs, such as: (1) for humanoid bipedal robots, the robot has two soles that alternately support the ground to climb stairs; (2) for quadrupedal robots, the robot climbs stairs by using four legs that move independently; (3) for crawler and ratchet robots, the robot climbs stairs by rolling the crawler and ratchet; and (4) for robots with planetary gears, the robot climbs stairs by rotating multiple planetary gears.

[0004] The above four types of stair climbing methods for robots only apply to robots with the corresponding structure, and if the structure of the robot is changed, the above four types of methods will not apply. Summary of the Invention [Problem to be solved by the invention]

[0005] The embodiments of the present application provide a mobile robot control method, device, mobile robot, and storage medium, and provide a solution for a mobile robot to climb up and down stairs, and the technical solutions include at least the following solutions: [Means for solving the problem]

[0006] According to one aspect of the present application, there is provided a method for controlling a mobile robot, the mobile robot including a first swing leg group and a second swing leg group, at least one of the first swing leg group and the second swing leg group includes a plurality of swing legs, the first swing leg group and the second swing leg group are arranged in parallel, and a rotation axis of the first swing leg group and a rotation axis of the second swing leg group are located on the same vertical plane, and the method includes: controlling the first swing leg group to be positioned on a first step or a first support surface, and controlling the second swing leg group to be positioned on a second step; a step of controlling the first swing leg group so that the second swing leg group is used as a support leg and swings up to a third step; and controlling the second swinging leg group so that the first swinging leg group is used as a support leg and swings up to a fourth step.

[0007] According to one aspect of the present application, there is provided a control device for a mobile robot, the mobile robot including a first swing leg group and a second swing leg group, at least one of the first swing leg group and the second swing leg group includes a plurality of swing legs, the first swing leg group and the second swing leg group are arranged in parallel, and a rotation axis of the first swing leg group and a rotation axis of the second swing leg group are located on the same vertical plane, and the device: a control module for controlling the first swing leg group to be positioned on a first step or a first support surface, and for controlling the second swing leg group to be positioned on a second step; the control module is further used to control the first swing leg group so as to swing up to a third step using the second swing leg group as a support leg; The control module is further used to control the second swinging leg group to swing up to a fourth step using the first swinging leg group as a support leg.

[0008] According to one aspect of the present application, there is provided a computer device including a memory and a processor, wherein the memory stores at least one program code, and the program code is loaded and executed by the processor to realize the above-described mobile robot control method.

[0009] According to one aspect of the present application, there is provided a computer-readable storage medium having a computer program stored therein, the computer program being executed by a processor to realize the above-described mobile robot control method.

[0010] According to one aspect of the present application, a chip is provided, the chip including a programmable logic circuit and / or program instructions, which, when executed by an electronic device incorporating the chip, realizes the above-described mobile robot control method.

[0011] According to one aspect of the present application, there is provided a computer program product, the computer program product including computer instructions stored in a computer-readable storage medium, wherein a processor realizes the above-described mobile robot control method by reading and executing the computer instructions from the computer-readable storage medium.

[0012] The beneficial effects brought about by the technical solutions provided by the embodiments of the present application include at least the following: A solution is provided for mobile robots to ascend and descend stairs by using two swing leg groups (the two swing leg groups include at least one swing leg group that includes multiple swing legs) to alternately ascend and descend stairs. In this solution, there is at least one swing leg group (a swing leg group that includes multiple swing legs) that forms multiple contact areas with steps, which further reduces the difficulty of the robot ascending and descending stairs, gives the robot a large stability margin, reduces the risk of realizing the actual system, and improves the safety of the robot. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a side view of a mobile robot provided by one exemplary embodiment of the present application. FIG. [Figure 2] 1 is a side view of a mobile robot provided by one exemplary embodiment of the present application. FIG. [Figure 3] 1 is a flowchart of a method for controlling a mobile robot provided by one exemplary embodiment of the present application. [Figure 4] 1 is a schematic diagram of a quasi-static stair climbing motion sequence provided by one exemplary embodiment of the present application; [Figure 5] 1 is a schematic diagram of a static stair climbing motion sequence provided by one exemplary embodiment of the present application; [Figure 6] 1 is a flowchart of a method for controlling a mobile robot provided by one exemplary embodiment of the present application. [Figure 7] 1 is a schematic diagram of a control method for a mobile robot when both swing leg groups contact a step, according to an exemplary embodiment of the present application. FIG. [Figure 8] 1 is a schematic diagram of a control method for a mobile robot when both swing leg groups contact a step, according to an exemplary embodiment of the present application. FIG. [Figure 9] FIG. 1 is a schematic diagram of a control method for a mobile robot when only one swinging leg group comes into contact with a step, according to an exemplary embodiment of the present application. [Figure 10] 1 is a flowchart of a method for controlling a mobile robot provided by one exemplary embodiment of the present application. [Figure 11] FIG. 1 is a schematic diagram of a force analysis of a mobile robot provided by one exemplary embodiment of the present application. [Figure 12] 1 is a schematic diagram of a control device for a mobile robot provided by one exemplary embodiment of the present application. [Figure 13] 1 is a block diagram of a mobile robot provided by one exemplary embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0014] As can be seen by combining FIGS. 1 and 2, the mobile robot provided herein includes at least three swing legs, the at least three swing legs arranged in parallel, and the rotation axes of the at least three swing legs located on the same vertical plane. "Arranged in parallel" means that projections of the at least three swing legs of the mobile robot along a first direction do not overlap. "The rotation axes located on the same vertical plane" means that projections of the at least three swing legs of the mobile robot along a second direction do not overlap. The first direction refers to the front or rear direction of the mobile robot. The second direction refers to the side direction of the mobile robot. Optionally, of the at least three swing legs, at least two swing legs have coaxial rotation axes. Optionally, the rotation axes of the at least three swing legs are not coaxial.

[0015] In one embodiment, the at least three swing legs are divided into a first swing leg group and a second swing leg group. Optionally, the first swing leg group includes a plurality of first swing legs, and the second swing leg group includes one second swing leg, and among the plurality of first swing legs, at least two first swing legs are located on either side of the central axis of the mobile robot, and the second swing leg is located on the central axis of the mobile robot. Optionally, the second swing leg group includes a plurality of second swing legs, and the first swing leg group includes one first swing leg, and among the plurality of second swing legs, at least two second swing legs are located on either side of the central axis of the mobile robot, and the first swing leg is located on the central axis of the mobile robot.

[0016] In one embodiment, the at least three swing legs are divided into a first group of swing legs and a second group of swing legs. Optionally, the first group of swing legs includes a plurality of first swing legs, and the second group of swing legs includes a plurality of second swing legs, where "a plurality" means two or more.

[0017] 1 and 2 are combined references, and FIGS. 1 and 2 show side views of a mobile robot provided by the present application. The mobile robot includes a first swing leg group 10 and a second swing leg group 20. The first swing leg group 10 includes a plurality of first swing legs 11, and the second swing leg group 20 includes a plurality of second swing legs 21. Of the plurality of first swing legs 11, at least two first swing legs 11 are located on both sides of the mobile robot's central axis, and of the plurality of second swing legs 21, at least two second swing legs 21 are located on both sides of the mobile robot's central axis, and the plurality of first swing legs 11 and the plurality of second swing legs 21 are arranged in parallel. Optionally, in a situation where the above arrangement conditions are met, the plurality of first swing legs 11 and the plurality of second swing legs 21 are arranged alternately one by one. Optionally, the plurality of first swing legs 11 are arranged on both sides of the plurality of second swing legs 21.

[0018] Illustratively, taking the first swing leg group 10 as group A legs and the second swing leg group 20 as group B legs as an example, the situations in which the multiple first swing legs 11 and the multiple second swing legs 21 are arranged in parallel may be A1, B1, B2, A2 (arrangement situation 1), A1, B1, A2, B2 (arrangement situation 2), A1, A2, B1, A3, B2, B3 (arrangement situation 3), A1, A2, B1, B2, B3, A3 (arrangement situation 4), etc. For the same reason, when there are more or fewer swing legs, they can be installed using a similar method of parallel arrangement.

[0019] 1 and 2, which are combined together, show that the first swing leg group 10 includes two first swing legs (outer legs) 11, and the second swing leg group 20 includes two second swing legs (inner legs) 21. The two first swing legs 11 are arranged symmetrically along the central axis of the mobile robot, and the two second swing legs 21 are arranged symmetrically along the central axis of the mobile robot, with the distance between the first swing leg 11 and the central axis being greater than the distance between the second swing leg 21 and the central axis.

[0020] During the running process of the mobile robot, the first swing leg group 10 and the second swing leg group 20 support running in a cross gait, i.e., the first swing leg group 10 and the second swing leg group 20 run alternately as front and rear leg groups, respectively. In one exemplary running process, the first swing leg group 10 serves as a supporting leg, and the second swing leg group 20 swings to a first landing point, and then the second swing leg group 20 serves as a supporting leg, and the first swing leg group 10 swings to a second landing point.

[0021] Specifically, in the initial posture, the multiple first swing legs 11 contact the ground as front legs, and the multiple second swing legs 21 contact the ground as rear legs. In this case, the projected center of gravity of the robot is located within a geometric figure enclosed by the contact points between the front and rear legs and the ground. The multiple first swing legs 11 are used as support legs, and the multiple second swing legs 21 are controlled to swing to a first landing point and simultaneously move the center of gravity of the robot forward. When the multiple second swing legs 21 swing to the first landing point, the center of gravity of the robot is again controlled to be located within the geometric figure enclosed by the contact points between the front and rear legs and the ground. The multiple second swing legs 21 are used as support legs, and the multiple first swing legs 11 are controlled to swing to a second landing point and simultaneously move the center of gravity of the robot forward. When the multiple second swing legs 21 swing to the second landing point, the center of gravity of the robot is again controlled to be located within the geometric figure enclosed by the contact points between the front and rear legs and the ground.

[0022] When the swinging leg of the robot swings, the swinging leg is controlled to extend or contract. For example, when the center of gravity of the swinging leg is located behind the center of gravity of the mobile robot, the swinging leg is controlled to shorten, and when the center of gravity of the swinging leg is located in front of the center of gravity of the mobile robot, the swinging leg is controlled to extend.

[0023] The mobile robot has a first swing leg group and a second swing leg group, the first swing leg group including a plurality of first swing legs, the second swing leg group including a plurality of second swing legs, where at least two of the first swing legs are located on either side of the central axis of the mobile robot, and at least two of the second swing legs are located on either side of the central axis of the mobile robot, and the first swing legs and the second swing legs are arranged in parallel, so that the mobile robot does not need to dynamically adjust its center of gravity and can achieve static stability in a standing position. In addition, the mobile robot supports cross-walk running, and during running, the mobile robot does not need to consider balance issues regarding the rolling direction, as the rolling direction is perpendicular to the running direction.

[0024] In one embodiment, the plurality of first swing legs 11 are pivotally connected to a first swing rotation axis that is perpendicular to the direction of travel of the mobile robot. Optionally, the first swing rotation axis is located at the hip joints, waist, top of the head, etc. of the mobile robot. In one embodiment, the plurality of second swing legs 21 are pivotally connected to a second swing rotation axis that is perpendicular to the direction of travel of the mobile robot. Optionally, the second swing rotation axis is located at the hip joints, waist, top of the head, etc. of the mobile robot.

[0025] In one embodiment, the first swing rotation axis is located at the hip joint of the mobile robot. Referring to FIG. 1, in this case, the first swing rotation axis is the first hip joint rotation axis 1, and when the mobile robot stands on a horizontal reference plane, the first hip joint rotation axis 1 extends horizontally. A plurality of first swing legs 11 are rotatably connected to the first hip joint rotation axis 1, and any two first swing legs of the plurality of first swing legs 11 are parallel to each other.

[0026] In one embodiment, the second swing rotation axis is located at the hip joint of the mobile robot. Referring to FIG. 1, in this case, the second swing rotation axis is the second hip joint rotation axis 2, and when the mobile robot stands on a horizontal reference plane, the second hip joint rotation axis 2 extends horizontally. A plurality of second swing legs 21 are rotatably connected to the second hip joint rotation axis 2, and any two second swing legs of the plurality of second swing legs 21 are parallel to each other.

[0027] Optionally, the first hip joint rotation axis 1 and the second hip joint rotation axis 2 are coaxial and / or lie in the same vertical plane. Figures 1 and 2 show a situation where the first hip joint rotation axis 1 and the second hip joint rotation axis 2 are coaxial and lie in the same vertical plane.

[0028] In one embodiment, the mobile robot further includes a first rotation motor and a second rotation motor, the first rotation motor being used to drive a plurality of first swing legs 11 in a first swing leg group 10 to rotate in unison around a first hip joint rotation axis 1, and the second rotation motor being used to drive a plurality of second swing legs 21 in a second swing leg group 20 to rotate in unison around a second hip joint rotation axis 2.

[0029] In one embodiment, the mobile robot further includes a third rotation motor corresponding to the first swing leg 11 and a fourth rotation motor corresponding to the second swing leg 21, the third rotation motor being used to drive the first swing leg 11 to rotate about the first hip joint rotation axis 1, and the fourth rotation motor being used to drive the second swing leg 21 to rotate about the second hip joint rotation axis 2. Selectably, the plurality of third rotation motors corresponding to the plurality of first swing legs 11 respectively support controlling the plurality of first swing legs 11 to rotate in unison or independently. Selectably, the plurality of fourth rotation motors corresponding to the plurality of second swing legs 21 respectively support controlling the plurality of second swing legs 21 to rotate in unison or independently.

[0030] 1 and 2, the first swing leg 11 includes a first mechanical thigh portion 111 and a first mechanical lower leg portion 112, which are connected to each other by a sleeve connection method. When in a sleeve connection state, the first mechanical thigh portion 111 is selectively nested within the first mechanical lower leg portion 112, and during the expansion and contraction process, the first mechanical thigh portion 111 expands and contracts along the sleeve connection direction. When in a sleeve connection state, the first mechanical lower leg portion 112 is selectively nested within the first mechanical thigh portion 111, and during the expansion and contraction process, the first mechanical lower leg portion 112 expands and contracts along the sleeve connection direction (the situation shown in FIGS. 1 and 2). Optionally, when in the sleeve connection state, the first mechanical thigh portion 111 and the first mechanical lower leg portion 112 are nested inside the intermediate member, and during the expansion and contraction process, the first mechanical thigh portion 111 and the first mechanical lower leg portion 112 expand and contract along the sleeve connection direction.

[0031] The second swing leg 21 includes a second mechanical thigh portion 211 and a second mechanical lower leg portion 212, which are connected to each other by a sleeve connection method. When in a sleeve connection state, the second mechanical thigh portion 211 is selectively nested inside the second mechanical lower leg portion 212, and during the expansion and contraction process, the second mechanical thigh portion 211 expands and contracts along the sleeve connection direction. When in a sleeve connection state, the second mechanical lower leg portion 212 is selectively nested inside the second mechanical thigh portion 211, and during the expansion and contraction process, the second mechanical lower leg portion 212 expands and contracts along the sleeve connection direction (the situation shown in Figures 1 and 2). Optionally, when in the sleeve connection state, the second mechanical thigh portion 211 and the second mechanical lower leg portion 212 are nested inside the intermediate member, and during the expansion and contraction process, the second mechanical thigh portion 211 and the second mechanical lower leg portion 212 expand and contract along the sleeve connection direction.

[0032] In one embodiment, the mobile robot further includes a first telescopic motor corresponding to the first swing leg 11 and a second telescopic motor corresponding to the second swing leg 21, where the first telescopic motor is used to drive the first swing leg 11 to extend and retract along the sleeve connecting direction, and the second telescopic motor is used to drive the second swing leg 21 to extend and retract along the sleeve connecting direction. Optionally, the first telescopic motor is a first linear motor, and optionally, the first telescopic motor is a motor that realizes a linear transmission design using a lead screw nut. Optionally, the second telescopic motor is a second linear motor, and optionally, the second telescopic motor is a motor that realizes a linear transmission design using a lead screw nut.

[0033] In one embodiment, a plurality of first telescopic motors corresponding to the plurality of first swing legs 11 respectively support controlling the plurality of first swing legs 11 to extend and retract in unison or independently. Selectably, a plurality of second telescopic motors corresponding to the plurality of second swing legs 21 respectively support controlling the plurality of second swing legs 21 to extend and retract in unison or independently.

[0034] In one embodiment, the first swing leg 11 includes a first mechanical thigh 111 and a first mechanical lower leg 112, and the first mechanical thigh 111 and the first mechanical lower leg 112 are rotationally connected via a first knee joint rotation axis. The first knee joint rotation axis supports an increase or decrease in the included angle between the first mechanical thigh 111 and the first mechanical lower leg 112. The second swing leg 21 includes a second mechanical thigh 211 and a second mechanical lower leg 212, and the second mechanical thigh 211 and the second mechanical lower leg 212 are rotationally connected via a second knee joint rotation axis. The second knee joint rotation axis supports an increase or decrease in the included angle between the second mechanical thigh 211 and the second mechanical lower leg 212.

[0035] In one embodiment, the first swing leg group 10 includes a plurality of first swing legs 11, each of which includes a first leg assembly and a first wheel 113 located at the end of the first leg assembly, and the second swing leg group 20 includes a plurality of second swing legs 21, each of which includes a second leg assembly and a second wheel 213 located at the end of the second leg assembly. Optionally, the first wheel 113 is a wheel with multiple degrees of freedom, and the first wheel 113 supports rotation in any direction. Optionally, the second wheel 213 is a wheel with multiple degrees of freedom, and the second wheel 213 supports rotation in any direction. Referring to Figures 1 and 2 together, the first leg assembly includes a first mechanical thigh portion 111 and a first mechanical lower leg portion 112, and the second leg assembly includes a second mechanical thigh portion 211 and a second mechanical lower leg portion 212.

[0036] In one embodiment, the mobile robot further includes a first drive motor corresponding to the first wheel 113 and a second drive motor corresponding to the second wheel 213, wherein the first drive motor is used to drive the first wheel 113 to rotate, and the second drive motor is used to drive the second wheel 213 to rotate.

[0037] In one embodiment, a plurality of first drive motors corresponding to each of the plurality of first swing legs 11 support controlling a plurality of first wheels 113 to rotate in unison or independently. Optionally, a plurality of second drive motors corresponding to each of the plurality of second swing legs 21 support controlling a plurality of second wheels 213 to rotate in unison or independently.

[0038] In one embodiment, the mobile robot further includes a waist structure 30 and a torso structure 40, where the waist structure 30 is used to connect the leg structure and the torso structure 40, and the leg structure includes a first swing leg group 10 and a second swing leg group 20.

[0039] In one embodiment, the waist structure 30 includes a pitch rotation axis 3 that is parallel to the rotation axis of the first swing leg group 10 and / or parallel to the rotation axis of the second swing leg group 20. Exemplarily, referring to Figures 1 and 2 in combination, the pitch rotation axis 3 is parallel to the first hip joint rotation axis 1 (and the second hip joint rotation axis 2). The pitch rotation axis 3 is rotatably connected to the fuselage structure 40, and is used to support the fuselage structure 40 to perform pitch maneuvers.

[0040] In one embodiment, the waist structure 30 includes a lateral swing rotation axis 4 that is perpendicular to the rotation axis of the first swing leg group 10 and / or perpendicular to the rotation axis of the second swing leg group 20. Referring to Figures 1 and 2 jointly, the lateral swing rotation axis 4 is perpendicular to the first hip joint rotation axis 1 (and the second hip joint rotation axis 2). The lateral swing rotation axis 4 is pivotally connected to the torso structure 40, and is used to support the torso structure 40 to perform a lateral swing maneuver.

[0041] In one embodiment, the waist structure 30 includes a pitch rotation axis 3 and a lateral swing rotation axis 4. The pitch rotation axis 3 is parallel to the rotation axis of the first swing leg group 10 and / or the pitch rotation axis 3 is parallel to the rotation axis of the second swing leg group 20. Referring to FIGS. 1 and 2 jointly, the pitch rotation axis 3 is parallel to the first hip joint rotation axis 1 (and the second hip joint rotation axis 2). The pitch rotation axis 3 is used to support the fuselage structure 40 to perform pitch maneuvers. The lateral swing rotation axis 4 is perpendicular to the pitch rotation axis 3. A first end 41 of the lateral swing rotation axis 4 is connected to the center of the pitch rotation axis 3, and a second end 42 of the lateral swing rotation axis 4 is connected to the fuselage structure 40. The lateral swing rotation axis 4 is used to support the fuselage structure 40 to perform lateral swing maneuvers.

[0042] In one embodiment, the mobile robot further has at least one manipulating arm 50, and with joint reference to Figures 1 and 2, Figures 1 and 2 show that the mobile robot has two manipulating arms 50, the two manipulating arms 50 being symmetrically arranged along the central axis of the robot.

[0043] Optionally, the manipulator arm 50 is connected to a shoulder rotation axis 5 of the mobile robot, which is used to support the manipulator arm 50 so that it has multiple degrees of rotational freedom, and optionally, the shoulder rotation axis 5 supports rotation of the manipulator arm 50 within a rotation angle range allowed by the robot structure. In one embodiment, the mobile robot further includes a shoulder drive motor corresponding to the shoulder rotation axis 5, which is used to drive the manipulator arm 50 to rotate. In one embodiment, multiple shoulder drive motors corresponding to each of the multiple shoulder rotation axes 5 support controlling the multiple manipulator arms 50 to rotate in unison or independently.

[0044] Optionally, the operating arm 50 includes a mechanical boom 51 and a mechanical arm 52, the mechanical boom 51 and the mechanical arm 52 being connected via an elbow joint rotation shaft 6, the elbow joint rotation shaft 6 being used to support the mechanical arm 52 to have multiple degrees of rotational freedom, and optionally the elbow joint rotation shaft 6 supporting rotation of the mechanical arm 52 within a rotation angle range allowed by the robot structure. In one embodiment, the mobile robot further includes an elbow joint drive motor corresponding to the elbow joint rotation shaft 6, the elbow joint drive motor being used to drive the mechanical arm 52 to rotate. In one embodiment, a plurality of elbow joint drive motors corresponding to each of the plurality of elbow joint rotation shafts 6 support controlling a plurality of mechanical arms 52 to rotate in unison or independently.

[0045] In one embodiment, a gripper is connected to the end of the mechanical arm 52. In one embodiment, the mobile robot further comprises a head 60 located above the body structure 40.

[0046] 3 shows a flowchart of a mobile robot control method provided by an exemplary embodiment of the present application. This method is described by taking an example in which the method is executed by the controller of the mobile robot shown in FIG. 1 or 2, where the controller of the mobile robot is located on the mobile robot body or externally, and the method includes steps 320 to 360. Step 320: Control the first swing leg group to be positioned on the first step or the first support surface, and control the second swing leg group to be positioned on the second step.

[0047] 3 shows a flowchart of a method for moving a mobile robot up and down stairs. In one embodiment, the mobile robot includes a first swing leg group and a second swing leg group, the first swing leg group includes a plurality of first swing legs, and / or the second swing leg group includes a plurality of second swing legs, the first swing leg group and the second swing leg group are arranged in parallel, and the rotation axis of the first swing leg group and the rotation axis of the second swing leg group are located on the same vertical plane. At least one of the first swing leg group and the second swing leg group includes a plurality of swing legs, and selectively the first swing leg group includes a plurality of first swing legs and the second swing leg group includes one second swing leg, or the first swing leg group includes one first swing leg and the second swing leg group includes a plurality of second swing legs, or the first swing leg group includes a plurality of first swing legs and the second swing leg group includes a plurality of second swing legs.

[0048] In one embodiment, the first swing leg group includes a plurality of first swing legs, the second swing leg group includes a plurality of second swing legs, the plurality of first swing legs each including at least two first swing legs located on both sides of the central axis of the mobile robot, and the plurality of second swing legs each including at least two second swing legs located on both sides of the central axis of the mobile robot, so that the two swing leg groups of the mobile robot maintain stability in the rolling direction when alternately going up and down stairs, and there is no need to consider balance issues in the rolling direction, and the rolling direction is perpendicular to the running direction.

[0049] In one embodiment, Figure 3 illustrates a method for controlling a robot during stair climbing, where the method of Figure 3 illustrates one complete stair climbing cycle for a mobile robot. At the beginning of the stair climbing cycle, the first swinging legs are positioned on a first step or first support surface, and the second swinging legs are positioned on a second step, which is higher than the first step and the first support surface. The first support surface defines a reference surface on which the robot is positioned before beginning stair climbing.

[0050] In the stair climbing cycle shown in Figure 3, the initial step (or initial support surface) where the first swing leg group is located is lower than the initial step where the second swing leg group is located, and for the same reason, a similar stair climbing cycle is obtained in which the initial step where the second swing leg group is located is lower than the initial step where the first swing leg group is located.

[0051] In one embodiment, Figure 3 illustrates a method for controlling a robot during stair descent, where the method of Figure 3 illustrates one complete stair descent cycle for a mobile robot. At the beginning of the stair descent cycle, the first swing leg group is positioned on a first step or first support surface, and the second swing leg group is positioned on a second step, which is lower than the first step and lower than the first support surface. The first support surface is the reference surface on which the robot is located before it begins descent.

[0052] In the stair descent cycle shown in Figure 3, the initial step (or initial support surface) where the first swing leg group is located is higher than the initial step where the second swing leg group is located, and for the same reason, a similar stair descent cycle is obtained in which the initial step where the second swing leg group is located is higher than the initial step where the first swing leg group is located.

[0053] In step 340, the first swinging leg group is controlled so as to swing up to the third step using the second swinging leg group as the supporting legs.

[0054] In one embodiment, FIG. 3 shows a method for controlling a robot when climbing stairs, in which the second swinging leg group contacts the second step, the second swinging leg group is supported by the second step, and the mobile robot is controlled to swing the first swinging leg group, swinging the first swinging leg group from the first step to a third step, the third step being a step higher than the second step.

[0055] In one embodiment, FIG. 3 shows a method for controlling a robot when descending stairs, in which the second swinging leg group contacts the second step, the second swinging leg group is supported by the second step, and the mobile robot is controlled to swing the first swinging leg group, swinging the first swinging leg group from the first step to a third step, the third step being a step lower than the second step.

[0056] In some embodiments, in the process of swinging the first swing legs, it is necessary to control the first swing legs not only to perform a swinging motion but also to control the first swing legs to perform an extension and retraction motion, i.e., step 340 includes a step of controlling the first swing legs to extend and retract up to a third step using the second swing legs as supporting legs.

[0057] For example, using the second swinging leg group as a support leg, the first swinging leg group is controlled to shorten and swing until the extension direction of the first swinging leg group becomes parallel to the direction of gravity, and then the first swinging leg group is controlled to extend and swing until the first swinging leg group is positioned at the third step.

[0058] In one embodiment, the first swinging leg of the first swinging leg group includes a first mechanical thigh and a first mechanical lower leg, and the first mechanical thigh and the first mechanical lower leg are connected by a sleeve connection method. The sleeve connection method supports the first mechanical thigh to expand and contract along the sleeve connection direction, or the first mechanical lower leg to expand and contract along the sleeve connection direction, or the first mechanical thigh and the first mechanical lower leg to expand and contract along the sleeve connection direction. During the swinging of the first swinging leg group, the first swinging leg group is controlled to shorten and swing with the second swinging leg group as a supporting leg until the extension direction of the first swinging leg group becomes parallel to the direction of gravity. Thereafter, the first swinging leg group is controlled to extend and swing until the first swinging leg group is positioned at a third step.

[0059] Referring to FIG. 4 in combination, FIG. 4 shows a stair climbing operation sequence, and the stair climbing method shown in FIG. 4 is quasi-static stair climbing. Part (A) of FIG. 4 shows that the first swing leg group 10 is located at the first step F1, and the second swing leg group 20 is located at the second step F2. As shown by combining part (A) of FIG. 4 with part (C) of FIG. 4, the first swing leg group 10 has contracted. Part (E) of FIG. 4 shows that the first swing leg group 10 is located at the third step F3, and the second swing leg group 20 is located at the second step F2. As shown by combining part (C) of FIG. 4 with part (E) of FIG. 4, the first swing leg group 10 has extended.

[0060]

[0033] Referring to Figure 5 in combination, Figure 5 shows another stair climbing operation sequence. The stair climbing method shown in Figure 5 is static stair climbing. Part (A) of Figure 5 shows that the first swing leg group 10 is located at the first step F1, and the second swing leg group 20 is located at the second step F2. As shown by combining part (A) of Figure 5 with part (D) of Figure 5, the first swing leg group 10 has contracted. Part (E) of Figure 5 shows that the first swing leg group 10 is located at the third step F3, and the second swing leg group 20 is located at the second step F2. As shown by combining part (D) of Figure 5 with part (E) of Figure 5, the first swing leg group 10 has extended.

[0061] In another embodiment, the first swing leg of the first swing leg group includes a first mechanical thigh and a first mechanical lower leg, the first mechanical thigh and the first mechanical lower leg being connected via a first knee joint rotation axis, and the knee joint rotation axis supports increasing or decreasing the included angle between the first mechanical thigh and the first mechanical lower leg. During the swinging of the first swing leg group, the first swing leg group is controlled to bend and swing using the second swing leg group as a supporting leg until the extension direction of the first swing leg group becomes parallel to the direction of gravity. Thereafter, the first swing leg group is controlled to swing fully extended until the first swing leg group is positioned at a third step.

[0062] In step 360, the second swinging leg group is controlled so as to swing up to the fourth step using the first swinging leg group as the supporting leg.

[0063] In one embodiment, Figure 3 shows a method for controlling a robot when climbing stairs. Step 340 above describes the process of swinging the first swing leg group with the second swing leg group as the supporting leg during the stair-climbing motion process. Step 360 is similarly implemented as the process of swinging the second swing leg group with the first swing leg group as the supporting leg during the stair-climbing motion process. During the swinging process of step 360, the first swing leg group contacts the third step, and the first swing leg group is supported by the third step, and the mobile robot is controlled to swing the second swing leg group, swinging the second swing leg group from the second step to a fourth step, the fourth step being higher than the third step.

[0064] In one embodiment, Figure 3 shows a method for controlling a robot when descending stairs. Step 340 above describes the process of swinging the first swing leg group with the second swing leg group as the supporting leg during the stair-descending motion. Step 360 is similarly implemented as the process of swinging the second swing leg group with the first swing leg group as the supporting leg during the stair-descending motion. During the swinging process of step 360, the first swing leg group contacts the third step, and the first swing leg group is supported by the third step, and the mobile robot is controlled to swing the second swing leg group, swinging the second swing leg group from the second step to a fourth step, the fourth step being lower than the third step.

[0065] In some embodiments, in the process of swinging the second swing legs, it is necessary to control the second swing legs not only to perform a swinging motion but also to control the second swing legs to perform an extension and retraction motion, i.e., step 360 includes a step of controlling the second swing legs to swing and retract up to a third step using the first swing legs as supporting legs.

[0066] For example, using the first swinging leg group as a support leg, the second swinging leg group is controlled to shorten and swing until the extension direction of the second swinging leg group becomes parallel to the direction of gravity, and the second swinging leg group is controlled to extend and swing until the second swinging leg group is positioned at the fourth step.

[0067] In one embodiment, the second swinging leg of the second swinging leg group includes a second mechanical thigh and a second mechanical lower leg, and the second mechanical thigh and the second mechanical lower leg are connected using a sleeve connection method that supports the second mechanical thigh to expand and contract along the sleeve connection direction, or the second mechanical lower leg to expand and contract along the sleeve connection direction, or the second mechanical thigh and the second mechanical lower leg to expand and contract along the sleeve connection direction. During the swinging of the second swinging leg group, the first swinging leg group is used as a supporting leg, and the second swinging leg group is controlled to shorten and swing until the extension direction of the second swinging leg group becomes parallel to the direction of gravity. Thereafter, the second swinging leg group is controlled to extend and swing until the second swinging leg group is positioned at a fourth step.

[0068] In another embodiment, the second swing leg of the second swing leg group includes a second mechanical thigh and a second mechanical lower leg, the second mechanical thigh and the second mechanical lower leg being connected via a second knee joint rotation axis, and the knee joint rotation axis supports increasing or decreasing the included angle between the second mechanical thigh and the second mechanical lower leg. During the swinging of the second swing leg group, the second swing leg group is controlled to bend and swing using the first swing leg group as a supporting leg until the extension direction of the second swing leg group becomes parallel to the direction of gravity. Thereafter, the second swing leg group is controlled to swing fully extended until the second swing leg group is positioned at a fourth step.

[0069] As described above, a solution is provided for a mobile robot to ascend and descend stairs by using two swing leg groups (the two swing leg groups include at least one swing leg group that includes multiple swing legs) to alternately ascend and descend stairs. This solution ensures high safety for the mobile robot, low difficulty in achieving stair climbing and descending, and the robot has a large stability margin, reducing the risk of realizing a real robot.

[0070] Furthermore, if the first swing leg group includes a plurality of first swing legs each including at least two first swing legs located on both sides of the central axis of the mobile robot, and the second swing leg group includes a plurality of second swing legs each including at least two second swing legs located on both sides of the central axis of the mobile robot, balance along the rolling direction is ensured when the mobile robot goes up and down stairs, and the balance along the rolling direction does not need to be controlled by an additional algorithm, and the rolling direction is perpendicular to the running direction of the mobile robot.

[0071] In addition, the legs also extend and retract during the process of the two swinging leg groups alternately ascending and descending stairs, providing a solution for a robot with leg extension and retraction function to ascend and descend stairs.

[0072] In the alternative embodiment shown in Figure 3, only the stair climbing method of a mobile robot is considered. The stair climbing method of a mobile robot can be further divided into quasi-static stair climbing and static stair climbing. The stair climbing motion sequence shown in Figure 4 is a quasi-static stair climbing motion sequence, and the stair climbing motion sequence shown in Figure 5 is a static stair climbing motion sequence.

[0073] Quasi-static stair climbing means that at each point in time during the stair climbing process, the center of gravity of the entire mobile robot is within the ground support area, or the center of gravity of the entire mobile robot deviates sufficiently slightly from the support area, in which case the overall posture of the robot at each point in time can maintain a balanced state or can be restored to a balanced state at any time by a certain method.

[0074] Static stair climbing means that at each point during the stair climbing process, the center of gravity of the entire mobile robot is within the ground support area, and the overall posture of the robot at each point can maintain balance in a stationary state without any other conditions.

[0075] Quasi-static stair climbing: In an alternative embodiment shown based on Fig. 3, Fig. 6 shows a flowchart of a method for quasi-static stair climbing for a mobile robot. The method is described by taking as an example that the method is executed by the controller of the mobile robot shown in Fig. 1 or Fig. 2, which may be located on the mobile robot itself or externally. The method shown in Fig. 6 includes steps 610 to 650. Step 610: Control the first swing leg group to be located on a first step, and control the second swing leg group to be located on a second step, the second step being higher than the first step, or control the first swing leg group to be located on a first support surface, and control the second swing leg group to be located on a second step, the second step being higher than the first support surface.

[0076] 6, the first and second steps are adjacent steps, and the second swing leg group does not contact the side wall of the third step when positioned on the second step. That is, during the quasi-static stair climbing process, the second swing leg group is not supported by the third step, and does not receive a supporting force from the third step, but receives a supporting force only from the second step.

[0077] 4, part (A) of Fig. 4 shows that the first swing leg group 10 is located at the first step F1, the second swing leg group 20 is located at the second step F2, and the second step F2 is higher than the first step F1. In this case, the second swing leg group 20 is not in contact with the third step F3.

[0078] In step 620, the mobile robot is controlled to lean forward until the projection of the center of gravity of the mobile robot is positioned in the contact area between the second swing leg group and the second step.

[0079] Referring to Figure 4 in combination, after the mobile robot leans forward, part (B) of Figure 4 shows that the first swing leg group 10 is located at the first step F1, the second swing leg group 20 is located at the second step F2, and the projection of the center of gravity of the mobile robot is located in the contact area between the second swing leg group 20 and the second step F2.

[0080] In Figure 4, the unfilled circles indicate the center of gravity of each part of the mobile robot, and the black filled circles indicate the overall center of gravity of the mobile robot. Figure 4 also shows the centers of gravity of the upper body, thighs, and lower legs of the mobile robot as unfilled circles. The overall center of gravity of the mobile robot can be expressed by the following equation: TIFF2025534128000002.tif10170

[0081] Note that c is the total center of gravity of the mobile robot, and m i is the mass of each part of the mobile robot, and c i is the center of gravity of each part of the mobile robot, and i is a positive integer. As can be observed, part (B) of Figure 4 shows that the projection of the center of gravity of the mobile robot at this time is located in the contact area between the second swing leg group 20 and the second step F2.

[0082] In one embodiment, the second swing leg group includes a plurality of second swing legs, each of which includes a second leg assembly and a second wheel, and each of the second wheels is in point contact with the second step, and the plurality of second wheels are in line contact with the second step, so that the contact area between the second swing leg group and the second step is a contact line.

[0083] In one embodiment, during the process of controlling the mobile robot to lean forward, the projection of the mobile robot's center of gravity must always be kept within a geometric figure bounded by the contact point between the second swing leg group and the second step and the contact point between the first swing leg group and the first step. Because the range of the geometric figure is large, no additional control is required as long as the forward lean speed of the mobile robot is guaranteed to be slow. However, if the projection of the mobile robot's center of gravity changes, i.e., the mobile robot experiences acceleration when it begins to lean forward, the mobile robot may become unstable. Therefore, a control method to ensure the stability of the mobile robot is still required. For details, see the related introduction to the first control method below.

[0084] In step 630, the first swinging leg group is controlled to swing up to a third step using the second swinging leg group as a support leg, the third step being higher than the second step.

[0085] In the quasi-static stair climbing process shown in Fig. 6, the second step and the third step are adjacent steps. Referring to Fig. 4 in combination, parts (C), (D), and (E) of Fig. 4 show the process of controlling the first swing leg group 10 to swing up to the third step F3, with the second swing leg group 20 as the supporting leg.

[0086] After the first swing leg group moves away from the first step, the center of gravity of the mobile robot must be controlled to always be maintained in the contact area between the second swing leg group and the second step, and the second swing leg group includes a plurality of second swing legs, each of which includes a second leg assembly and a second wheel, and each second wheel is in point contact with the second step, and the plurality of second wheels are in line contact with the second step. Therefore, the contact area between the second swing leg group and the second step is a contact line.

[0087] In one embodiment, in the process of controlling the first swing leg group to swing up to the third step, the mobile robot is controlled to lean forward until the first swing leg group becomes parallel to the direction of gravity, and then the mobile robot is controlled to lean backward until the first swing leg group swings up to the third step. Referring to FIG. 4 in combination, part (C) of FIG. 4 shows the mobile robot in a forward-leaning state. Part (E) of FIG. 4 shows the mobile robot in a backward-leaning state. For details, see the related introduction to the second control method below.

[0088] Step 640: The mobile robot is controlled to lean forward until the projection of the center of gravity of the mobile robot is positioned in the contact area between the first swing leg group and the third step.

[0089] The above steps 620 and 630 are related steps for swinging the first swing leg group with the second swing leg group as the supporting leg during the stair climbing motion. Steps 640 and 650 are similarly implemented as related steps for swinging the second swing leg group with the first swing leg group as the supporting leg during the stair climbing motion.

[0090] FIG. 4 shows only half a cycle of stair climbing, and for the same reason, a similar second half cycle can be obtained, in which the second swinging leg group is swung, and for step 640, reference can be made to the introduction of step 620 above.

[0091] In one embodiment, the first swing leg group includes a plurality of first swing legs, each of which includes a first leg assembly and a first wheel, and each of the first wheels is in point contact with the third step, and the plurality of first wheels are in line contact with the third step, so that the contact area between the first swing leg group and the third step is a contact line.

[0092] In one embodiment, during the process of controlling the mobile robot to lean forward, the projection of the mobile robot's center of gravity must always be kept within a geometric figure bounded by the contact point between the second swing leg group and the second step and the contact point between the first swing leg group and the third step. Because the range of the geometric figure is large, no additional control is required as long as the forward lean speed of the mobile robot is guaranteed to be slow. However, if the projection of the mobile robot's center of gravity changes, i.e., the mobile robot experiences acceleration when it begins to lean forward, the mobile robot may become unstable. Therefore, a control method to ensure the stability of the mobile robot is still required. For details, see the related introduction to the first control method below.

[0093] In step 650, the first swinging leg group is used as a support leg, and the second swinging leg group is controlled to swing up to a fourth step, the fourth step being higher than the third step.

[0094] In the quasi-static stair climbing process shown in Figure 6, the third and fourth steps are adjacent steps.

[0095] After the second swing leg group moves away from the second step, the center of gravity of the mobile robot must be controlled to always be maintained in the contact area between the first swing leg group and the third step, the first swing leg group includes a plurality of first swing legs, each of the first swing legs includes a first leg assembly and a first wheel, each of the first wheels is in point contact with the third step, and the plurality of first wheels are in line contact with the third step, so that the contact area between the second swing leg group and the second step is a contact line.

[0096] In one embodiment, in the process of controlling the second swing leg group to swing up to the fourth step, the mobile robot is controlled to lean forward until the second swing leg group becomes parallel to the direction of gravity, and then the mobile robot is controlled to lean backward until the second swing leg group swings up to the fourth step. For details, see the related introduction to the second control method below.

[0097] For the same reason, step 650 can similarly refer to the introduction of step 630 above.

[0098] As described above, the above solution provides a quasi-static stair climbing solution, which moves the projection of the center of gravity of the robot to the contact area between the supporting leg and the step before swinging the leg to climb the stairs, thereby providing a solution for transferring the center of gravity of the robot, so that the robot can continue to climb the stairs stably.

[0099] In an alternative embodiment shown in Figure 6, the quasi-static stair climbing process further includes at least one of the following two control methods: The first control method ensures stability in the process of moving the center of gravity of the mobile robot when both the first swing leg group and the second swing leg group of the mobile robot contact a step; and the second control method controls the mobile robot to lean forward when only one swing leg group of the mobile robot contacts a step.

[0100] In the first type of control method, an end of a first swing leg of the first swing leg group includes a first wheel, and an end of a second swing leg of the second swing leg group includes a second wheel. In an alternative embodiment shown in Fig. 6, step 620 may be replaced by a step of controlling the mobile robot to tilt forward until a projection of the center of gravity of the mobile robot is located in a contact area between the second swing leg group and the second step, and driving at least one first wheel of the first swing leg group and at least one second wheel of the second swing leg group so that the horizontal position and vertical height of the mobile robot do not change.

[0101] Specifically, at least one first wheel of the first swing leg group is driven until the step contact force of the first swing leg group is smaller than the step contact force of the second swing leg group, thereby controlling the first swing leg group to not move horizontally and the second swing leg group to not move vertically. At least one second wheel of the second swing leg group is driven until the projection of the center of gravity of the mobile robot is positioned in the contact area between the second swing leg group and the second step, thereby controlling the second swing leg group to not move horizontally and the first swing leg group to not move vertically. The step contact force refers to the supporting force received from the step.

[0102] For example, referring to FIG. 7 in combination, part (A) of FIG. 7 illustrates a situation in which the step contact force of the first swing leg group is greater than the step contact force of the second swing leg group, i.e., the step contact force of at least one first wheel is greater than the step contact force of at least one second wheel, in this case the first wheel is a rear wheel (back) and the second wheel is a front wheel (front), i.e., part (A) of FIG. 7 illustrates a situation in which the step contact force of the rear wheel is greater than the step contact force of the front wheel; Shown as TIFF2025534128000003.tif10170.

[0103] 8, which shows the first control branch 81, which is a situation where the step contact force of the rear wheels is greater than the step contact force of the front wheels. In the first control branch 81, TIFF2025534128000004.tif27170 The deviation between the actual value and the desired value of each control variable is calculated, and this deviation is sent to the PD controller 801. The PD controller 801 calculates the rear wheel torque, which is sent to the dynamic simulator 802, and the dynamic simulator 802 drives the rear wheels of the mobile robot.

[0104] For example, referring to FIG. 7 in combination, part (B) of FIG. 7 illustrates a situation in which the step contact force of the first swing leg group is smaller than the step contact force of the second swing leg group, i.e., the step contact force of at least one first wheel is smaller than the step contact force of at least one second wheel, in this case, the first wheel is a rear wheel (back) and the second wheel is a front wheel (front), i.e., part (B) of FIG. 7 illustrates a situation in which the step contact force of the rear wheel is smaller than the step contact force of the front wheel; Shown as TIFF2025534128000005.tif10170.

[0105] 8, which shows the second control branch 82, which is a situation where the step contact force of the rear wheels is smaller than the step contact force of the front wheels. In the second control branch 82, TIFF2025534128000006.tif27170 The deviation between the actual value and the desired value of each control variable is calculated, and this deviation is sent to the PD controller 801. The PD controller 801 calculates the front wheel torque, which is sent to the dynamic simulator 802, and the dynamic simulator 802 drives the front wheels of the mobile robot.

[0106] In an alternative embodiment shown based on Figure 6, step 640 may be replaced by a step of controlling the mobile robot to lean forward until the projection of the center of gravity of the mobile robot is located in the contact range between the first swing leg group and the third step, and driving at least one second wheel of the second swing leg group and at least one first wheel of the first swing leg group to control the horizontal position and vertical height of the mobile robot to remain unchanged.

[0107] Specifically, at least one second wheel of the second swing leg group is driven until the step contact force of the second swing leg group is smaller than the step contact force of the first swing leg group, thereby controlling the second swing leg group to not move horizontally and the first swing leg group to not move vertically, and at least one first wheel of the first swing leg group is driven until the projection of the center of gravity of the mobile robot is positioned in the contact area between the first swing leg group and the third step, thereby controlling the first swing leg group to not move horizontally and the second swing leg group to not move vertically.

[0108] For example, referring to FIG. 7 in combination, part (A) of FIG. 7 illustrates a situation in which the step contact force of the second swing leg group is greater than the step contact force of the first swing leg group, i.e., the step contact force of at least one second wheel is greater than the step contact force of at least one first wheel, in this case the second wheel is a rear wheel (back) and the first wheel is a front wheel (front), i.e., part (A) of FIG. 7 illustrates a situation in which the step contact force of the rear wheel is greater than the step contact force of the front wheel; Shown as TIFF2025534128000007.tif10170.

[0109] 8, which shows the first control branch 81, which is a situation where the step contact force of the rear wheels is greater than the step contact force of the front wheels. In the first control branch 81, TIFF2025534128000008.tif27170 The deviation between the actual value and the desired value of each control variable is calculated, and this deviation is sent to the PD controller 801. The PD controller 801 calculates the rear wheel torque, which is sent to the dynamic simulator 802, and the dynamic simulator 802 drives the rear wheels of the mobile robot.

[0110] For example, referring to FIG. 7 in combination, part (B) of FIG. 7 illustrates a situation in which the step contact force of the second swing leg group is greater than the step contact force of the first swing leg group (i.e., a situation in which the step contact force of at least one second wheel is smaller than the step contact force of at least one first wheel), where the second wheel is a rear wheel (back) and the first wheel is a front wheel (front), i.e., part (B) of FIG. 7 illustrates a situation in which the step contact force of the rear wheel is smaller than the step contact force of the front wheel; Shown as TIFF2025534128000009.tif10170.

[0111] 8, which shows the second control branch 82, which is a situation where the step contact force of the rear wheels is smaller than the step contact force of the front wheels. In the second control branch 82, TIFF2025534128000010.tif27170The deviation between the actual value and the desired value of each control variable is calculated, and this deviation is sent to the PD controller 801. The PD controller 801 calculates the front wheel torque, which is sent to the dynamic simulator 802, and the dynamic simulator 802 drives the front wheels of the mobile robot.

[0112] As described above, before swinging its legs to climb stairs, the projection of the robot's center of gravity must first be moved to the contact area between the supporting leg and the step, and the above solution provides a control method that allows the robot to remain stable during the process of transferring its center of gravity. Furthermore, the above method is applicable to robots with wheels at the ends of their legs, where the wheels are in point contact with the step surface and multiple wheels are in line contact with the step surface, and the above provides a solution that allows a robot that is in line contact with the step to remain stable during the process of transferring its center of gravity.

[0113] In an optional embodiment of the second type of control method shown based on Figure 6, step 630, in the process of controlling the first swinging leg group to swing up to the third step, further includes the steps of controlling the mobile robot to lean forward until the first swinging leg group becomes parallel to the direction of gravity, and controlling the mobile robot to lean backward until the first swinging leg group swings up to the third step.

[0114] In one embodiment, an end of a first swing leg of the first swing leg group includes a first wheel, and an end of a second swing leg of the second swing leg group includes a second wheel. Step 630 is a step of controlling the first swing leg group to swing up to a third step using the second swing leg group as a support leg. In the process of controlling the first swing leg group to swing up to the third step, at least one second wheel of the second swing leg group is driven to control the mobile robot to tilt forward until the first swing leg group becomes parallel to the direction of gravity, and to tilt backward until the first swing leg group swings up to the third step.

[0115] 9, part (A) of Fig. 9 shows the control variables of the second wheel during the swinging of the first swing leg group, i.e., the included angle θ (tilt angle of the mobile robot), the first derivative of the included angle θ (not shown), the robot position (not shown), and the robot velocity (not shown). During the swinging of the first swing leg group, the included angle θ is detected, and the included angle θ is used as the control variable to control the driving of the second wheel.

[0116] Part (B) of FIG. 9 shows a method for controlling the included angle θ. The deviation between the actual value and the desired value of these two controlled variables is calculated, and the deviation is sent to the PI controller 901. The PI controller 901 then: TIFF2025534128000012.tif18170 The deviation is sent to the PD controller 902, which calculates the torque τ of the second wheel and sends the torque τ to the dynamic simulator 903, which drives the second wheel of the mobile robot.

[0117] In an optional embodiment shown based on Figure 6, step 650 further includes, in the process of controlling the second swinging leg group to swing up to the fourth step, controlling the mobile robot to lean forward until the second swinging leg group becomes parallel to the direction of gravity, and controlling the mobile robot to lean backward until the second swinging leg group swings up to the fourth step.

[0118] In one embodiment, an end of the first swing leg includes a first wheel, and an end of the second swing leg includes a second wheel. Step 650 is a step of controlling the second swing leg group to swing up to a fourth step using the first swing leg group as a support leg. In the process of controlling the second swing leg group to swing up to the fourth step, by driving at least one first wheel of the first swing leg group, the mobile robot is controlled to tilt forward until the second swing leg group becomes parallel to the direction of gravity, and the mobile robot is controlled to tilt backward until the second swing leg group swings up to the fourth step.

[0119] 9, part (A) of Fig. 9 shows the control variables of the first wheel during the swinging of the second swing leg group, i.e., the included angle θ (tilt angle of the mobile robot), the first derivative of the included angle θ (not shown), the robot position (not shown), and the robot velocity (not shown). During the swinging of the second swing leg group, the included angle θ is detected, and the included angle θ is used as the control variable to control the driving of the first wheel.

[0120] Part (B) of FIG. 9 shows a method for controlling the included angle θ. The deviation between the actual value and the desired value of these two controlled variables is calculated, and the deviation is sent to the PI controller 901. The PI controller 901 then: TIFF2025534128000014.tif18170 The deviation is sent to the PD controller 902, which calculates the torque τ of the first wheel and sends the torque τ to the dynamic simulator 903, which drives the first wheel of the mobile robot.

[0121] As described above, the above method provides a control method for a robot, and in the process of controlling the robot to climb stairs by swinging its legs, the tilt angle of the mobile robot is detected and controlled so that the robot can remain stable during the stair climbing process. The above method is applied to a robot whose legs have wheels at the ends, and the wheels are in point contact with the step surface, and multiple wheels are in line contact with the step surface, and the above provides a control method for a robot that is in line contact with the step to climb quasi-static stairs.

[0122] Regarding static stair climbing, Fig. 10 shows a flowchart of a static stair climbing method for a mobile robot. This method is explained using an example in which the method is executed by the controller of the mobile robot shown in Fig. 1 or 2, and the controller of the mobile robot is located on the mobile robot's body or externally. The method shown in Fig. 10 includes steps 1001 to 1005. Step 1001: Control the first swing leg group to be located at the first step, and control the second swing leg group to be located at the second step, the second step being higher than the first step, or control the first swing leg group to be located at the first support surface, and control the second swing leg group to be located at the second step, the second step being higher than the first support surface.

[0123] In the static stair climbing process shown in Figure 10, the first step and the second step are adjacent steps, the second step and the third step are adjacent steps, and the third step and the fourth step are adjacent steps. When the second swing leg group is located on the second step, it comes into contact with the side wall of the third step. That is, in the static stair climbing process, the second swing leg group is supported by the second step and the third step simultaneously. The second swing leg group receives supporting forces from the second step and the third step simultaneously.

[0124] 5, part (A) of Fig. 5 shows that the first swing leg group 10 is located at the first step F1, the second swing leg group 20 is located at the second step F2, and the second step F2 is higher than the first step F1. In this case, the second swing leg group 20 contacts the side wall of the third step F3.

[0125] Step 1002: The mobile robot is controlled to lean forward until the projection of the center of gravity of the mobile robot enters a stable area surrounded by the landing point of the second swing leg group on the second step and the projection of the side wall of the third step.

[0126] Referring to FIG. 5 in conjunction, after the mobile robot tilts forward, part (B) of FIG. 5 shows that the first swing leg group 10 is located at the first step F1, the second swing leg group 20 is located at the second step F2, and the projection of the center of gravity of the mobile robot is located slightly forward of the contact area between the second swing leg group 20 and the second step F2. The projection of the center of gravity of the mobile robot enters a stable area formed by the second swing leg group 20 and the side wall of the third step F3. The stable area refers to the area surrounded by the landing point of the second swing leg group and the projection of the side wall of the third step. The second swing leg includes a second leg assembly and a second wheel, and the stable area includes the area surrounded by the circular projection of the second wheels and the side wall of the third step.

[0127] In Figure 5, the unfilled circles indicate the center of gravity of each part of the mobile robot, and the black filled circles indicate the overall center of gravity of the mobile robot. Figure 5 also shows the centers of gravity of the upper body, thighs, and lower legs of the mobile robot as unfilled circles. The overall center of gravity of the mobile robot can be expressed by the following equation: TIFF2025534128000015.tif10170

[0128] Note that c is the total center of gravity of the mobile robot, and m i is the mass of each part of the mobile robot, and c i is the center of gravity of each part of the mobile robot, and i is a positive integer. As can be observed, part (B) of Figure 5 shows that the projection of the center of gravity of the mobile robot at this time is located slightly forward of the contact area between the second swing leg group 20 and the second step F2.

[0129] In one embodiment, the second swing leg group includes a plurality of second swing legs, each of which includes a second leg assembly and a second wheel, and each of the second wheels is in point contact with the second step, and the plurality of second wheels are in line contact with the second step, so that the contact area between the second swing leg group and the second step is a contact line.

[0130] Step 1003: The first swinging leg group is controlled to swing up to a third step using the second swinging leg group as a support leg, the third step being higher than the second step.

[0131] Referring to FIG. 5 in combination, parts (C), (D) and (E) of FIG. 4 show the process of controlling the first swing leg group 10 to swing up to the third step F3, with the second swing leg group 20 as the supporting leg.

[0132] As long as the center of gravity of the mobile robot is kept within the stable region, it will not tip over and does not require any additional control algorithms, which is the biggest difference between static stair climbing and the quasi-static stair climbing described above.

[0133] Step 1004: The mobile robot is controlled to lean forward until the projection of the center of gravity of the mobile robot enters a stable area surrounded by the landing point of the first swing leg group on the third step and the projection of the side wall of the fourth step.

[0134] The above steps 1002 and 1003 are related steps in which the first swinging leg group is swung with the second swinging leg group as the supporting leg during the stair-climbing motion process. Steps 1004 and 1005 are similarly implemented as related steps in which the second swinging leg group is swung with the first swinging leg group as the supporting leg during the stair-climbing motion process.

[0135] FIG. 5 shows only half a cycle of stair climbing, and for the same reason, a similar second half cycle can be obtained, in which the second swinging leg group is swung, and for step 1004, reference can be made to the introduction of step 1002 above.

[0136] The center of gravity projection of the mobile robot falls within a stable area defined by the first swing leg group and the side wall of the fourth step. The stable area is defined as the area bounded by the drop point of the first swing leg group and the side wall projection of the fourth step. The first swing leg includes a first leg assembly and a first wheel, and the stable area includes the area bounded by the centroid projection of the first wheels and the side wall of the fourth step.

[0137] In one embodiment, the first swing leg group includes a plurality of first swing legs, each of which includes a first leg assembly and a first wheel, and each of the first wheels is in point contact with the third step, and the plurality of first wheels are in line contact with the third step, so that the contact area between the first swing leg group and the third step is a contact line.

[0138] In step 1005, the second swinging leg group is controlled to swing up to a fourth step using the first swinging leg group as a support leg, the fourth step being higher than the third step.

[0139] Using the first swinging leg group as a support leg, the second swinging leg group is controlled to swing up to the fourth step. As long as the center of gravity of the mobile robot is maintained within a stable range, it will not tip over, so no additional control algorithm is required. This is the biggest difference between static stair climbing and the quasi-static stair climbing described above.

[0140] As described above, the above solution provides a solution for static stair climbing, which first moves the projection of the center of gravity of the robot to the stable area formed by the support legs and the side wall of the high step before swinging the legs to climb the stairs, and provides a solution for transferring the center of gravity of the robot, so that the robot can continue to climb the stairs stably.

[0141] In addition, the above method is applicable to robots with wheels at the ends of their legs, where the wheels are in point contact with the step surface and multiple wheels are in line contact with the step surface, and the above provides a control method for static stair climbing for a robot in line contact with the step. During static stair climbing, there is no need to detect the tilt angle of the robot or apply counter torque to the wheel motors; it is only necessary to ensure that the center of gravity projection is within the stable region formed by the wheels and the side walls of the step.

[0142] In an optional embodiment shown based on Figure 10, step 1003 further includes a step of controlling the second swinging leg group so that it is always supported on the third step, with the goal that the force received by the mobile robot satisfies the first stability condition, during the process of controlling the first swinging leg group to swing up to the third step.

[0143] In one embodiment, the end of the second swing leg of the second swing leg group includes a second wheel, the second wheel has a second radius, and the second swing leg group is supported on a third step via at least one second wheel. The first stability condition is: (1) The sum of the second support force and the first friction force is zero, the second support force is the support force from the side wall of the third step, the first friction force is the friction force from the step surface of the second step, and the second support force and the first friction force are in opposite directions; (2) The sum of the first support force, the second friction force, and the gravity of the mobile robot is zero, the first support force is the support force from the step surface of the second step, the second friction force is the friction force from the side wall of the third step, the first support force and the second friction force are in the same direction, and the value of the ratio of the second friction force to the second support force is less than or equal to the friction coefficient. (3) the product of the second support force and the second radius is equal to the sum of the product of the second friction force and the second radius and the product of the gravity of the mobile robot and the forward lean distance, the forward lean distance being the horizontal distance between the center of gravity of the mobile robot and the center of the second wheel; and (4) the product of the first support force and the second radius is equal to the sum of the product of the first friction force and the second radius and the product of the gravity of the mobile robot and the remaining distance, the sum of the remaining distance and the forward lean distance being the second radius.

[0144] The first stability condition is a stability condition that must be satisfied when the mobile robot swings the second swing leg group. Please refer to FIG. 11, which shows a schematic diagram of the force analysis of the mobile robot. In FIG. 11, T w is the torque at the second wheel, TIFF2025534128000016.tif35170G is the gravity of the mobile robot, R is the radius of the second wheel, b is the forward tilt distance of the mobile robot, and b is the horizontal distance between the center of gravity of the mobile robot and the center of the second wheel. μ is the friction coefficient of the step. The above first stability condition is expressed by the following equation. TIFF2025534128000017.tif52170

[0145] For example, when the second wheel radius R=82.5 mm and the friction coefficient μ=0.5, the balance condition is b=0 mm to 49.5 mm. When the second wheel radius R=82.5 mm and μ=0.8, the balance condition is b=0 mm to 72.5 mm. Therefore, the effective stable range of the center of gravity of the mobile robot is smaller than the wheel radius R and is affected by the friction coefficient.

[0146] In an optional embodiment shown based on Figure 10, step 1005 further includes a step of controlling the first swinging leg group so that it is always supported on the fourth step, with the goal that the force received by the mobile robot satisfies the second stability condition, in the process of controlling the second swinging leg group to swing up to the fourth step.

[0147] In one embodiment, an end of a first swing leg of the first swing leg group includes a first wheel, the first wheel has a first radius, and the first swing leg group is supported on a third step via at least one first wheel. (1) The sum of the fourth support force and the third friction force is zero, the fourth support force is the support force from the side wall of the fourth step, the third friction force is the friction force from the step surface of the third step, and the fourth support force and the third friction force are in opposite directions; (2) The sum of the third support force, the fourth friction force, and the gravity of the mobile robot is zero, the third support force is the support force from the step surface of the third step, the fourth friction force is the friction force from the side wall of the fourth step, and the third support force and the fourth friction force are in the same direction; and the value of the ratio of the fourth friction force to the fourth support force is less than or equal to the friction coefficient. (3) the product of the fourth support force and the first radius is equal to the sum of the product of the fourth friction force and the first radius and the product of the gravity of the mobile robot and the forward lean distance, the forward lean distance being the horizontal distance between the center of gravity of the mobile robot and the center of the first wheel; and (4) the product of the third support force and the first radius is equal to the sum of the product of the third friction force and the first radius and the product of the gravity of the mobile robot and the remaining distance, the sum of the remaining distance and the forward lean distance being the first radius.

[0148] The second stability condition is a stability condition that must be satisfied when the mobile robot swings the first swing leg group. Please refer to FIG. 11, which shows a schematic diagram of the force analysis of the mobile robot. In FIG. 11, T w is the torque at the first wheel, TIFF2025534128000018.tif35170G is the gravity of the mobile robot, R is the radius of the first wheel, b is the forward tilt distance of the mobile robot, and b is the horizontal distance between the center of gravity of the mobile robot and the center of the first wheel. μ is the friction coefficient of the step. The above second stability condition is expressed by the following equation. TIFF2025534128000019.tif52170

[0149] For example, when the first wheel radius R=82.5 mm and the friction coefficient μ=0.5, the balance condition is b=0 mm to 49.5 mm. When the first wheel radius R=82.5 mm and μ=0.8, the balance condition is b=0 mm to 72.5 mm. Therefore, the effective stable range of the center of gravity of the mobile robot is smaller than the wheel radius R and is affected by the friction coefficient.

[0150] As described above, the above method provides a stable condition for a mobile robot in the process of static stair climbing, and in this case, compared to quasi-static stair climbing, there is no need to detect the tilt angle of the robot, no need to apply counter torque to the wheel motors, and no need to perform stable feedback control.

[0151] 12 shows a control device for a mobile robot provided by one exemplary embodiment of the present application, the mobile robot includes a first swing leg group and a second swing leg group, at least one of the first swing leg group and the second swing leg group includes a plurality of swing legs, the first swing leg group and the second swing leg group are arranged in parallel, and the rotation axis of the first swing leg group and the rotation axis of the second swing leg group are located on the same vertical plane. a control module 1201 for controlling the first swing leg group to be positioned on the first step or first support surface and for controlling the second swing leg group to be positioned on the second step; the control module 1201 is further used to control the first swinging leg group to swing up to a third step using the second swinging leg group as a support leg; The control module 1201 is further used to control the second swinging leg group to swing up to a fourth step using the first swinging leg group as the supporting leg.

[0152] In one alternative embodiment, the control module 1201 is further used to control the first swing leg group to extend and retract up to a third step using the second swing leg group as the support leg, and to control the second swing leg group to extend and retract up to a fourth step using the first swing leg group as the support leg.

[0153] In one alternative embodiment, the control module 1201 is further used to control the first swing leg group to shorten and swing, using the second swing leg group as a support leg, until the extension direction of the first swing leg group becomes parallel to the direction of gravity, and to control the first swing leg group to extend and swing until the first swing leg group is located at the third step. The control module 1201 is further used to control the second swinging leg group to shorten and swing using the first swinging leg group as a support leg until the extension direction of the second swinging leg group becomes parallel to the direction of gravity, and to control the second swinging leg group to extend and swing until the second swinging leg group is positioned at the fourth step.

[0154] In one alternative embodiment, when the first swing leg group is positioned on the first step, the second step is higher than the first step, when the first swing leg group is positioned on the first support surface, the second step is higher than the first support surface, the second step and the third step are adjacent steps, and the third step is higher than the second step, the second swing leg group does not contact the side wall of the third step when positioned on the second step, the third step and the fourth step are adjacent steps, and the fourth step is higher than the third step, and the first swing leg group does not contact the side wall of the fourth step when positioned on the third step.

[0155] In one alternative embodiment, the control module 1201 is further used to control the mobile robot to lean forward until the center of gravity projection of the mobile robot is located in the contact area between the second swing leg group and the second step. The control module 1201 is further used to control the mobile robot to lean forward until the projection of the center of gravity of the mobile robot is located in the contact area between the first swing leg group and the third step.

[0156] In one alternative embodiment, an end of a first swing leg of the first swing leg group includes a first wheel, and an end of a second swing leg of the second swing leg group includes a second wheel. The control module 1201 is further used to control the mobile robot to tilt forward until the projection of the center of gravity of the mobile robot is located in the contact area between the second swing leg group and the second step, and to drive at least one first wheel of the first swing leg group and at least one second wheel of the second swing leg group so that the horizontal position and vertical height of the mobile robot do not change. The control module 1201 is further used to control the mobile robot to tilt forward until the projection of the center of gravity of the mobile robot is located within the contact range between the first swing leg group and the third step, and to drive at least one second wheel of the second swing leg group and at least one first wheel of the first swing leg group so that the horizontal position and vertical height of the mobile robot do not change.

[0157] In one alternative embodiment, the control module 1201 is further used to drive at least one first wheel of the first swing leg group to control the first swing leg group not to move horizontally and the second swing leg group not to move vertically until the step contact force of the first swing leg group is smaller than the step contact force of the second swing leg group, and to drive at least one second wheel of the second swing leg group to control the second swing leg group not to move horizontally and the first swing leg group not to move vertically until the projection of the center of gravity of the mobile robot is located in the contact area between the second swing leg group and the second step. The control module 1201 is further used to drive at least one second wheel of the second swing leg group to control the second swing leg group not to move horizontally and the first swing leg group not to move vertically until the step contact force of the second swing leg group is smaller than the step contact force of the first swing leg group, and to drive at least one first wheel of the first swing leg group to control the first swing leg group not to move horizontally and the second swing leg group not to move vertically until the projection of the center of gravity of the mobile robot is located in the contact area between the first swing leg group and the third step.

[0158] In one alternative embodiment, the control module 1201 is further used to control the mobile robot to tilt forward until the first swinging leg group becomes parallel to the direction of gravity, and to control the mobile robot to tilt backward until the first swinging leg group swings up to the third step, in the process of controlling the first swinging leg group to swing up to the third step. The control module 1201 is further used to control the mobile robot to lean forward until the second swinging leg group becomes parallel to the direction of gravity, and to control the mobile robot to lean backward until the second swinging leg group swings up to the fourth step, in the process of controlling the second swinging leg group to swing up to the fourth step.

[0159] In one alternative embodiment, an end of a first swing leg of the first swing leg group includes a first wheel, and an end of a second swing leg of the second swing leg group includes a second wheel. The control module 1201 is further used to drive at least one second wheel of the second swing leg group in the process of controlling the first swing leg group to swing up to the third step, thereby controlling the mobile robot to tilt forward until the first swing leg group becomes parallel to the direction of gravity, and to control the mobile robot to tilt backward until the first swing leg group swings up to the third step. The control module 1201 is further used to drive at least one first wheel of the first swinging leg group in the process of controlling the second swinging leg group to swing up to the fourth step, thereby controlling the mobile robot to lean forward until the second swinging leg group becomes parallel to the direction of gravity, and to control the mobile robot to lean backward until the second swinging leg group swings up to the fourth step.

[0160] In one alternative embodiment, when the first swing leg group is positioned on the first step, the second step is higher than the first step, when the first swing leg group is positioned on the first support surface, the second step is higher than the first support surface, the second step and the third step are adjacent steps, and the third step is higher than the second step, the second swing leg group contacts the side wall of the third step when positioned on the second step, the third step and the fourth step are adjacent steps, and the fourth step is higher than the third step, and the first swing leg group contacts the side wall of the fourth step when positioned on the third step.

[0161] In one alternative embodiment, the control module 1201 is further used to control the mobile robot to lean forward until the projection of the center of gravity of the mobile robot enters a stable area surrounded by the drop point of the second swing leg group on the second step and the sidewall projection of the third step. The control module 1201 is further used to control the mobile robot to lean forward until the projection of the center of gravity of the mobile robot enters a stable area surrounded by the drop point of the first swing leg group on the third step and the sidewall projection of the fourth step.

[0162] In one alternative embodiment, the control module 1201 is further used to control the second swinging leg group so that it is always supported on the third step, with the goal that the force received by the mobile robot satisfies the first stability condition, during the process of controlling the first swinging leg group to swing up to the third step. The control module 1201 is further used to control the first swinging leg group so that it is always supported on the fourth step, with the goal that the force received by the mobile robot satisfies the second stability condition, in the process of controlling the second swinging leg group to swing up to the fourth step.

[0163] In one alternative embodiment, an end of a second swinging leg of the second swinging leg group includes a second wheel, the second wheel having a second radius, the second swinging leg group is supported on a third step via at least one second wheel, the first stability condition is that the sum of the second support force and the first friction force is zero, the second support force is a support force from a side wall of the third step, the first friction force is a friction force from a step surface of the second step, the second support force and the first friction force are in opposite directions, the sum of the first support force, the second friction force and the gravity of the mobile robot is zero, the first support force is a support force from a step surface of the second step, and the second friction force is a friction force from a side wall of the third step. the first supporting force and the second frictional force have the same direction, the ratio of the second frictional force to the second supporting force is equal to or less than the friction coefficient, the ratio of the first frictional force to the first supporting force is equal to or less than the friction coefficient, the product of the second supporting force and the second radius is equal to the sum of the product of the second frictional force and the second radius and the gravity of the mobile robot and the forward lean distance, the forward lean distance being the horizontal distance between the center of gravity of the mobile robot and the center of the second wheel, and the product of the first supporting force and the second radius is equal to the sum of the product of the first frictional force and the second radius and the gravity of the mobile robot and the remaining distance, the sum of the remaining distance and the forward lean distance being the second radius.

[0164] In one alternative embodiment, an end of a first swinging leg of the first swinging leg group includes a first wheel, the first wheel having a first radius, the first swinging leg group is supported on a fourth step via at least one first wheel, the second stability condition is that the sum of the fourth support force and the third friction force is zero, the fourth support force is a support force from a side wall of the fourth step, the third friction force is a friction force from a step surface of the third step, the fourth support force and the third friction force are in opposite directions, the sum of the third support force, the fourth friction force and the gravity of the mobile robot is zero, the third support force is a support force from a step surface of the third step, and the fourth friction force is a friction force from a side wall of the fourth step. the third supporting force and the fourth frictional force have the same direction, the value of the ratio of the fourth frictional force to the fourth supporting force is equal to or less than the friction coefficient, the value of the ratio of the third frictional force to the third supporting force is equal to or less than the friction coefficient, the product of the fourth supporting force and the first radius is equal to the sum of the product of the fourth frictional force and the first radius and the product of the gravity of the mobile robot and the forward lean distance, the forward lean distance being the horizontal distance between the center of gravity of the mobile robot and the center of the first wheel, and the product of the third supporting force and the first radius is equal to the sum of the product of the third frictional force and the first radius and the product of the gravity of the mobile robot and the remaining distance, and the sum of the remaining distance and the forward lean distance is the first radius.

[0165] As described above, a solution is provided for a mobile robot to ascend and descend stairs by using two swing leg groups (the two swing leg groups include at least one swing leg group that includes multiple swing legs) to alternately ascend and descend stairs. This solution ensures high safety for the mobile robot, low difficulty in achieving stair climbing and descending, and the robot has a large stability margin, reducing the risk of realizing a real robot.

[0166] 13 shows a structural block diagram of a mobile robot provided by one exemplary embodiment of the present application. The mobile robot includes a controller 1301 and a memory 1302.

[0167] The controller 1301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The controller 1301 may be implemented using at least one hardware type of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), or a PLA (Programmable Logic Array). The controller 1301 may include a main processor and a coprocessor. The main processor is a processor for processing data in a wake state and is also called a CPU (Central Processing Unit). The coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the controller 1301 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing content that needs to be displayed on a display screen. In some embodiments, the controller 1301 may further include an AI (Artificial Intelligence) processor, which is responsible for processing computational operations related to machine learning.

[0168] The memory 1302 may include one or more computer-readable storage media, which may be non-transitory. The memory 1302 may further include high-speed random access memory and non-volatile memory, such as one or more magnetic disk storage devices or flash storage devices. In some embodiments, the non-transitory computer-readable storage media in the memory 1302 is configured to store at least one instruction that is executed by the controller 1301 to implement a method for controlling a mobile robot provided by a method embodiment herein.

[0169] In some embodiments, the mobile robot 1300 further optionally includes at least one motor 1303 and at least one sensor 1304. The at least one motor 1303 is used to receive control commands sent from the controller 1301 and drive the mobile robot to perform operations. The at least one motor 1303 drives each joint of the mobile robot to perform operations such as rotation, extension, and contraction. The at least one sensor 1304 is used to acquire state information of the mobile robot, where the state information includes the internal state of the mobile robot and / or the external state (environmental information) of the mobile robot. The at least one sensor 1304 transmits the state information of the mobile robot to the controller 1301 to control the mobile robot to perform related operations.

[0170] As will be appreciated by those skilled in the art, the structure shown in FIG. 13 is not intended to limit the mobile robot 1300 and may include more or fewer assemblies than those shown, combine some assemblies, or employ different assemblies and configurations.

[0171] An embodiment of the present application further provides a computer device including a memory and a processor, wherein the memory stores at least one program code, and the program code is loaded and executed by the processor to realize the above-described mobile robot control method.

[0172] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored therein, the computer program being used to realize the above-described mobile robot control method by being executed by a processor.

[0173] An embodiment of the present application further provides a chip, which includes a programmable logic circuit and / or program instructions, and when executed, is used to realize the above-described mobile robot control method.

[0174] An embodiment of the present application further provides a computer program product or a computer program, the computer program product or the computer program including computer instructions stored in a computer-readable storage medium, wherein a processor reads and executes the computer instructions from the computer-readable storage medium to realize the above-described mobile robot control method.

Claims

1. A method for controlling a mobile robot, the mobile robot including a first swing leg group and a second swing leg group, at least one of the first swing leg group and the second swing leg group including a plurality of swing legs, the first swing leg group and the second swing leg group being arranged in parallel, and a rotation axis of the first swing leg group and a rotation axis of the second swing leg group being positioned on the same vertical plane, the method being executed by a controller of the mobile robot, the method comprising: controlling the first swing leg group to be positioned on a first step or a first support surface, and controlling the second swing leg group to be positioned on a second step; controlling the first swing leg group so that the second swing leg group swings up to a third step using the second swing leg group as a support leg; and controlling the second swing leg group so that the first swing leg group is used as the support leg and swings up to a fourth step. A method characterized by:

2. the step of controlling the first swing leg group so that the second swing leg group is used as a support leg and swings up to a third step, a step of controlling the first swing leg group so that the second swing leg group functions as a support leg and extends and swings up to the third step; the step of controlling the second swing leg group so that the first swing leg group is used as the support leg and swings up to a fourth step, controlling the second swing leg group so that the first swing leg group, as the support leg, expands and contracts to swing up to the fourth step; 2. The method of claim 1 .

3. the step of controlling the first swing leg group so that the second swing leg group functions as a support leg and extends and swings up to the third step, controlling the first swing leg group to contract and swing until the extension direction of the first swing leg group becomes parallel to the direction of gravity, using the second swing leg group as a support leg, and controlling the first swing leg group to expand and swing until the first swing leg group is positioned at the third step; the step of controlling the second swing leg group so that the first swing leg group functions as the support leg and extends and swings up to the fourth step, using the first swing leg group as a support leg, controlling the second swing leg group so that it contracts and swings until an extension direction of the second swing leg group becomes parallel to a direction of gravity, and controlling the second swing leg group so that it expands and swings until the second swing leg group is positioned at the fourth step, 3. The method of claim 2.

4. When the first swing leg group is positioned at the first step, the second step is higher than the first step, When the first swing leg group is positioned on the first support surface, the second step is higher than the first support surface, the second step and the third step are adjacent steps, the third step is higher than the second step, and the second swing leg group does not contact a side wall of the third step when positioned on the second step, the third step and the fourth step are adjacent steps, the fourth step is higher than the third step, and the first swing leg group does not contact a side wall of the fourth step when positioned on the third step; 4. The method according to claim 1, wherein the first and second electrodes are connected to a first electrode.

5. before the step of controlling the first swing leg group so that the second swing leg group is used as a support leg and swings up to a third step, further comprising a step of controlling the mobile robot to tilt forward until a projection of the center of gravity of the mobile robot is positioned in a contact area between the second swing leg group and the second step; before the step of controlling the second swing leg group so that the first swing leg group is used as the support leg and swings up to a fourth step, further comprising a step of controlling the mobile robot to tilt forward until a projection of the center of gravity of the mobile robot is positioned in a contact area between the first swing leg group and the third step.

5. The method of claim 4.

6. an end of a first swing leg in the first swing leg group includes a first wheel, an end of a second swing leg in the second swing leg group includes a second wheel, and the step of controlling the mobile robot to tilt forward until a projection of the center of gravity of the mobile robot is positioned in a contact area between the second swing leg group and the second step includes: controlling the mobile robot to tilt forward until a projection of the center of gravity of the mobile robot is positioned in a contact area between the second swing leg group and the second step, and driving at least one first wheel of the first swing leg group and at least one second wheel of the second swing leg group to control the mobile robot so that the horizontal position and vertical height do not change, the step of controlling the mobile robot to lean forward until a projection of the center of gravity of the mobile robot is positioned in a contact area between the first swing leg group and the third step, controlling the mobile robot to tilt forward until a projection of the center of gravity of the mobile robot is positioned in a contact area between the first swing leg group and the third step, and driving at least one second wheel of the second swing leg group and at least one first wheel of the first swing leg group to control the mobile robot so that the horizontal position and vertical height do not change, 6. The method of claim 5.

7. the step of controlling the horizontal position and vertical height of the mobile robot so as not to change by driving at least one first wheel of the first swing leg group and at least one second wheel of the second swing leg group until a projection of the center of gravity of the mobile robot is positioned in a contact area between the second swing leg group and the second step, driving at least one first wheel of the first swing leg group until the step contact force of the first swing leg group becomes smaller than the step contact force of the second swing leg group, thereby controlling the first swing leg group not to move horizontally and the second swing leg group not to move vertically; and driving at least one second wheel of the second swing leg group to control the second swing leg group not to move horizontally and the first swing leg group not to move vertically until a projection of the center of gravity of the mobile robot is positioned in a contact area between the second swing leg group and the second step, the step of controlling the horizontal position and vertical height of the mobile robot so as not to change by driving at least one second wheel of the second swing leg group and at least one first wheel of the first swing leg group until a projection of the center of gravity of the mobile robot is positioned in a contact area between the first swing leg group and the third step, driving at least one second wheel of the second swing leg group until the step contact force of the second swing leg group becomes smaller than the step contact force of the first swing leg group, thereby controlling the second swing leg group not to move horizontally and the first swing leg group not to move vertically; and driving at least one first wheel of the first swing leg group to control the first swing leg group not to move horizontally and the second swing leg group not to move vertically until a projection of the center of gravity of the mobile robot is positioned in a contact area between the first swing leg group and the third step.

7. The method of claim 6.

8. The method comprises: in a process of controlling the first swing leg group so that the mobile robot swings up to the third step, controlling the mobile robot to tilt forward until the first swing leg group becomes parallel to the direction of gravity, and controlling the mobile robot to tilt backward until the first swing leg group swings up to the third step; In the process of controlling the second swing leg group so that the mobile robot swings up to the fourth step, the method further includes the steps of controlling the mobile robot to tilt forward until the second swing leg group becomes parallel to the direction of gravity, and controlling the mobile robot to tilt backward until the second swing leg group swings up to the fourth step.

5. The method of claim 4.

9. An end of a first swing leg in the first swing leg group includes a first wheel, and an end of a second swing leg in the second swing leg group includes a second wheel, and in the process of controlling the first swing leg group to swing up to the third step, the steps of controlling the mobile robot to tilt forward until the first swing leg group becomes parallel to the direction of gravity and controlling the mobile robot to tilt backward until the first swing leg group swings up to the third step include: in the process of controlling the first swing leg group to swing up to the third step, the step of controlling the mobile robot to tilt forward by driving at least one second wheel of the second swing leg group until the first swing leg group becomes parallel to a direction of gravity, and controlling the mobile robot to tilt backward until the first swing leg group swings up to the third step, In the process of controlling the second swing leg group so that the mobile robot swings up to the fourth step, the steps of controlling the mobile robot to tilt forward until the second swing leg group becomes parallel to the direction of gravity and controlling the mobile robot to tilt backward until the second swing leg group swings up to the fourth step include: In the process of controlling the second swing leg group to swing up to the fourth step, the step includes a step of controlling the mobile robot to tilt forward by driving at least one first wheel of the first swing leg group until the second swing leg group becomes parallel to the direction of gravity, and controlling the mobile robot to tilt backward until the second swing leg group swings up to the fourth step.

9. The method of claim 8.

10. When the first swing leg group is positioned at the first step, the second step is higher than the first step, When the first swing leg group is positioned on the first support surface, the second step is higher than the first support surface, the second step and the third step are adjacent steps, the third step is higher than the second step, and the second swing leg group contacts a side wall of the third step when positioned on the second step; the third step and the fourth step are adjacent steps, the fourth step is higher than the third step, and the first swing leg group contacts a side wall of the fourth step when positioned on the third step.

4. The method according to claim 1, wherein the first and second electrodes are connected to a first electrode.

11. before the step of controlling the first swing leg group so that the second swing leg group is used as a support leg and swings up to a third step, further comprising a step of controlling the mobile robot to tilt forward until a center of gravity projection of the mobile robot enters a stable region surrounded by a landing point of the second swing leg group on the second step and a sidewall projection of the third step, before the step of controlling the second swing leg group so that the first swing leg group is used as the support leg and swings up to a fourth step, and controlling the mobile robot to tilt forward until a center of gravity projection of the mobile robot enters a stable area surrounded by a landing point of the first swing leg group on the third step and a sidewall projection of the fourth step.

11. The method of claim 10.

12. The method comprises: a step of controlling the first swing leg group so that the mobile robot swings up to the third step, so that the second swing leg group is always supported on the third step, with the goal that the force received by the mobile robot satisfies a first stability condition; In the process of controlling the second swinging leg group so that the mobile robot swings up to the fourth step, the method further includes a step of controlling the first swinging leg group so that the first swinging leg group is always supported on the fourth step, with the goal that a force received by the mobile robot satisfies a second stability condition.

11. The method of claim 10.

13. An end of a second swing leg in the second swing leg group includes a second wheel, the second wheel has a second radius, the second swing leg group is supported on the third step via at least one second wheel, and the first stability condition is: a sum of the second support force and the first friction force is zero, the second support force is a support force from a side wall of the third step, the first friction force is a friction force from a step surface of the second step, and the second support force and the first friction force are in opposite directions; the sum of the first supporting force, the second frictional force, and the gravity of the mobile robot is zero, the first supporting force is a supporting force from the step surface of the second step, the second frictional force is a frictional force from the side wall of the third step, the first supporting force and the second frictional force are in the same direction, a value of the ratio of the second frictional force to the second supporting force is equal to or less than a friction coefficient, and a value of the ratio of the first frictional force to the first supporting force is equal to or less than a friction coefficient; the product of the second support force and the second radius is equal to the sum of the product of the second friction force and the second radius and the product of the gravity of the mobile robot and a forward tilt distance, the forward tilt distance being the horizontal distance between the center of gravity of the mobile robot and the center of the second wheel; a product of the first support force and the second radius is equal to a sum of a product of the first friction force and the second radius and a product of the gravity of the mobile robot and a remaining distance, and a sum of the remaining distance and the forward tilt distance is the second radius.

13. The method of claim 12.

14. An end of a first swing leg in the first swing leg group includes a first wheel, the first wheel has a first radius, the first swing leg group is supported on the fourth step via at least one first wheel, and the second stability condition is: a sum of a fourth support force and a third friction force is zero, the fourth support force is a support force from a side wall of the fourth step, the third friction force is a friction force from a step surface of the third step, and the fourth support force and the third friction force are in opposite directions; the sum of the third supporting force, the fourth frictional force, and the gravity of the mobile robot is zero, the third supporting force is a supporting force from the step surface of the third step, the fourth frictional force is a frictional force from the side wall of the fourth step, the third supporting force and the fourth frictional force are in the same direction, a value of the ratio of the fourth frictional force to the fourth supporting force is equal to or less than a friction coefficient, and a value of the ratio of the third frictional force to the third supporting force is equal to or less than a friction coefficient; the product of the fourth support force and the first radius is equal to the sum of the product of the fourth friction force and the first radius and the product of the gravity of the mobile robot and a forward tilt distance, and the forward tilt distance is the horizontal distance between the center of gravity of the mobile robot and the center of the first wheel; a product of the third support force and the first radius is equal to a sum of a product of the third friction force and the first radius and a product of the gravity of the mobile robot and a remaining distance, and a sum of the remaining distance and the forward tilt distance is the first radius.

13. The method of claim 12.

15. A control device for a mobile robot, the mobile robot including a first swing leg group and a second swing leg group, at least one of the first swing leg group and the second swing leg group including a plurality of swing legs, the first swing leg group and the second swing leg group being arranged in parallel, and a rotation axis of the first swing leg group and a rotation axis of the second swing leg group being positioned on the same vertical plane, the device comprising: a control module for controlling the first swing leg group to be positioned on a first step or a first support surface, and for controlling the second swing leg group to be positioned on a second step; the control module is further used to control the first swing leg group so as to swing up to a third step using the second swing leg group as a support leg; the control module is further used to control the second swinging leg group so as to swing up to a fourth step using the first swinging leg group as a support leg. An apparatus characterized in that

16. The control module further comprises: controlling the first swing leg group so that the second swing leg group functions as a support leg and extends and swings up to the third step; used to control the second swing leg group so that the first swing leg group is used as a support leg and extends and swings up to the fourth step; 16. The device of claim 15.

17. The control module further comprises: using the second swing leg group as a support leg, controlling the first swing leg group so that it contracts and swings until the extension direction of the first swing leg group becomes parallel to the direction of gravity, and controlling the first swing leg group so that it expands and swings until it is positioned at the third step; using the first swing leg group as a support leg, to control the second swing leg group so that it shortens and swings until the extension direction of the second swing leg group becomes parallel to the direction of gravity, and to control the second swing leg group so that it extends and swings until the second swing leg group is positioned at the fourth step; 17. The device of claim 16.

18. A mobile robot, the mobile robot including a memory and a processor; At least one program code is stored in the memory, and the program code is loaded and executed by the processor to realize the mobile robot control method according to any one of claims 1 to 14. A mobile robot characterized by:

19. A computer-readable storage medium having a computer program stored therein, the computer program being executed by a processor to realize the mobile robot control method according to any one of claims 1 to 14. A computer-readable storage medium comprising:

20. A chip, the chip including at least one of a programmable logic circuit and a program instruction, which, when executed by an electronic device incorporating the chip, realizes the mobile robot control method according to any one of claims 1 to 14. A chip characterized by:

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