Method for controlling the motion of a mobile robot and mobile robot

Abstract

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

Description

Technical Field

[0001] (Cross - reference to related applications) This application claims the priority of a Chinese patent application with the application number 202211002012.9 and the invention title "Motion Control Method of Mobile Robot and Mobile Robot", which was filed on August 20, 2022, and all of its contents are incorporated herein by reference.

[0002] This application relates to the field of robots, and particularly to a motion control method of a mobile robot and a mobile robot.

Background Art

[0003] Taking the mobile robot as a under - actuated robot as an example, an under - actuated robot has fewer actuators than the number of degrees of freedom of joints. A typical characteristic of such a robot is that there is a balance problem in the robot.

[0004] Regarding related technologies, taking the under - actuated robot as a leg - wheel - type robot as an example. For a two - wheel balanced leg - wheel - type robot, there is no degree of freedom in the roll direction in the motion plane of its legs. Taking the leg - wheel - type robot including a first wheel part, a second wheel part, and a base part connected between the first wheel part and the second wheel part as an example, the motion planes of the legs of the first wheel part and the second wheel part are held perpendicular to the base part. Therefore, in the actual use process, usually, the motion of the robot is realized by controlling the rotation of the wheels of the leg - wheel - type robot.

[0005] However, in the above - mentioned related technologies, the leg - wheel - type robot can only move in a way of rotating the wheels, and the moving method is relatively single.

Summary of the Invention

[0006] The embodiments of this application provide a motion control method of a mobile robot and a mobile robot, and the technical solution includes at least the following solutions.

[0007] According to one aspect of this application, a method for controlling the motion of a mobile robot is provided, wherein the mobile robot includes a first wheel section having retractable legs, a second wheel section having retractable legs, and a base section connected to the first wheel section and the second wheel section, and the method for controlling the motion of the mobile robot is: A step of controlling the first wheel section and the second wheel section to be in an upright equilibrium state, The method includes the step of controlling a mobile robot to perform pseudo-bipedal movement based on an upright equilibrium state, The base is parallel to the horizontal reference plane in an upright equilibrium state, and during the process of simulated bipedal movement, the first wheel section and the second wheel section alternately land, causing the base section to tilt and swing.

[0008] According to one aspect of this application, a mobile robot is provided, the mobile robot including a first wheel section having retractable legs, a second wheel section having retractable legs, and a base section connected to the first wheel section and the second wheel section. A controller is provided for the mobile robot, and the controller is used to control the mobile robot in order to implement the motion control method for the mobile robot described above.

[0009] According to one aspect of this application, a motion control device for a mobile robot is provided, and the motion control device for the mobile robot is The mobile robot includes a control module configured to control a first wheel section having retractable legs and a second wheel section having retractable legs so that they are in an upright, balanced state. The control module is further configured to control the mobile robot to perform pseudo-bipedal movements based on an upright equilibrium state. In this configuration, the base of the mobile robot is parallel to the horizontal reference plane in an upright equilibrium state, and during the process of pseudo-bipedal movement, the first and second wheel sections alternately land, causing the base section to tilt and oscillate.

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

[0011] According to one aspect of this application, a computer-readable storage medium is provided, in which a computer program is stored, and the computer program is executed by a processor and used to realize the motion control method of the mobile robot described above.

[0012] According to one aspect of this application, a chip is provided which includes a programmable logic circuit and / or a computer program, and which is used to realize the motion control method of the mobile robot described above when an electronic device on which the chip is mounted is in operation.

[0013] According to one aspect of this application, a computer program product is provided, the computer program product includes computer instructions, the computer instructions are stored in a computer-readable storage medium, and a processor reads the computer instructions from the computer-readable storage medium and executes them to realize the motion control method for the mobile robot described above.

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

[0015] The first wheel section with retractable legs and the second wheel section with retractable legs control the mobile robot to perform pseudo-bipedal motion based on an upright equilibrium state, thereby providing a new motion method for wheeled mobile robots and enriching the mobility methods of wheeled mobile robots. [Brief explanation of the drawing]

[0016] [Figure 1] This is a schematic diagram of a legged wheeled robot according to an exemplary embodiment of this application. [Figure 2]Partial schematic diagram of a legged wheeled robot according to an exemplary embodiment of the present application. [Figure 3] Front view of a legged wheeled robot according to an exemplary embodiment of the present application when standing on two wheels. [Figure 4] Side view of a legged wheeled robot according to an exemplary embodiment of the present application when standing on two wheels. [Figure 5] Top view of a legged wheeled robot according to an exemplary embodiment of the present application when standing on two wheels. [Figure 6] Schematic perspective view of a legged wheeled robot according to an exemplary embodiment of the present application when the counterweight leg is in a folded state. [Figure 7] Front view of a legged wheeled robot according to an exemplary embodiment of the present application when standing on three wheels. [Figure 8] Side view of a legged wheeled robot according to an exemplary embodiment of the present application when standing on three wheels. [Figure 9] Top view of a legged wheeled robot according to an exemplary embodiment of the present application when standing on three wheels. [Figure 10] Schematic perspective view of a legged wheeled robot according to an exemplary embodiment of the present application when standing on three wheels. [Figure 11] Another schematic perspective view of a legged wheeled robot according to an exemplary embodiment of the present application when standing on three wheels. [Figure 12] Morphological schematic diagram of a legged wheeled robot according to an exemplary embodiment of the present application. [Figure 13] Schematic diagram of three spatial angles according to an exemplary embodiment of the present application. [Figure 14] Block diagram of pitch angle direction balance control according to an exemplary embodiment of the present application. [Figure 15] Schematic diagram of roll angle direction balance control according to an exemplary embodiment of the present application. [Figure 16] Schematic diagram of yaw angle direction balance control according to an exemplary embodiment of the present application. [Figure 17] Flowchart of a motion control method for a mobile robot according to an exemplary embodiment of the present application. [Figure 18] This is a schematic diagram of an exemplary embodiment of the present application, illustrating the standing equilibrium state. [Figure 19] This is a flowchart of a motion control method for a mobile robot according to an exemplary embodiment of this application. [Figure 20] This is an exploded view of the motion of pseudo-bipedal movement according to an exemplary embodiment of this application. [Figure 21] This is a schematic diagram of the first inclined state according to an exemplary embodiment of this application. [Figure 22] This is a schematic diagram of the first single-wheel landing state according to an exemplary embodiment of this application. [Figure 23] This is a schematic diagram of the second inclined state according to an exemplary embodiment of this application. [Figure 24] This is a schematic diagram of the second single-wheel landing state according to an exemplary embodiment of this application. [Figure 25] This is an exploded view of the motion of pseudo-bipedal movement according to an exemplary embodiment of this application. [Figure 26] This is a schematic diagram illustrating the transition from an upright equilibrium state to a first inclined state according to an exemplary embodiment of this application. [Figure 27] This is a schematic diagram illustrating the return from the first inclined state to the upright equilibrium state according to an exemplary embodiment of this application. [Figure 28] This is a schematic diagram illustrating the transition from an upright equilibrium state to a second inclined state according to an exemplary embodiment of this application. [Figure 29] This is a schematic diagram illustrating the return from the second inclined state to the upright equilibrium state according to an exemplary embodiment of this application. [Figure 30] This is a schematic diagram illustrating how joint angle information is simulated and derived from a cross-section of a legged wheeled robot according to an exemplary embodiment of this application. [Figure 31] This is a schematic diagram illustrating how to determine the amount of change in the legs of a leg-wheeled robot according to an exemplary embodiment of this application when the robot is in a first or second inclined state. [Figure 32] This is a schematic diagram of a motion control device for a mobile robot according to an exemplary embodiment of this application. [Figure 33] This is a block diagram of an electronic device according to an exemplary embodiment of the present application. [Modes for carrying out the invention]

[0017] In the embodiments of this application, "front" and "rear" all refer to the front and rear shown in the drawings. "First end" and "second end" refer to the opposing ends.

[0018] The motion control method for a mobile robot provided by the embodiments of this application may be used for any of the following: a redundant drive system robot, a fully drive system robot, and an underdrive system robot. Here, a redundant drive system robot is a robot in which the number of actuators is greater than the number of joint degrees of freedom; a fully drive system robot is a robot in which the number of actuators is equal to the number of joint degrees of freedom; and an underdrive system robot is a robot in which the number of actuators is less than the number of joint degrees of freedom. All underdrive system robots have a problem of torso balance.

[0019] It's important to understand that under-actuated robots are more difficult to control than the other two types of robots due to their instability and torso balance issues. Taking a legged wheeled robot as an example, it requires the use of linear and nonlinear control techniques, and its balance control is challenging.

[0020] In some embodiments, the motion control method provided by the embodiments of this application is applied to under-drive robots. Optionally, the motion control method provided by the embodiments of this application is applied to leg-wheeled robots. In the following, under-drive robots are described as examples, and redundant-drive robots and fully-drive robots are similar and referentially available, and therefore will not be described further.

[0021] Figure 1 shows a leg-wheeled robot 10 according to an exemplary embodiment of the present application. The leg-wheeled robot 10 is a type of sub-acting robot. The leg-wheeled robot 10 combines the advantages of wheeled and legged robots, possessing high wheel energy efficiency and strong adaptability, and can use its legs to avoid obstacles on uneven terrain. The leg-wheeled robot 10 is an unstable sub-acting system, and because there are only two contact points between the ground and the wheels / support legs, balancing the leg-wheeled robot 10 is challenging because it is difficult to achieve torso balance.

[0022] Exemplary, the legged wheeled robot 10 includes a base 11, a wheel section 12, and a tail section 13, the wheel section 12 and the tail section 13 being transmitted to the base section 11, respectively. Optionally, the wheel section 12 can be divided into left and right sides, and these left and right sides may be perfectly symmetrical or imperfectly symmetrical.

[0023] Exemplary, the wheel section 12 includes a leg section and a wheel section. Here, the leg section includes a thigh unit 121 and a lower leg unit 122, and the wheel section includes a drive wheel 123. Taking as an example that the thigh unit 121 consists of two rods and the lower leg unit 122 consists of two rods, the two rods of the thigh unit 121, the two rods of the lower leg unit 122, and the base section 11 constitute a planar five-bar linkage mechanism.

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

[0025] Taking the first motor 1241 as an example, the two rod members of the thigh unit 121 are fixedly connected to the output shafts of the two motors of the first motor 1241, and the connection ends of the two rod members of the thigh unit 121 and the two rod members of the lower leg unit 122 are both connected in the form of a revolute pair, thus forming a planar five-bar linkage mechanism.

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

[0027] Referring to the partially schematic diagram of the leg-wheeled robot 10 shown in Figure 2, the drive of the drive wheel 123 can be realized in the following manner. The second motor 1242 drives the rotation shaft 02 of the drive wheel 123 by belt transmission, and the rotation shaft 02 is coaxial in the axial direction with the rotation pair between the two rod members of the lower leg unit 122, and a torsion spring 01 is wound around the rotation shaft 02, and the arms of the torsion spring 01 are fixed to the two rod members of the lower leg unit 122, respectively.

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

[0029] Optionally, in the leg-wheeled robot 10 provided by the embodiments of this application, the tail section 13 includes a counterweight leg 131, a driven wheel 132, and a third motor 133. Here, the counterweight leg 131 provides a balancing function for the leg-wheeled robot 10 during motion, and the third motor 133 is used to supply driving force to the driven wheel 132.

[0030] Figures 3 to 5 show the front view, left view, and top view, respectively, of the leg-wheeled robot 10 when it is standing on two wheels. Figure 6 shows a schematic perspective view of the leg-wheeled robot 10 when its counterweight legs 131 are folded.

[0031] In one selectable implementation scenario, the leg-wheeled robot 10 may be in a state where it is standing on three wheels. Here, when the leg-wheeled robot 10 is in a state where it is standing on three wheels, Figures 7 to 9 show the front view, left view, and top view of the leg-wheeled robot 10 in this state, and Figures 10 and 11 show different perspective views of the leg-wheeled robot 10 in this state, respectively.

[0032] Referring to Figure 7, taking θ as an example, if the angle formed by the axes of the two rod members of the thigh unit 121 is θ, then the mechanism can be in a self-stable state when the position angle θ < 180°.

[0033] In one selectable implementation scenario, the legged wheeled robot 10 may have other forms, and Figure 12 shows an example of one such form.

[0034] It should be understood that the leg-wheeled robot 10 is a type of underactuated robot, and the following embodiments of this application use only the leg-wheeled robot 10 as an example. The specific structure and form of the leg-wheeled robot 10 can be designed according to the actual situation and do not constitute a limitation to this application.

[0035] To achieve balance in a legged wheeled robot 10, it is usually necessary to perform balance feedback control on the legged wheeled robot 10. Balance feedback control mainly involves feeding back self-balance measurements to the control system and bringing the final balance measurement to a standard.

[0036] For illustrative purposes, Figure 13 is a schematic diagram of three spatial angles according to an exemplary embodiment of the present application, in which the embodiment of the present application primarily achieves balance using three spatial angles, namely pitch, yaw, and roll.

[0037] Referring to Figure 13, a right-handed Cartesian coordinate system in three-dimensional space is constructed for the leg-wheeled robot 10, where the roll angle is the angle of rotation around the x-axis, which is the coordinate axis along the forward direction of the leg-wheeled robot 10 and corresponds to the roll angle, and will be denoted by θ hereafter. The pitch angle is the angle of rotation around the y-axis, which is the coordinate axis along the direction of the two-wheel connection of the leg-wheeled robot 10 and corresponds to the pitch angle, and will be denoted by Ф hereafter. The yaw angle is the angle of rotation around the z-axis, which is the coordinate axis in the vertically upward direction and corresponds to the yaw angle, and will be denoted by φ hereafter.

[0038] We will now explain each of the three spatial angular balance control methods.

[0039] Regarding the balance control of the pitch angle in the pitch direction The angle in the pitch direction represents the amplitude of the swing in the forward direction of the leg-wheeled robot 10; that is, the angle in the pitch direction represents the angle at which the leg-wheeled robot 10 swings back and forth in the control direction of wheel rotation, and this is possible because there is only one contact point between each wheel and the motion surface, and the wheels of the leg-wheeled robot 10 are arranged laterally.

[0040] Control in the pitch direction is achieved with a PID (proportional-integral-derivative) controller. Here, the legged wheeled robot 10 is projected onto a two-dimensional plane to form a simplified two-dimensional model, where X represents the distance the wheel center moves laterally in the simplified two-dimensional model. Assuming the wheel does not spin freely and does not leave the ground, X is equal to the product of the wheel's rotation angle and its radius.

[0041] For example, (outside 1) TIFF0007870842000001.tif13121 represents the speed of movement at the wheel center. (outside 2) TIFF0007870842000002.tif14122 represents the reference velocity of the wheel center, and θ represents the pitch angle of the leg-wheeled robot 10, i.e., the angle of rotation around the direction perpendicular to the plane of the paper in the simplified 2D planar model. Correspondingly, (Outside 3) TIFF0007870842000003.tif12120 represents the pitch angular velocity of the legged wheeled robot 10. (outside 4) TIFF0007870842000004.tif14121 represents the reference value of the pitch angular velocity of the legged wheeled robot 10, and τ represents the moment input to the wheel motor of the legged wheeled robot 10. Here, θ, (outside 5) TIFF0007870842000005.tif12121 and (outside 6) TIFF0007870842000006.tif16124 is obtained by collecting data from a sensor. For example, θ and (outside 7) TIFF0007870842000007.tif12122 was acquired by an inertial measurement unit (IMU). (outside 8) TIFF0007870842000008.tif13123 is acquired by the wheel's encoding sensor (Encoder sensor).

[0042] Figure 14 shows a block diagram of pitch-direction equilibrium control according to an exemplary embodiment of the present application. Here, the outermost control reference value is the moving speed reference value of the wheel center. (outer 9) The filename is TIFF0007870842000009.tif16120.

[0043] First, the reference value for the speed at which the wheel center moves. (Outside 10) TIFF0007870842000010.tif13123, that is, the speed the wheel is about to reach is obtained based on the motion prediction, and the movement speed of the wheel center is measured by the sensor. (Outside 11) I collected and obtained TIFF0007870842000011.tif14123, (Outside 12) TIFF0007870842000012.tif15125 is the movement speed of the wheel center The result of subtracting TIFF0007870842000013.tif32 is input to the PID controller 1410, and the PID controller 1410 (Outside 13) The output file TIFF0007870842000014.tif15121 is obtained.

[0044] Next, (Outside 14) TIFF0007870842000015.tif15122 will be used as the control reference variable for the next control loop. (Outside 15) After subtracting TIFF0007870842000016.tif13122 from θ, the difference value of the pitch angle, i.e., the difference value between the current pitch angle and the reference pitch angle, is obtained and input to the PID controller 1420. (Outside 16) Obtain TIFF0007870842000017.tif15122. Then, (Outside 17) TIFF0007870842000018.tif14123 is used as the control reference variable for the next control loop. (outside 18) TIFF0007870842000019.tif13121 (Outside 19) The result after subtracting TIFF0007870842000020.tif14122 is input to the PID controller 1430, and the PID controller 1430 outputs τ. By transmitting τ to the wheel motors of the legged wheeled robot 10, balance control of the robot can be achieved.

[0045] At the same time, when a corresponding change occurs in the state of the legged wheeled robot 10, θ, (outside 20) TIFF0007870842000021.tif14121, (outside 21) The values ​​of TIFF0007870842000022.tif17121 change accordingly, and these values, after being acquired by the sensor, are used for the next round of control of the legged wheeled robot 10, thereby forming a closed control loop.

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

[0047] Regarding the balance control of the roll angle in the roll direction Selectively, the roll angle represents the lateral oscillation range due to mismatched leg lengths or mismatched leg heights in a wheeled robot. The ideal angle is input to the PID controller, and the leg lengths of the wheeled robot are controlled based on the difference between the current roll angle and the ideal angle, thereby ensuring that the heights reached by the legs of the wheeled robot are consistent in supporting the main body of the wheeled robot. Typically, the ideal angle is 0, and the PID controller calculates the leg length that needs to change at the current roll angle, calculates the amount of change in joint angles based on the leg length that needs to change, and thereby controls the joint angles of the leg configuration.

[0048] For example, referring to Figure 15, the ideal angle (outside 22) TIFF0007870842000023.tif14122 and roll angle (outside 23) The difference with TIFF0007870842000024.tif12123 is input to the PID controller 1510, which outputs the change in leg length. Based on this change in leg length, the amount of change in joint angle is determined, and this amount of change in joint angle is input to the motor that controls the leg shape to control the joint angle.

[0049] Regarding balance control in the yaw angle direction. The angle in the yaw direction represents the angle generated when the legged wheeled robot rotates, and in this embodiment, φ represents the yaw angle of the legged wheeled robot. (outside 24) TIFF0007870842000025.tif13122 represents the yaw angular velocity of a legged wheeled robot. (Outside 25) TIFF0007870842000026.tif13120 represents the yaw angle reference value for a legged wheeled robot. (outside 26) TIFF0007870842000027.tif14121 represents the reference value for the yaw angular velocity of a legged wheeled robot. For example, see Figure 16. (outside 27) TIFF0007870842000028.tif14122 and (outside 28) The difference with TIFF0007870842000029.tif16120 is input to the PID controller 1610, and the moment increment Δτ is output. This moment increment is then applied to the wheel motor, thereby changing the yaw angle of the legged wheeled robot.

[0050] As described above, this application provides a method for controlling the motion of a mobile robot that enables the mobile robot to perform pseudo-bipedal motion. It should be understood that pseudo-bipedal motion is a walking motion that imitates a human by moving the left and right legs alternately, and this walking motion can be specifically implemented in various ways such as alternating steps or stepping. For example, the mobile robot performs stepping motion, and the landing positions of the first and second wheels of the mobile robot are kept unchanged. As another example, the mobile robot performs linear motion, curved motion, and obstacle-climbing motion with alternating steps, and the first and second wheels of the mobile robot are displaced based on different motions.

[0051] In some embodiments, the mobile robot is a subactor robot. A subactor robot is a robot in which the number of actuators is less than the number of degrees of freedom of the joints. In this subactor robot, the wheel motors are responsible for controlling the rotational position of the wheels in the pitch direction, and are also used to balance the attitude of the base and adjust the pitch attitude. This is based on the fact that the attitude of the base and the rotational distance of the wheels have a dynamic relationship, and that control can be realized based on this dynamic relationship.

[0052] For example, a two-wheeled, balanced leg-wheeled robot is one type of sub-acting robot. Compared to conventional bipedal robots, this type of robot shares a common characteristic: the plane on which the legs can move is perpendicular to the base, meaning that there is no degree of freedom in the roll direction in the plane of motion of the legs.

[0053] In the embodiments of this application, an underactor robot can be understood as a robot lacking one spatial degree of freedom. Selectively, the underactor robot provided by the embodiments of this application is a leg-wheeled robot that achieves two-wheel balance and lacks a degree of freedom in the roll angular direction between the motion plane of its legs and the base. Taking as an example that the leg-wheeled robot includes a first wheel section, a second wheel section, and a base section connected to the first and second wheel sections, the motion planes of the legs of the first and second wheel sections are held perpendicular to the base section.

[0054] Regarding bipedal robots, because they have legs, they inherently possess equilibrium in the pitch angle direction. Regarding underactuated robots, since the motion plane of their single leg is fixed (e.g., perpendicular) to the base, the leg's motion only has degrees of freedom in the roll angle direction and the yaw angle direction, lacking degrees of freedom in the pitch angle direction, and furthermore, the leg's motion lacks rotational degrees of freedom in the roll angle direction.

[0055] Therefore, the motion control method for bipedal robots cannot adjust the stability of the robot's centroid in a specified direction, and thus cannot be used to generate stepping motions and control motions for robots with limited degrees of freedom in the roll angle direction between the movement plane of the legs and the base.

[0056] Taking pseudo-bipedal motion as an example of stepping motion, a bipedal robot can generate a motion trajectory using a zero-moment point (ZMP), and such a method of generating a motion trajectory does not require consideration of equilibrium control in the pitch angle direction. In contrast, a sub-acting robot needs to consider equilibrium control in both the pitch angle direction and the roll angle direction. Exemplarily, in the motion control method for a sub-acting robot provided by the embodiment of this application, changes in centroid position and posture of the sub-acting robot can be modified based on relevant information such as changes in leg length and contact force between wheels and the ground, thereby achieving equilibrium control of the sub-acting robot and enabling pseudo-bipedal walking to be applied to the sub-acting robot.

[0057] It should be understood that the mobile robot according to the embodiment of this application may be a sub-acting robot. Furthermore, the mobile robot according to the embodiment of this application is a sub-acting robot capable of achieving two-wheel balance, for example, a leg-wheeled robot that achieves two-wheel balance. In this type of robot, there is a lack of degrees of freedom in the roll angle direction between the motion plane of the legs and the base. Taking the leg-wheeled robot as an example, including a first wheel section, a second wheel section, and a base section connected to the first and second wheel sections, the motion planes of the legs of the first and second wheel sections are held perpendicular to the base section.

[0058] Figure 17 shows a flowchart of a motion control method for a mobile robot according to an exemplary embodiment of this application.

[0059] In some embodiments, the mobile robot is a sub-acting robot.

[0060] Here, the mobile robot includes a first wheel section having retractable legs, a second wheel section having retractable legs, and a base section connected to the first and second wheel sections. Referring to Figure 1, taking the example that the under-driven robot is a leg-wheeled robot 10, the leg-wheeled robot 10 includes two wheel sections 12, and these two wheel sections 12 can be understood as the first wheel section and the second wheel section.

[0061] The tail section 13 of the legged wheeled robot 10 shown in Figure 1 is in the deployed state, and the tail section 13 of the legged wheeled robot 10 shown in Figure 6 is in the retracted state. In some embodiments, the geometric midpoint of the driven wheel 132 of the tail section 13 coincides with the axial direction of the counterweight leg 131. In some embodiments, in the retracted state, the axial direction of the counterweight leg 131 of the tail section 13 is parallel to the base section 11. Exemplarily, taking the tail section 13 in the retracted state as an example, the forward direction of the legged wheeled robot 10 is the direction from the counterweight leg 131 to the driven wheel 132.

[0062] In any of the following embodiments, we will explain using the example that the first wheel portion is a wheel portion 12 located on the left side in the forward direction of the leg-wheeled robot 10, and the second wheel portion is a wheel portion 12 located on the right side in the forward direction of the leg-wheeled robot 10.

[0063] Here, the first wheel section includes the first leg section and the first wheel, and the second wheel section includes the second leg section and the second wheel, and both the first and second leg sections include a thigh unit 121 and a lower leg unit 122. It should be understood that the first and second leg sections have an extension function, the first wheel section corresponds to the first drive motor, the second wheel section corresponds to the second drive motor, and the first and second drive motors are used to drive the movement of different wheel sections, and the specific drive method can be found in the above description and will not be explained further.

[0064] It should be understood that the mobile robot according to the embodiment of this application may be a sub-acting robot. Furthermore, the mobile robot according to the embodiment of this application is a sub-acting robot capable of achieving two-wheel balance, for example, a leg-wheeled robot that achieves two-wheel balance. In this type of robot, there is a lack of degrees of freedom in the roll angle direction between the motion plane of the legs and the base. Taking the example that the leg-wheeled robot includes a first wheel section, a second wheel section, and a base section connected to the first and second wheel sections, the motion planes of the legs of the first and second wheel sections are held perpendicular to the base section.

[0065] The following will provide a detailed explanation of why all of these mobile robots are sub-acting robots.

[0066] Exemplary, the motion control method provided by the embodiments of this application includes steps 102 and 104.

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

[0068] For example, the base is parallel to the horizontal reference plane in an upright equilibrium state.

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

[0070] In one selectable implementation scenario, the mobile robot is positioned on flat ground, and its base is held parallel to the ground in an upright equilibrium position. In another selectable implementation scenario, the mobile robot is positioned on a slope, and its base is held parallel to the horizontal reference plane in an upright equilibrium position. In the mobile robot control scenario, it can also be understood that the mobile robot may encounter various road conditions. Taking the example that road conditions include both flat and sloped road conditions, if the mobile robot performs pseudo-bipedal motion regardless of the road conditions it moves on, the base will always be held parallel to the ground in an upright equilibrium position, as it would be on a flat road.

[0071] The upright equilibrium state can be understood as a state in which the mobile robot is in static or dynamic equilibrium, in which the base is held parallel to the horizontal reference plane and the mobile robot maintains torso equilibrium. In some embodiments, the position of the mobile robot in the upright equilibrium state is held unchanged, i.e., no displacement occurs. In some other embodiments, the mobile robot moves in the upright equilibrium state, i.e., displacement occurs. All of the following embodiments are examples in which the mobile robot is held unchanged in the upright equilibrium state.

[0072] As an example, the under-driven robot is a leg-wheeled robot, and Figure 18 shows a schematic diagram of the standing equilibrium state according to an exemplary embodiment of this application. Here, the leg-wheeled robot 10 includes a base portion 11, a first wheel portion 1201, and a second wheel portion 1202.

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

[0074] Referring to Figure 18, the legged wheeled robot 10 is positioned on level ground and in an upright equilibrium state, with both the first wheel section 1201 and the second wheel section 1202 touching the ground, and the base section 11 held parallel to the ground. Selectively, the heights of the first wheel section 1201 and the second wheel section 1202 are the same; that is, the first wheel section 1201 and the second wheel section 1202 are at the same height in the upright equilibrium state. Therefore, when a sub-motorized robot is positioned on level ground, the upright equilibrium state can also be understood as a state of equal height.

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

[0076] For example, during the process of pseudo-bipedal movement, the first wheel section and the second wheel section alternately land, and the base section tilts and oscillates.

[0077] Here, pseudo-bipedal movement refers to walking motion that mimics human movement by moving the left and right legs alternately. This walking motion can be implemented in various ways, such as alternating steps or stepping. For example, a mobile robot can perform stepping motion while maintaining the same landing positions for its first and second wheels. In another example, a mobile robot can perform linear, curved, and obstacle-climbing movements with alternating steps, and its first and second wheels can be displaced based on different movements.

[0078] Taking the example that simulated bipedal movement is a stepping motion, during the stepping motion, the first and second wheel sections mimic human bipedalism, alternately lifting and moving to achieve the stepping motion.

[0079] As described above, the first wheel section and the second wheel section have telescopic legs. Taking the example that the first wheel section includes a first leg and the second wheel section includes a second leg, the alternating landing of the first wheel section and the second wheel section, and the tilting and swinging of the base section can be achieved by the alternating extension and retraction of the first leg section and the second leg section.

[0080] For example, in a standing equilibrium state, the first leg can be controlled to shorten and the second leg to extend, tilting the base in a first direction, during which the first and second wheels maintain their grounded position. Subsequently, the first leg can be controlled to extend and the second leg to shorten, causing the second wheel to lift off the ground. After a certain period of time, with the first leg continuously extended and the second leg continuously retracted, the second wheel changes back from being lifted off the ground to a grounded position, and the base returns to a state parallel to the horizontal reference plane, i.e., the mobile robot returns to a standing equilibrium state. Subsequently, the first leg can be continuously extended and the second leg continuously shortened, tilting the base in a second direction, during which the first and second wheels maintain their grounded position, and the first and second directions are opposite. Subsequently, the first leg is controlled to shorten and the second leg to extend, causing the first wheel section to be lifted off the ground. After a certain period of time, during which the first leg continues to shorten and the second leg continues to extend, the first wheel section changes back from being lifted off the ground to a landing state. At this point, the base section also returns to a state parallel to the horizontal reference plane, meaning the mobile robot returns to an upright equilibrium state.

[0081] Based on the process described above, the mobile robot completes one cycle of stepping motion. Subsequently, by repeatedly controlling the robot based on the process described above, multiple cycles of stepping motion can be achieved.

[0082] As can be seen from the above description, the motion control method for a mobile robot provided by the embodiment of this application realizes that the mobile robot is controlled to perform pseudo-bipedal motion in an upright equilibrium state by a first wheel section having retractable legs and a second wheel section having retractable legs, thereby providing a new motion method for the mobile robot. Here, pseudo-bipedal motion has relatively high terrain adaptability, relatively strong application value, and relatively strong robustness and stability.

[0083] Based on Figure 17, Figure 19 is a flowchart of a motion control method for a mobile robot according to an exemplary embodiment of the present application, where step 104 may be implemented as steps 1041, 1042, 1043, and 1044, and the pseudo-bipedal motion of the mobile robot is repeatedly transitioned between a standing equilibrium state, a first tilted state, a standing equilibrium state, a second tilted state, and a standing equilibrium state.

[0084] As an example, Figure 20 shows an exploded view of pseudo-bipedal movement according to an exemplary embodiment of the present application, where the first wheel section includes the first leg section and the first wheel, and the second wheel section includes the second leg section and the second wheel.

[0085] In some embodiments, the mobile robot is a sub-acting robot.

[0086] Taking the example of a sub-acting robot moving on flat ground, if it is necessary to control the sub-acting robot to perform pseudo-bipedal motion, first the first and second wheel sections are controlled to be in an upright equilibrium state. In this upright equilibrium state, the first and second wheels are on the ground, and the base is held parallel to the ground.

[0087] As an example, with the first wheel section positioned in a first direction relative to the base section and the second wheel section positioned in a second direction relative to the base section, pseudo-bipedal motion of a sub-actuated robot can be realized as follows.

[0088] In step 1, the under-driven robot is controlled to change from an upright equilibrium state to a first tilted state.

[0089] For example, in an upright equilibrium state, the robot is controlled to shorten the first leg of the first wheel unit and extend the second leg of the second wheel unit, thereby changing the under-drive robot to a first tilted state.

[0090] During the extension and retraction process of the first and second legs, the base gradually tilts from a horizontal position parallel to the ground towards the first direction, and both the first and second wheels touch the ground.

[0091] Referring to Figure 20, the under-driven robot is positioned on a flat road. In the upright equilibrium state, the under-driven robot maintains static equilibrium, and because the height of the first and second wheel sections are the same, the base is held parallel to the ground.

[0092] Subsequently, the motor drives the first and second wheel sections, controlling them to shorten the first leg and extend the second leg. At this time, since the first and second legs are connected to the base, the base is tilted, and the base tilts from a horizontal position parallel to the ground to a first direction. Simultaneously, the first and second wheels are controlled to be held in a touching position.

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

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

[0095] Here, the first single-wheel landing state is the state in which the first wheel touches the ground and the second wheel is lifted up.

[0096] Referring to Figure 20, the first and second wheels remain in a grounded position throughout the process of the first leg being shortened and the second leg being extended. Selectively, when the tilt angle of the torso of the under-driven robot satisfies the state switching condition, the motor drives the first and second wheel sections to extend the first leg and shorten the second leg. It should be understood that the tilt angle of the base in the first direction reaches its maximum at the time when the state switching condition is met. When changing from the first tilted state to the first single-wheel grounded state, the extension of the first leg and the shortening of the second leg occur simultaneously, and the base gradually tilts in the second direction.

[0097] Subsequently, due to the change in the lengths of the first and second legs, the first wheel remains in a grounded position, while the second wheel is lifted and lifted off the ground. At this point, the under-drive robot still maintains the balance of its torso, and the inclination angle of the base in the first direction gradually decreases as the first and second legs extend and retract.

[0098] In step 3, the under-drive robot is controlled to return from the first single-wheel landing state to an upright equilibrium state.

[0099] For example, in the first single-wheel landing state, the robot is controlled to continuously extend the first leg and continuously shorten the second leg, returning the under-drive robot from the first single-wheel landing state to an upright equilibrium state.

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

[0101] Referring to Figure 20, as the first leg continues to extend and the second leg continues to shorten, the change in the lengths of the first and second legs causes the base to tilt in the second direction, gradually reducing the tilt angle of the base in the first direction until it returns to being parallel to the ground. At this time, the second wheel returns from the lifted state to the landing state, thereby returning the under-drive robot to an upright equilibrium state.

[0102] In the embodiments of this application, during the process of a single wheel landing, another single wheel that is lifted can be lifted, moved forward, or moved backward, thereby enabling motion control of the robot.

[0103] In step 4, the under-actuated robot is controlled to change from an upright equilibrium state to a second tilted state.

[0104] For example, in an upright equilibrium state, the robot is controlled to extend the first leg of the first wheel unit and shorten the second leg of the second wheel unit, thereby changing the under-drive robot to a second tilted state.

[0105] During the extension and retraction process of the first and second legs, the base gradually tilts from a horizontal position parallel to the ground to a second direction, and both the first and second wheels touch the ground.

[0106] Referring to Figure 20, after the under-driven robot returns to an upright equilibrium state, it can be controlled to extend the first leg and shorten the second leg by driving the first and second wheel sections. At this time, because the first and second legs are connected to the base section, the base section tilts, and the base section tilts from a horizontal state parallel to the ground to a second direction. Simultaneously, the first and second wheels are controlled to be held in a touching position.

[0107] In step 5, the under-drive robot changes from the second tilting state to the second single-wheel landing state.

[0108] For example, in the second tilting state, the first leg of the first wheel unit is controlled to shorten and the second leg of the second wheel unit is controlled to extend, changing the under-drive robot to the second single-wheel landing state.

[0109] In this context, the second single-wheel landing state is the state in which the first wheel is lifted and the second wheel lands.

[0110] Referring to Figure 20, during the process of the first leg being extended and the second leg being shortened, the first and second wheels are always kept in a grounded position. Selectively, when the tilt angle of the torso of the under-driven robot satisfies the state switching condition, the motor drives the first and second wheel sections to shorten the first leg and extend the second leg. It should be understood that at the time when the state switching condition is met, the tilt angle of the base in the second direction reaches its maximum. When changing from the second tilted state to the second single-wheel grounded state, the shortening of the first leg and the extension of the second leg occur simultaneously, and the base gradually tilts towards the first direction.

[0111] Subsequently, due to the change in the lengths of the first and second legs, the second wheel remains in a grounded position, while the first wheel is lifted and lifted off the ground. At this point, the under-drive robot still maintains the balance of its torso, and the inclination angle of the base in the second direction gradually decreases as the first and second legs extend and retract.

[0112] In step 6, the under-drive robot is controlled to return from the second single-wheel landing state to the upright equilibrium state.

[0113] For example, in the second single-wheel landing state, the first leg is controlled to continuously shorten and the second leg to continuously extend, returning the under-drive robot from the second single-wheel landing state to an upright equilibrium state.

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

[0115] Referring to Figure 20, as the first leg continuously shortens and the second leg continuously extends, the change in the lengths of the first and second legs causes the base to tilt in the first direction, and the tilt angle of the base in the second direction gradually decreases until it returns to being parallel to the ground. At this time, the first wheel returns from the lifted state to the landing state, thereby returning the under-drive robot to an upright equilibrium state.

[0116] The above process gives one motion period in the pseudo-bipedal motion of the underactuated robot. Within this motion period, the base gradually becomes parallel to the ground, tilts in a first direction, returns to being parallel to the ground, tilts in a second direction, and returns to being parallel to the ground, thereby causing tilting and oscillating of the base.

[0117] It should be understood that by repeating the six steps given in the above process, multiple cycles of pseudo-bipedal movement can be achieved, and no further explanation is needed.

[0118] Referring to Figure 19, step 1041, step 1042, step 1043, and step 1044 are specifically as follows, taking as an example that the first wheel section is located in the first direction relative to the base section and the second wheel section is located in the second direction relative to the base section.

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

[0120] For example, the first inclined state is a state in which the base is inclined in a first direction.

[0121] In some embodiments, the mobile robot is a sub-acting robot.

[0122] As an example, if the under-driven robot is a leg-wheeled robot, Figure 21 shows a schematic diagram of the first tilted state according to an exemplary embodiment of this application. Here, the leg-wheeled robot 10 includes a base portion 11, a first wheel portion 1201, and a second wheel portion 1202.

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

[0124] Referring to Figure 21, the leg-wheeled robot 10 is positioned on level ground and in a first inclined state, with both the first wheel section 1201 and the second wheel section 1202 touching the ground, and the base section 11 inclined in a first direction. Here, the inclination of the base section 11 in the first direction results in the inclination of the body of the leg-wheeled robot 10. In some embodiments, the inclination of the base section 11 in the first direction also causes the body of the leg-wheeled robot 10 to inclined in the first direction. Selectively, the inclination angle of the leg-wheeled robot 10 is used to indicate the inclination angle of the body of the leg-wheeled robot 10. Referring to Figure 21, this inclination angle is used to indicate the angle between the base section 11 and the horizontal plane of the ground.

[0125] Selectively, step 1041 can be implemented as follows:

[0126] To bring the under-drive robot into the first tilted state, the first leg of the first wheel unit is controlled to shorten and the second leg of the second wheel unit is controlled to extend.

[0127] Here, during the extension and retraction process of the first and second legs, the base gradually tilts from a horizontal state parallel to the horizontal reference plane to the first direction, and both the first and second wheels touch the ground.

[0128] In this embodiment, both the first and second wheels touch the ground during the extension and retraction process of the first and second legs, thereby ensuring the stability of the entire robot body during this extension and retraction process, and thus ensuring stability during the robot's motion control process.

[0129] In one selectable implementation scenario, the mobile robot is positioned on level ground and in an upright equilibrium state, with the heights of its first and second legs equal. Subsequently, by controlling the robot to shorten the first leg and extend the second leg, the height of the first leg is reduced and the height of the second leg is increased.

[0130] In another possible implementation scenario, the mobile robot is positioned on a slope, and in an upright equilibrium state, the heights of the first and second legs are different. For example, if the first leg is taller than the second leg, during the process of controlling the robot to shorten the first leg and extend the second leg, the height of the first leg remains higher than that of the second leg during the first period. If the control to shorten the first leg and extend the second leg continues, at some point after the first period has elapsed, the heights of the first and second legs may become equal. Subsequently, if the control to shorten the first leg and extend the second leg continues, the height of the first leg will become lower than that of the second leg during the second period, which is the period after the first period.

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

[0132] For example, in the process of a mobile robot returning from a first tilted state to an upright equilibrium state, the first wheel of the first wheel unit touches the ground and the second wheel of the second wheel unit lifts up.

[0133] Referring to the above, in the process of the mobile robot returning from the first tilted state to an upright equilibrium state, the first wheel is held in a grounded state, and the second wheel goes through a sequence of changes: grounded, lifted, and returned to a grounded state. Here, when the first wheel is grounded and the second wheel is lifted, the state of the mobile robot can be considered to be the first single-wheel grounded state.

[0134] Optionally, step 1042 can be implemented as follows:

[0135] The mobile robot is controlled to extend the first leg of the first wheel section and shorten the second leg of the second wheel section so that it is in the first single-wheel landing state. The first single-wheel landing state is a state in which the first wheel is on the ground and the second wheel is lifted.

[0136] The robot with the inferior drive system is controlled to continuously extend its first leg and continuously shorten its second leg so that it returns from a first single-wheel landing state to an upright equilibrium state.

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

[0138] In some embodiments, the mobile robot is a sub-acting robot.

[0139] As an example of a sub-driven robot being a leg-wheeled robot, Figure 22 shows a schematic diagram of a first single-wheel landing state according to an exemplary embodiment of this application. Here, the leg-wheeled robot 10 includes a base portion 11, a first wheel portion 1201, and a second wheel portion 1202, and the forward direction of the leg-wheeled robot 10 is the direction from the counterweight leg 131 to the driven wheel 132.

[0140] Referring to Figure 22, in the first single-wheel landing state, the first wheel section 1201 lands, the second wheel section 1202 lifts up, and the base section 11 tilts in the first direction. Here, the tilting of the base section 11 in the first direction causes the body of the leg-wheeled robot 10 to tilt. In some embodiments, the tilting of the base section 11 in the first direction also causes the body of the leg-wheeled robot 10 to tilt in the first direction.

[0141] In one selectable implementation scenario, the mobile robot is positioned on level ground, and the length of the first leg is the same as the height of the second leg in an upright equilibrium state. In this case, as the mobile robot returns from a first inclined state to an upright equilibrium state, the heights of the first and second legs change, and this change can also be measured using the lengths of the first and second legs.

[0142] Selectively, if the lengths of the first and second legs are the same in an upright equilibrium state (i.e., the mobile robot is on level ground), the mobile robot is in a first single-wheel landing state within a first time length. Here, Within the first time interval, the length of the first leg is shorter than the length of the second leg.

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

[0144] Here, prior to the initial point in the first time length, the mobile robot is still in the first tilt state. At this time, the length of the first leg is much smaller than the length of the second leg, and as the length of the first leg is shortened to its shortest and the length of the second leg is extended to its longest, the tilt angle of the base in the first direction reaches its maximum.

[0145] Subsequently, at the initial point of the first time length, the first leg is controlled to extend and the second leg to shorten, at which point the length of the first leg is still smaller than the length of the second leg. As time progresses, with the continuous extension of the first leg and the continuous shortening of the second leg, the difference in length between the first and second legs gradually decreases, and when the end of the first time length is reached, the lengths of the first and second legs are the same.

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

[0147] For example, the second inclination state is a state in which the base is inclined in the second direction.

[0148] In some embodiments, the mobile robot is a sub-acting robot.

[0149] As an example, if the under-driven robot is a leg-wheeled robot, Figure 23 shows a schematic diagram of a second tilted state according to an exemplary embodiment of this application. Here, the leg-wheeled robot 10 includes a base portion 11, a first wheel portion 1201, and a second wheel portion 1202, and the forward direction of the leg-wheeled robot 10 is the direction from the counterweight leg 131 to the driven wheel 132.

[0150] Referring to Figure 23, the legged wheeled robot 10 is positioned on flat ground and in the second inclined state, with both the first wheel section 1201 and the second wheel section 1202 touching the ground, and the base section 11 inclined in the second direction. Here, the inclination of the base section 11 in the second direction causes the body of the legged wheeled robot 10 to tilt.

[0151] Selectively, step 1043 can be implemented as follows:

[0152] The robot is controlled to extend the first leg of the first wheel unit and shorten the second leg of the second wheel unit so that the under-driven robot is in a second tilting state.

[0153] Here, during the extension and retraction process of the first and second legs, the base gradually tilts from a horizontal state parallel to the horizontal reference plane to a second direction, and both the first and second wheels touch the ground.

[0154] In one selectable implementation scenario, the mobile robot is positioned on level ground, and its first and second legs are at equal height after returning to an upright equilibrium position. Subsequently, it is controlled to extend the first leg and shorten the second leg so that the first leg is at a higher height and the second leg is at a lower height.

[0155] In another possible implementation scenario, the mobile robot is positioned on a slope, and the heights of the first and second legs differ after they return to an upright equilibrium state. As an example, if the first leg is higher than the second leg, during the process of controlling the robot to extend the first leg and shorten the second leg, the height of the first leg during the third period is still higher than the height of the second leg, and the third period follows the second period; the explanation of the second period can be found in the previous section. If the robot continues to be controlled to extend the first leg and shorten the second leg, at some point after the third period has elapsed, the heights of the first and second legs may become equal. Subsequently, if the robot continues to be controlled to extend the first leg and shorten the second leg, the height of the first leg during the fourth period will be lower than the height of the second leg, and the fourth period follows the third period.

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

[0157] For example, in the process of a mobile robot returning from a second tilted state to an upright equilibrium state, the second wheels touch the ground and the first wheels lift up.

[0158] Referring to the above, in the process of the mobile robot returning from the second tilted state to the upright equilibrium state, the second wheel is held in the grounded state, while the first wheel sequentially goes through the changes of landing, lifting up, and returning to the grounded state. Here, when the first wheel lifts up and the second wheel lands, the state of the mobile robot can be considered to be the second single-wheel landing state.

[0159] Selectively, step 1044 can be implemented as follows:

[0160] The mobile robot is controlled to shorten the first leg of the first wheel section and extend the second leg of the second wheel section so that it is in the second single-wheel landing state. The second single-wheel landing state is a state in which the first wheel is lifted and the second wheel is on the ground.

[0161] The robot with the inferior drive system is controlled to continuously shorten the first leg and continuously extend the second leg so that it returns from a second single-wheel landing state to an upright equilibrium state.

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

[0163] In some embodiments, the mobile robot is a sub-acting robot.

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

[0165] As an example of a sub-driven robot being a leg-wheeled robot, Figure 24 shows a schematic diagram of a second single-wheel landing state according to an exemplary embodiment of this application. Here, the leg-wheeled robot 10 includes a base portion 11, a first wheel portion 1201, and a second wheel portion 1202, and the forward direction of the leg-wheeled robot 10 is the direction from the counterweight leg 131 to the driven wheel 132.

[0166] Referring to Figure 24, in the second single-wheel landing state, the first wheel section 1201 lifts up, the second wheel section 1202 lands, and the base section 11 tilts in the second direction. At this point, the tilting of the base section 11 in the second direction causes the body of the leg-wheeled robot 10 to tilt.

[0167] In one selectable implementation scenario, the mobile robot is positioned on level ground, and the length of the first leg and the height of the second leg in an upright equilibrium state are the same. In this case, as the mobile robot returns from a second inclined state to an upright equilibrium state, the heights of the first and second legs change, and this change can also be measured using the lengths of the first and second legs.

[0168] Selectively, if the lengths of the first and second legs are the same in the standing equilibrium state (i.e., the mobile robot is on level ground), the mobile robot is in the second single-wheel landing state within the second time length. Here, Within the second time interval, the length of the first leg is longer than the length of the second leg.

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

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

[0171] Subsequently, at the initial point of the second time length, the first leg is controlled to shorten and the second leg to lengthen, at which point the length of the first leg is still longer than the length of the second leg. As time progresses, with the continuous shortening of the first leg and the continuous lengthening of the second leg, the difference in length between the first and second legs gradually decreases, and when the end of the second time length is reached, the lengths of the first and second legs are the same.

[0172] Figure 25 is an exploded view of pseudo-bipedal motion according to an exemplary embodiment of the present application, taking as an example that the first tilt state is a leftward tilt state and the second tilt state is a rightward tilt state. Here, the left perpendicular line in the figure is used to indicate the left wheel section, the right perpendicular line is used to indicate the right wheel section, and the area enclosed by the two perpendicular lines and the two horizontal lines is used to indicate the base section.

[0173] Referring to Figure 25, assuming the mobile robot is positioned on flat ground, pseudo-bipedal motion can be achieved as follows.

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

[0175] By controlling the left wheel leg to shorten and the right wheel leg to extend, the base tilts to the left as both wheel sections extend and contract. Simultaneously, the wheels on both sides are controlled to remain in a grounded position so that the mobile robot gradually changes from an equal height state to a leftward tilt state. Optionally, if the tilt angle of the mobile robot reaches a first limit value, the extension and contraction control of both wheel sections is stopped to prevent the mobile robot from rolling sideways. Here, the first limit value of the tilt angle of the mobile robot may be set according to actual needs, for example, determined by the mass of the mobile robot or the change in the length of the wheel legs on both sides.

[0176] When the tilt angle of the mobile robot reaches the first limit value, the control system extends the leg of the left wheel unit and shortens the leg of the right wheel unit. At this time, the wheel of the right wheel unit lifts up, and the mobile robot enters the first single-wheel landing state. As the leg of the left wheel unit extends and the leg of the right wheel unit shortens, the lengths of the legs of both wheel units become the same at the end of the first single-wheel landing state, and the mobile robot returns from the first single-wheel landing state to an upright equilibrium state. At this time, due to the extension and contraction of both wheel units, the base unit also returns from tilting to the left to being parallel to the ground.

[0177] Similar to the left-leaning state, after the mobile robot returns to an upright equilibrium state, the control extends the leg of the left wheel and shortens the leg of the right wheel so that the base tilts to the right as the wheel sections extend and retract on both sides. At the same time, the control holds the wheels of both wheel sections in a grounded position so that the mobile robot gradually changes from an equilibrium state to a rightward-leaning state. Optionally, if the tilt angle of the mobile robot reaches a second limit value, the extension and retraction control of both wheel sections is stopped to prevent the mobile robot from rolling sideways. Here, the second limit value of the tilt angle of the mobile robot may be set as needed, for example, depending on the mass of the mobile robot and the change in the length of the legs of both wheel sections.

[0178] When the mobile robot's tilt angle reaches the second limit, the control system shortens the leg of the left wheel unit and extends the leg of the right wheel unit. At this time, the left wheel unit lifts up, and the mobile robot enters the second single-wheel landing state. Due to the shortening of the left wheel unit's leg and the extension of the right wheel unit's leg, the lengths of the legs of both wheel units become the same at the end of the second single-wheel landing state, and the mobile robot returns from the second single-wheel landing state to an upright equilibrium state. At this time, due to the extension and retraction of both wheel units, the base unit also returns from tilting to the right to be parallel to the ground.

[0179] As can be seen from the above description, the motion control method for a mobile robot provided by the embodiment of this application provides a specific process of one motion cycle of pseudo-bipedal motion. Here, pseudo-bipedal motion of the mobile robot can be realized and the flexibility of the mobile robot can be improved by extension and retraction control of a first wheel section having an extendable leg and a second wheel section having an extendable leg.

[0180] Conditions for switching states during pseudo-bipedal movement Based on the above, in order to realize motion control for the pseudo-bipedal movement of a mobile robot, it is possible to switch states in the mobile robot when different conditions are met.

[0181] Selectively, the mobile robot's state is switched when its tilt angle reaches a specified limit. Here, the mobile robot's tilt angle is used to represent the angle between the plane on which the base is located and a plane parallel to the horizontal reference plane. Referring to Figure 25, using the example of the mobile robot being located on flat ground, the mobile robot's tilt angle can be understood as the angle between the first plane and the second plane. Here, the first plane is the plane on which the base is located, and the second plane is the plane parallel to the ground. By controlling the mobile robot's tilt angle so as not to exceed the limit, the mobile robot avoids tipping over due to excessive tilting, and further ensures the stability of the motion control process.

[0182] The inclination angle of the mobile robot can be selected as a state switching condition, and specifically, the following four situations can be included.

[0183] In Situation 1, the tilt angle of the mobile robot reaches the first limiting width.

[0184] Selectively, step 1041 may be implemented as follows: When the tilt angle of the mobile robot reaches a first limiting width, control the mobile robot to change from an upright equilibrium state to a first tilted state.

[0185] As an example, assuming the mobile robot is located on level ground, Figure 26 shows a schematic diagram illustrating the transition from an upright equilibrium state to a first inclined state according to an exemplary embodiment of this application. When the mobile robot is in an upright equilibrium state, the first wheel section and the second wheel section are at the same height. Subsequently, the first wheel section is controlled to shorten and the second wheel section to extend. During this process, the mobile robot undergoes a change in posture, and the base section inclins in the first direction where the first wheel section is located.

[0186] For example, the implementation of control over the shortening of the first wheel section and the extension of the second wheel section requires that the inclination angle of the mobile robot reaches a first limited width θ1. Referring to Figure 26, θ1 may be 0 degrees, i.e., the base section is parallel to the ground. In another selectable implementation scenario, the mobile robot is positioned on an incline, and θ1 may still be 0 degrees, in which case the base section is no longer held parallel to the ground.

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

[0188] Optionally, step 1042 may be implemented as follows: When the tilt angle of the mobile robot reaches a second limiting width, control the mobile robot to return from the first tilted state to an upright equilibrium state.

[0189] Assuming the mobile robot is positioned on level ground, Figure 27 shows a schematic diagram illustrating the return from a first tilted state to an upright equilibrium state according to an exemplary embodiment of this application. Referring to Figure 26, in the first tilted state, the first and second wheel sections touch the ground, and then the mobile robot is controlled to extend the first wheel section and shorten the second wheel section so that it changes from the first tilted state to a first single-wheel landing state. Shown on the left side of Figure 27 is the first single-wheel landing state after the change from the first tilted state, in which case the first wheel section touches the ground and the second wheel section is lifted. Subsequently, the control continues to extend the first wheel section and shorten the second wheel section. During this process, the mobile robot undergoes a change in posture, and the base section tilts in the second direction where the second wheel section is located until it returns to being parallel to the ground.

[0190] For example, to implement the control that extends the first wheel section and shortens the second wheel section, the condition that the inclination angle of the mobile robot reaches the second limited width θ2 must be met. Referring to Figures 26 and 27, when the inclination angle of the mobile robot reaches θ1, the mobile robot is controlled to change from the upright equilibrium state to the first inclined state. When the inclination angle of the mobile robot reaches θ2, the mobile robot is controlled to change from the first inclined state to the first single-wheel landing state until it returns to the upright equilibrium state.

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

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

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

[0194] Selectively, step 1043 may be implemented as follows: When the tilt angle of the mobile robot reaches a third limiting width, control the mobile robot to change from an upright equilibrium state to a second tilted state.

[0195] Assuming the mobile robot is positioned on level ground, Figure 28 shows a schematic diagram illustrating the transition from an upright equilibrium state to a second inclined state according to an exemplary embodiment of this application. After returning to the upright equilibrium state, the first and second wheel sections return to the same height. Subsequently, the first wheel section is controlled to extend and the second wheel section to shorten. During this process, the mobile robot undergoes a change in posture, and the base section tilts in the second direction where the second wheel section is located.

[0196] For example, the implementation of controlling the first wheel section to extend and the second wheel section to shorten requires that the inclination angle of the mobile robot reaches the third limiting width θ3. Referring to Figure 28, as with the first limiting width, θ3 may be 0 degrees, i.e., the base section is parallel to the ground. In another selectable implementation scenario, the mobile robot is positioned on an incline, and θ3 may still be 0 degrees, in which case the base section is no longer held parallel to the ground.

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

[0198] Optionally, step 1044 may be implemented as follows: When the tilt angle of the mobile robot reaches the fourth limiting width, control the mobile robot to return from the second tilting state to the upright equilibrium state.

[0199] Assuming the mobile robot is positioned on level ground, Figure 29 shows a schematic diagram illustrating the return from a second tilted state to an upright equilibrium state according to an exemplary embodiment of this application. Referring to Figure 28, in the second tilted state, the first and second wheel sections are on the ground, and then the mobile robot is controlled to shorten the first wheel section and extend the second wheel section so that it changes from the second tilted state to a second single-wheel landing state. Shown on the left side of Figure 29 is the second single-wheel landing state after changing from the second tilted state, in which case the first wheel section is raised and the second wheel section is on the ground. Subsequently, the control continues to shorten the first wheel section and extend the second wheel section. During this process, the mobile robot undergoes a change in posture, and the base section tilts in the first direction where the first wheel section is located until it returns to being parallel to the ground.

[0200] For example, to implement the control that shortens the first wheel section and extends the second wheel section, the condition that the inclination angle of the mobile robot reaches the fourth limited width θ4 must be met. Referring to Figures 26 and 27, similar to the second limited width, when the inclination angle of the mobile robot reaches θ3, the mobile robot is controlled to change from the upright equilibrium state to the second inclined state. When the inclination angle of the mobile robot reaches θ4, the mobile robot is controlled to change from the second inclined state to the second single-wheel landing state until it returns to the upright equilibrium state.

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

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

[0203] Classification of pseudo-bipedal movement Based on the above, it should be understood that pseudo-bipedal movement is a walking motion that imitates humans by moving the left and right feet alternately, and that this walking motion can be specifically implemented in various ways, such as alternating steps or marching in place. Selectively, pseudo-bipedal movement is, Stepping exercise, linear motion, curved motion, A movement of rotating while stepping in place, and It includes at least one movement that overcomes disabilities.

[0204] Here, it can be understood that stepping motion is a motion in which the mobile robot does not displace, and during the process of the mobile robot performing stepping motion, the landing positions of the first and second wheels of the mobile robot are maintained unchanged. Linear motion, curved motion, and obstacle-climbing motion can also be understood as motions in which the mobile robot displaces, and during the process in which the mobile robot performs linear motion, curved motion, rotational motion while stepping, and obstacle-climbing motion with alternating steps, the first and second wheels of the mobile robot displace according to the different motions.

[0205] Selectively, the pseudo-bipedal motion includes stepping motion. During the stepping motion, the landing positions after the first and second wheel sections are lifted are the same as the initial landing positions, or the distance difference between the landing positions after the first and second wheel sections are lifted and the initial landing positions is less than a first tolerance. That is, the distance between the landing position after the first wheel section is lifted (i.e., the landing position after the first wheel is lifted) and its initial landing position is less than a first tolerance, and / or the distance between the landing position after the second wheel section is lifted (i.e., the landing position after the second wheel is lifted) and its initial landing position is less than a first tolerance. In this embodiment, the mobile robot is guaranteed to maintain stepping motion by controlling the distance between the wheel landing positions and the initial landing positions to be less than a first tolerance.

[0206] In the process by which the mobile robot mimics a human and alternately lifts its left and right legs to perform a stepping motion, the mobile robot does not displace, so the first and second wheel sections lift up and land at their initial landing positions.

[0207] For example, the first tolerance can be understood as the error value of the distance difference, and the first tolerance can be set according to the actual needs. It should be understood that the landing position after the first and second wheel sections are lifted and the initial landing position should be the same. To ensure the balance of the mobile robot's body, one relatively small tolerance can be set for the distance difference between the two positions, and the first tolerance is a single numerical value within that tolerance, for example, the maximum value of the tolerance.

[0208] Selectively, the pseudo-bipedal motion includes at least one of linear motion, curved motion, stepping and rotating motion, and obstacle-climbing motion. In the process of linear motion, curved motion, stepping and rotating motion, or obstacle-climbing motion, the landing position after the first or second wheel section is lifted is different from the landing position before lifting, and the distance difference is greater than or equal to the second allowable value. The base section tilts and oscillates alternately in the third and fourth directions, and the angle between the third or fourth direction and the forward direction of the mobile robot is acute. In other words, in the process of linear motion, curved motion, rotational motion while stepping, or motion to overcome obstacles, the distance between the landing position after the first wheel lifts (i.e., the landing position after the first wheel lifts) and its initial landing position is greater than or equal to a second allowable value, and / or the distance between the landing position after the second wheel lifts (i.e., the landing position after the second wheel lifts) and its initial landing position is greater than or equal to a second allowable value. In this embodiment, by controlling the distance between the landing position of the wheel and the initial landing position to be greater than or equal to a second allowable value, the travel distance and travel speed of the mobile robot each time are guaranteed, that is, its travel efficiency is guaranteed.

[0209] Here, linear motion can be understood as the mobile robot mimicking a human by alternately walking forward or backward with its left and right feet; curved motion can be understood as the mobile robot mimicking a human by alternately walking non-linear paths of multiple curved trajectories such as S-shapes, figure-eights, and around stakes with its left and right feet; and obstacle-climbing motion can be understood as the mobile robot mimicking a human by alternately walking in a straight line or curved path to overcome obstacles such as small piles of soil with its left and right feet.

[0210] Exemplary, the second tolerance can be set according to actual needs. Based on the fact that displacement and / or posture adjustments are necessary for linear motion, curved motion, stepping and rotating motion, and obstacle-climbing motion, it should be understood that the landing position after the first and second wheel sections are lifted and the initial landing position should be different. To achieve displacement and / or posture adjustments of the mobile robot, one predetermined tolerance can be set for the distance difference between the two positions, and the second tolerance is a single numerical value within that tolerance, for example, the minimum value of the tolerance.

[0211] In the three movements described above, the mobile robot undergoes displacement, so the landing positions of the first and second wheel sections after they are lifted are different from their landing positions before they are lifted. Simultaneously, based on the fact that displacement is necessary for the mobile robot, the centroid position of the mobile robot also changes in the direction of its forward movement.

[0212] Taking curved motion as an example, when a mobile robot changes from an upright equilibrium state to a first tilted state, the first and second wheel sections are held in a position to touch the ground. The mobile robot is controlled to change from the first tilted state to a first single-wheel landing state, and at this time, the turning of the first wheel section of the mobile robot is controlled, for example, to turn to the right forward (which can be understood as the third direction) of the initial forward direction of the first wheel section. Subsequently, the mobile robot is controlled to return from the first single-wheel landing state to an upright equilibrium state, the mobile robot's forward direction changes, the mobile robot moves to the left forward, and the centroid position of the mobile robot also moves to the right forward of the initial forward direction.

[0213] The mobile robot is controlled to change from an upright equilibrium state to a second tilted state, with the first and second wheel sections held in a grounded position. Subsequently, the mobile robot is controlled to change from the second tilted state to a second single-wheel landing state, during which the turning of the second wheel section is controlled, for example, to turn to the left forward (which can be understood as the fourth direction) of the initial forward direction of the second wheel section. Then, the mobile robot is controlled to return from the second single-wheel landing state to an upright equilibrium state, changing the mobile robot's forward direction, moving to the right forward, and the centroid position of the mobile robot also moves to the left forward of the initial forward direction.

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

[0215] As described above, in pseudo-bipedal motion, when a mobile robot transitions from a first single-wheel landing state to a second single-wheel landing state, it is necessary to pass through one standing equilibrium state in order for the mobile robot to maintain the balance of its torso.

[0216] In some embodiments, the mobile robot further includes a tail section driven to the base, the tail section having a third wheel, the tail section being retracted in an upright equilibrium position, and the third wheel not touching the ground. Referring to the leg-wheeled robot 10 shown in Figure 1, the third wheel is a driven wheel 132 provided on the tail section 13. Referring to Figure 6, when the tail section 13 is in the retracted position, the driven wheel 132 does not touch the ground and may be fixed to the bottom of the base section 11 so as not to affect the movement of the wheel section 12.

[0217] Optionally, step 104 can be implemented as follows:

[0218] The mobile robot is controlled to change from an upright equilibrium state to a first single-wheel landing state, where the first wheel is on the ground and the second wheel is lifted.

[0219] The tail section is controlled to extend until the third wheel touches the ground.

[0220] The mobile robot is controlled to change from a first single-wheel landing state to a second single-wheel landing state by shortening the first leg of the first wheel section and extending the second leg of the second wheel section, with the second single-wheel landing state being a state in which the first wheel is lifted and the second wheel is on the ground.

[0221] The mobile robot is controlled to return from a second single-wheel landing state to an upright, balanced state.

[0222] Here, a specific explanation of how the mobile robot changes from an upright equilibrium state to a first single-wheel landing state can be found in the previously mentioned content. It should be understood that when the mobile robot is in a second single-wheel landing state, it can similarly adjust the landing wheel using its tail, and this can be specifically explained in the following content; no further explanation is needed.

[0223] In the first single-wheel landing state, the mobile robot can be controlled to extend its tail until the third wheel lands, maintaining the balance of its torso while the first and second wheels are in contact with the ground, thereby improving the stability of the mobile robot.

[0224] Subsequently, the first leg of the first wheel section is controlled to shorten and the second leg of the second wheel section to extend. This can be understood as the first leg of the mobile robot being lifted and the second leg being lowered until the second wheel touches the ground. During this process, only the third wheel located at the tail of the mobile robot touches the ground. After the second wheel touches the ground, the first wheel is no longer shortened and remains lifted, thereby changing the mobile robot from a first single-wheel landing state to a second single-wheel landing state.

[0225] Subsequently, the mobile robot is controlled to return from the second single-wheel landing state to the upright equilibrium state. This process can be specifically described in the previous section and will not be explained further.

[0226] As described above, in pseudo-bipedal motion, when a mobile robot changes from a first single-wheel landing state to a second single-wheel landing state, it does not need to go through a transitional state via a standing equilibrium state, and the landing wheel can be changed by assisting with the tail.

[0227] As an example, the methods of transitioning from the first single-wheel landing state to the second single-wheel landing state given in the above description can all be applied to the pseudo-bipedal motion of a mobile robot, and will not be explained further.

[0228] Pseudo-bipedal motion can be implemented in various ways, and the above examples provide various specific implementation methods such as stepping motion, linear motion, curved motion, rotational motion while stepping, and obstacle-climbing motion. It should be understood that all other methods by which bipedal motion can be imitated are within the scope of protection of this application and will not be described further.

[0229] For example, another motion method may be added between the first wheel section and the second wheel section. Optionally, the motion control method for a mobile robot provided by the embodiments of this application may further include: The aforementioned pseudo-bipedal movement includes controlling the movement of the first wheel portion and the second wheel portion.

[0230] For example, step 104 can be implemented as follows:

[0231] The mobile robot is controlled to change from an upright equilibrium state to a first single-wheel landing state, where the first wheel is on the ground and the second wheel is lifted.

[0232] The mobile robot is controlled to lift its first wheel off the ground in order to perform at least one jumping motion.

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

[0234] To make the mobile robot perform at least one jumping motion, the second wheel is controlled to leave the ground.

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

[0236] Here, the change of the mobile robot from the standing balance state to the first single-wheel landing state, from the first single-wheel landing state to the second single-wheel landing state, and the return from the second single-wheel landing state to the standing balance state can all refer to the foregoing content and will not be further elaborated.

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

[0238] Regarding the wheel state during the pseudo-bipedal motion In the process of the mobile robot performing a pseudo-bipedal motion, the mobile robot is in a state of alternately moving its left and right feet by imitating a human. Referring to the foregoing content, both the first wheel part and the second wheel part include wheels. Compared with the bipedal motion performed by a human, the mobile robot can further control the sliding of the wheels.

[0239] Exemplarily, in the process of the mobile robot performing a bipedal motion, by locking or unlocking the first wheel of the first wheel part and / or the second wheel of the second wheel part, the pseudo-bipedal motion has more flexibility.

[0240] Optionally, in the process of the pseudo-bipedal motion, the first wheel and the second wheel are in a locked state.

[0241] Optionally, during the process of pseudo-bipedal movement, the first wheel and / or the second wheel is in an unlocked state.

[0242] In one possible implementation scenario, the first wheel and the second wheel are in a locked state. Since the first wheel and the second wheel are locked, the situation where the wheels slide during the pseudo-bipedal movement of the mobile robot is eliminated.

[0243] Here, the locked state can be understood as determining a reference signal with a fixed position for the first wheel and / or the second wheel. Based on this reference signal, the first wheel and / or the second wheel can move slightly near the reference point. That is, the first wheel and / or the second wheel in the locked state has a movement error at the reference point, and this error is used to achieve the balance of the body of the mobile robot. It should be understood that the movement error at the reference point of the first wheel and / or the second wheel is small enough to be negligible.

[0244] In another possible implementation scenario, at least one of the first wheel and the second wheel is in an unlocked state, realizing the turning and / or sliding of the wheel in the unlocked state.

[0245] Optionally, the movement control method of the mobile robot provided by the embodiments of the present application further includes During the process of pseudo-bipedal movement, controlling the first wheel part and / or the second wheel part in the unlocked state to move. Thereby, various movements can be realized by the wheel part in the unlocked state, and the diversity of the movement modes of the robot can be improved.

[0246] Exemplarily, the movement performed by the first wheel part and / or the second wheel part in the pseudo-bipedal movement may be one of a sliding movement, a jumping movement, and a rotational movement.

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

[0248] Next, we will give two different examples using gliding motion as an example.

[0249] For example, the first and second wheel sections are controlled to be in an upright equilibrium state, and then the mobile robot is controlled to change from the upright equilibrium state to a first tilted state. When the mobile robot is in the first tilted state, the locks of the first and second wheels are released, and then driving force is supplied to the first and second wheels, causing the first and second wheels to move the mobile robot so that its body slides in a tilted state.

[0250] As another example, the first and second wheel sections are controlled to be in an upright equilibrium state, and then the mobile robot is controlled to gradually change from the upright equilibrium state to the first single-wheel landing state. When the mobile robot is in the first single-wheel landing state, the first wheel is controlled to be unlocked, and then the mobile robot is controlled to slide on the first wheel to mimic a one-legged skating motion.

[0251] For example, the locking and unlocking of the first and / or second wheels can be performed multiple times during pseudo-bipedal movement, thereby enabling the mobile robot to combine gliding with alternating landings of the left and right wheels, and further improving the mobile robot's flexibility. For instance, the locking and unlocking of the first and / or second wheels multiple times during the process of pseudo-bipedal movement can be used to control the mobile robot to perform an anthropomorphic skating show.

[0252] Selectively controlling the movement of the first and / or second wheel sections in an unlocked state during the process of pseudo-bipedal motion can be implemented as at least one of the following implementations.

[0253] (1) The mobile robot performs a single-wheel sliding motion.

[0254] The mobile robot is controlled to change from an upright equilibrium state to a first single-wheel landing state, where the first wheel is on the ground and the second wheel is lifted.

[0255] If the first wheel is unlocked, the system controls the first wheel to slide a distance of 1.

[0256] Here, a specific explanation of how the mobile robot changes from an upright equilibrium state to a first single-wheel landing state can be found in the previously mentioned content. It should be understood that when the mobile robot is in a second single-wheel landing state, it can similarly perform single-wheel gliding motion, and this can be specifically described in the following content; no further explanation is needed.

[0257] For example, when a single wheel is on the ground, the wheel on the ground can be unlocked, thereby unlocking it, and the wheel that is lifting may or may not be unlocked. Then, the mobile robot is controlled to slide the wheel on the ground so that it is displaced. For example, the first wheel can be unlocked and put into an unlocked state, the second wheel can be locked, and the first wheel can be controlled to slide.

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

[0259] In some embodiments, the mobile robot can repeatedly perform single-wheel sliding motion in either a first single-wheel landing state or a second single-wheel landing state. For example, the mobile robot can change from an upright equilibrium state to a first single-wheel landing state, then perform single-wheel sliding motion, and after a sliding time length of 1 has elapsed, control the mobile robot to change from the first single-wheel landing state to a second single-wheel landing state, and then perform single-wheel sliding motion.

[0260] (2) In this case, the mobile robot performs a single-wheel rotational motion.

[0261] The mobile robot is controlled to change from an upright equilibrium state to a first single-wheel landing state, where the first wheel is on the ground and the second wheel is lifted.

[0262] When the first wheel is in the unlocked state, control is performed to rotate the first wheel.

[0263] Here, for a specific description of the mobile robot changing from the standing balance state to the first single-wheel landing state, reference can be made to the foregoing content. It should be understood that when the mobile robot is in the second single-wheel landing state, a single-wheel sliding movement can similarly be performed. Specifically, reference can be made to the following content, and no further explanation will be given.

[0264] Exemplarily, in the state where a single wheel touches the ground, the wheel that touches the ground may be unlocked so as to be in the unlocked state, the wheel that is lifted may or may not be unlocked. Then, control is performed to rotate the wheel that touches the ground so as to change the forward direction of the mobile robot. For example, the first wheel is unlocked to be in the unlocked state, the second wheel is in the locked state, and control is performed to rotate the first wheel.

[0265] Here, the rotation angle of the first wheel can be set according to actual needs and is not limited in this application. Exemplarily, the rotation angle of the first wheel is 360 degrees so that the mobile robot can imitate the movement of rotating one full circle in place. Or, the rotation angle of the first wheel may be determined based on the environmental information where the mobile robot is located. The environmental information at least includes road condition information and surrounding obstacle information where the mobile robot is located. For example, there is a pillar obstacle on the side of the mobile robot, and control is performed to rotate the first wheel by 90 degrees to change the forward direction of the mobile robot and avoid the obstacle.

[0266] In some embodiments, the mobile robot can repeatedly perform single-wheel rotations in either a first single-wheel landing state or a second single-wheel landing state. For example, the mobile robot can change from an upright equilibrium state to a first single-wheel landing state, and then be controlled to rotate the first wheel 90 degrees on its own. After a sliding time length 2 has elapsed, the mobile robot can be controlled to change from the first single-wheel landing state to a second single-wheel landing state, and then be controlled to rotate the second wheel 180 degrees on its own. After a sliding time length 3 has elapsed, the mobile robot can be controlled to change from the second single-wheel landing state to the first single-wheel landing state, and then be controlled to rotate the second wheel 270 degrees on its own.

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

[0268] The mobile robot is controlled to change from an upright equilibrium state to a first single-wheel landing state, where the first wheel is on the ground and the second wheel is lifted.

[0269] If the first wheel is unlocked, the first wheel is controlled to slide a distance of 2.

[0270] If the second wheel is locked, the second leg of the second wheel unit is controlled to extend until the second wheel touches the ground, and then the second leg is controlled to retract until it returns to the length it was at when locked.

[0271] Here, a specific explanation of how the mobile robot changes from an upright equilibrium state to a first single-wheel landing state can be found in the previously mentioned content. It should be understood that when the mobile robot is in a second single-wheel landing state, it can similarly perform skateboarding movements, and this can be specifically described in the following content; no further explanation is needed.

[0272] For example, when a single wheel is landing, the landing wheel may be unlocked, while the lifting wheel may remain locked. Subsequently, the landing wheel is controlled to slide so that the mobile robot is displaced. After sliding a certain distance, the lifting wheel is controlled to be lifted after landing once, and the landing wheel is continued to slide. For example, the first wheel is unlocked and the second wheel is locked without being unlocked, the first wheel is controlled to slide a second distance, then the second leg of the second wheel is extended and then retracted so that the second wheel performs an action similar to re-contraction after a single-point landing, and then the first wheel is continued to slide.

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

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

[0275] It should be understood that the above is merely an illustrative example, and all combinations of other wheel movement methods and the alternating landing motion of the left and right wheel sections are within the scope of protection of this application and will not be explained further.

[0276] The aforementioned embodiments provide methods for realizing pseudo-bipedal motion. In each realization method, the first and second wheels can perform various different types of movements such as gliding, rotating, and jumping. It should be understood that the various pseudo-bipedal motion realization methods and the various types of movements of the first and second wheels can all be realized in combination.

[0277] For example, the mobile robot is controlled to change to a first single-foot landing state, then the first wheel is unlocked and controlled to rotate so that the mobile robot can perform a full rotation in place, then the mobile robot is controlled to change to a second tilt state, the first and second wheels are unlocked and controlled to slide so that the mobile robot can perform a sliding motion with its body tilted, then the mobile robot is controlled to change to a second single-foot landing state, the second wheel is unlocked and controlled to slide so that the mobile robot can perform a single-wheel sliding motion.

[0278] Based on this, it is possible to control mobile robots to achieve more complex and richer pseudo-bipedal movements. For example, a mobile robot can be controlled to mimic human movement and perform pseudo-bipedal movements like those in figure skating.

[0279] According to the above, during the process of pseudo-bipedal movement, when the first and second wheel sections land alternately, the lengths of the legs of the first and second wheel sections do not remain the same, and the height of the two wheels changes.

[0280] In some embodiments, the mobile robot is a sub-acting robot.

[0281] Referring to Figures 13 and 14, which use the example of a sub-driven robot being a leg-wheeled robot, in the right-handed Cartesian coordinate system of the three-dimensional space constructed by the leg-wheeled robot 10, the balance control in the pitch angle direction is such that the motor moments of the corresponding wheel parts differ depending on the landing conditions of the first and second wheels.

[0282] If both the first and second wheel sections are in contact with the ground, the sum of the motor moments of the first drive motor corresponding to the first wheel section and the second drive motor corresponding to the second wheel section is the first moment.

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

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

[0285] For example, in the upright equilibrium state, the first tilt state, and the second tilt state, the first and second wheels are in contact with the ground; that is, the contact points between the under-drive robot and the ground are the two wheels. At this time, the PID controller can determine that the motor moment of both the first drive motor corresponding to the first wheel and the second drive motor corresponding to the second wheel are τ.

[0286] For example, in the first single-wheel landing state, the first wheel unit lands and the second wheel unit lifts up. In the second single-wheel landing state, the second wheel unit lands and the first wheel unit lifts up. That is, in either the first or second single-wheel landing state, the point of contact between the sub-drive robot and the ground is a single wheel. At this time, the PID controller can obtain that the motor moment of the drive motor corresponding to the landing wheel unit is 2τ, thereby enabling balance control of the pitch direction during the robot's pseudo-bipedal motion process using the contact moment between the single wheel and the ground.

[0287] As described above, by planning the changes in length and rate of change of the legs of the first and second wheel sections of the mobile robot, it is possible to control the mobile robot and achieve pseudo-bipedal motion. Here, by analyzing the motion and structural characteristics of the mobile robot, the pseudo-bipedal motion can be divided into multiple states related to the above. The mobile robot is controlled to perform the planned movements during state changes. At the same time, by combining the mechanical structure and mass distribution of the mobile robot, the deflection range in which the center of gravity is projected on the ground throughout the robot's motion process can be calculated, and the state switching conditions for different states can be determined. For details, please refer to the above description and will not be explained further.

[0288] For example, in the process of pseudo-bipedal motion, the control information for each joint of a mobile robot can be determined in the following manner. After determining the pseudo-bipedal motion, the pseudo-bipedal motion can be decomposed and divided into multiple states, each state corresponding to a set of control parameters, which may be used to determine information such as the position, angle, and moment of each joint. Subsequently, with the set of control parameters and a whole-body dynamics model of the mobile robot as input, the control information for this set of control parameters is obtained through processing by the mobile robot's controller. This control information includes at least information such as the joint moment, joint angular velocity, and base inclination of each joint, and control of the robot is realized based on this control information.

[0289] It should be understood that the above process is merely an illustrative example and can be adjusted according to actual needs, and is not limited to this application.

[0290] Selectively, during the process of pseudo-bipedal movement, the movements of the first wheel section, the second wheel section, and the base section are as follows: Change in the length of the first leg of the first wheel section, The angle and amount of change of at least one joint motor of the first leg, Changes in the length of the second leg of the second wheel section, The angle and amount of change of at least one joint motor of the second leg, Contact force between the first wheel of the first wheel section and the ground, The contact force between the second wheel of the second wheel section and the ground, Pitch angle information and angular velocity of a mobile robot, Roll angle information and angular velocity of the mobile robot, and The mobile robot is controlled based on at least one of the following: yaw angle information and angular velocity.

[0291] In some embodiments, the mobile robot is a sub-acting robot.

[0292] Taking the example that the underacting robot is a leg-wheeled robot, and referring to the right-handed Cartesian coordinate system of the leg-wheeled robot 10 shown in Figure 13, Figure 30 shows a schematic diagram of how joint angle information is simulated and derived from a cross-section of the leg-wheeled robot 10 according to an exemplary embodiment of this application.

[0293] Referring to Figure 13, Figure 30 shows an XZ coordinate system constructed corresponding to a cross-section of the legged wheeled robot 10, where the wheel 3300 may be one of the first and second wheels. Here, taking as an example that the origin is located at the midpoint between points x1 and x5, and the distance between x1 and x5 is l0, the coordinates of x1 are (0.5l0, 0) and the coordinates of x5 are (-0.5l0, 0). The coordinates of wheel 3300 are known to be (x3, z3), and the objective is to calculate joint angle information including joint angles 3310, 3320, 3330, and 3340.

[0294] Since the coordinates of wheel 3300 are known, and x1 and x5 are also known, the lengths of line segments l5 and l6 can be calculated based on the coordinates. Exemplarily, the calculation formulas are shown in Equations 1 and 2 below.

[0295]

number

number

[0296]

number

[0297] Based on the joint angles obtained through calculation, these are input to the drive motor corresponding to the wheel 3300, and the controller outputs motor torque. This controls the rotation of the leg form corresponding to the wheel 3300 to the corresponding joint angle, thereby controlling the wheel 3300 to reach a specified position (x3, z3).

[0298] Figure 31 shows a schematic diagram illustrating how the amount of change in the legs of a leg-wheeled robot according to an exemplary embodiment of this application is determined when the robot is in a first or second inclined state, and the mobile robot is a sub-actuated robot. Here, in triangle ACD, if the length of DC is 0.5l0, the formula for calculating the change in leg length AC is as shown in Equation 4 below.

[0299]

number

[0300] In some embodiments, when the first and / or second wheels of a sub-driven robot turn, a roll angle inclination occurs in the vehicle body, generating centrifugal force. The magnitude of the centrifugal force correlates with the horizontal velocity v, and the vehicle body needs to be tilted to maintain equilibrium. A component of gravity is generated to balance the magnitude of the centrifugal force, and the relationship between the magnitude of the roll angle φ corresponding to the tilted vehicle body and the horizontal velocity v is shown in Equation 5 below.

[0301]

number

[0302] For example, the change in the wheel legs of a sub-actuated robot can be divided into the following two situations.

[0303] Regarding Situation 1, the roll angle generated by the under-driven robot is relatively small.

[0304] For example, the roll angle generated by a sub-actuated robot is less than (or equal to) a given angular threshold. When the roll angle is relatively small, (Outside 31) The filename is TIFF0007870842000037.tif14121, and the calculation of the change in the wheel legs is as shown in Equation 6 below.

[0305]

number

[0306] For example, the roll angle generated by a sub-actuated robot is greater than (or equal to) a predetermined angular threshold. When the roll angle is relatively large, the calculation of the change in the wheel legs is as shown in Equations 7 and 8 below.

[0307]

number

number

[0308] In step 1, trajectory planning information is acquired and used to represent the target motion trajectory of the under-driven robot.

[0309] Here, the trajectory planning information may be predetermined information, or the trajectory planning information may be generated by a sub-actuated robot that collects road information in real time.

[0310] If the trajectory planning information is predetermined information, the trajectory of the under-driven robot can be set based on road information, and the trajectory can be input into the under-driven robot's memory to generate trajectory planning information. The under-driven robot then moves according to the trajectory set based on the trajectory planning information. If the trajectory planning information is generated by the under-driven robot collecting road information in real time, the under-driven robot includes road scanning equipment. Optionally, the under-driven robot includes a camera for acquiring images of the road and performing road planning based on the collected images.

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

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

[0313] In some embodiments, reference motion state data is used to represent the requirements that the motion state must satisfy when the under-driven robot moves in a manner that conforms to a target motion trajectory. That is, after determining the reference motion state data, the under-driven robot needs to adjust its current motion state to target the reference motion state data. In some embodiments, the reference motion state data includes reference velocity information, reference yaw angle information, reference motion radius information, etc. In some embodiments, the reference motion state data is obtained by calculation based on trajectory planning information, or the reference motion state data is pre-stored based on trajectory planning information. That is, when setting the motion trajectory of the under-driven robot, the motion state data for a specified position on the motion trajectory is pre-set, the reference motion state data corresponding to the specified position is obtained, and the reference motion state data is stored in correspondence with the trajectory planning information. As a result, when the under-driven robot moves to a specified position, the reference motion state data can be obtained from the stored data.

[0314] For example, the method for acquiring reference motion state data includes at least one of the following methods:

[0315] In Method 1, the system receives control commands from the remote control and determines reference motion state data based on those commands. Here, the remote control can control the motion speed, direction of motion, and mode of motion of the underacting robot, and determines the change in the motion state of the underacting robot based on the control commands from the remote control, thereby determining the reference motion state data.

[0316] Regarding method 2, the data file is read, and the current reference motion state data of the underacting robot is obtained from the data file. That is, the reference motion state data for different positions of the underacting robot is pre-set and stored in the data file, and the corresponding reference motion state data is determined based on the current position of the underacting robot.

[0317] Regarding method 3, visual information of the underacting robot is collected, and reference motion state data is generated based on the visual information. Specifically, a camera is installed on the underacting robot, and road information in the underacting robot's planned trajectory is collected by the camera, and reference motion state data for the next motion is calculated and obtained based on the road information.

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

[0319] Similarly, the control signals for the pseudo-bipedal motion of the underactor robot may be provided by a remote control, or the control signals for the pseudo-bipedal motion may be obtained by analyzing visual and / or tactile information. Optionally, the underactor robot may be equipped with a camera and / or tactile sensors to collect road information and force conditions, and an analysis of the road information and force conditions may determine whether to control the underactor robot to perform pseudo-bipedal motion.

[0320] In some embodiments, if the reference motion state data includes reference velocity information, pitch angle information of the under-drive robot is acquired, and this pitch angle information represents the angle in the forward and backward directions of the under-drive robot, i.e., the angle at which the under-drive robot tilts downward in the forward direction or upward in the backward direction due to the wheel control action. Based on the reference velocity information and pitch angle information, a balance control moment for controlling the under-drive robot is determined, and the balance control moment is the moment for maintaining the under-drive robot in a balanced state, thereby determining the moment for controlling the under-drive robot based on the balance control moment. Here, a balanced state is a state in which the under-drive robot maintains balance in the pitch angle direction, i.e., in a balanced state, the under-drive robot does not tend to tilt forward or backward. Here, if the under-drive robot remains stationary, a balanced state is a state in which the under-drive robot remains stably still and does not tend to tilt forward or backward. When a sub-acting robot is in motion, the equilibrium state is the state in which the sub-acting robot moves in equilibrium according to the rotation of its wheels. In this state, the main body of the sub-acting robot is supported by the wheel legs and remains in an upright position, without a tendency to tilt forward or backward.

[0321] In some embodiments, when controlling a sub-driven robot to move forward in a straight line, a balance control moment is directly input to the wheel control motor to control the rotation of the wheels, thereby controlling the motion of the sub-driven robot. In another embodiment, when controlling a sub-driven robot to move forward along a curved trajectory, different moments are applied to the motors corresponding to each of the two wheels of the sub-driven robot, resulting in one wheel traveling at a faster speed and the other at a slower speed, thereby achieving curved forward movement of the sub-driven robot. Here, reference yaw angle information is determined based on the curved trajectory, and then incremental moments are determined to be applied to the motors corresponding to the different wheels based on the reference yaw angle information.

[0322] In some embodiments, the degree of bending of the two wheels of the underactor robot is adjusted based on trajectory planning information, and the degree of bending of the underactor robot's wheels is related to the length of the wheels. Selectively, the greater the degree of bending of the underactor robot's wheels, the shorter the length of the wheels.

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

[0324] Selectively, the magnitude of the roll angle determined based on the trajectory planning information is within a predetermined range of roll angles, thus avoiding problems of imbalance caused by excessive control if the roll angle exceeds the predetermined range.

[0325] In step 3, depending on the adjusted leg configuration, the under-actuated robot is controlled to perform pseudo-bipedal motion along the target motion trajectory based on reference motion state data and / or robot posture data.

[0326] According to the above description, the underacting robot includes a first wheel and a second wheel, where the first and second wheels are set on opposite sides of the underacting robot, the first wheel is driven and controlled by a first drive motor, and the second wheel is driven and controlled by a second drive motor. When determining the motor moment that controls the underacting robot, a first moment that drives the first drive motor and a second moment that drives the second drive motor are determined.

[0327] A first moment is input to the first drive motor, which drives the rotation of the first wheel. A second moment is input to the second drive motor, which drives the rotation of the second wheel. Based on the rotations of the first and second wheels, the sub-drive system robot is driven to perform pseudo-bipedal motion along the target motion trajectory.

[0328] In some embodiments, when controlling a sub-acting robot to perform pseudo-bipedal motion based on reference motion state data, it is also necessary to collect pitch angle information and / or yaw angle information of the sub-acting robot using an inertial measurement unit (IMU). Here, the pitch angle information represents the angle information of the sub-acting robot in the forward and backward directions, and the yaw angle information represents the angle information of the sub-acting robot in the direction around the vertical rotation axis.

[0329] Subsequently, the balance control moment and incremental moment of the underacting robot are determined based on the pitch angle information and / or yaw angle information. Here, the balance control moment can be seen in the relevant explanation in Figure 13, and the incremental moment is the moment for controlling the rotation of the underacting robot. Then, control of the underacting robot is achieved by combining the balance control moment and the incremental moment.

[0330] In some embodiments, when a sub-acting robot is controlled to perform pseudo-bipedal motion based on robot posture data, the robot posture data includes wheel adjustment data, i.e., wheel change amount. Taking Δl as an example, this wheel change amount extends one wheel and shortens another.

[0331] In some embodiments, the adjusted position coordinates of the wheel are determined based on the change in the wheel's position, the joint angle of the wheel's position is calculated based on the adjusted position coordinates, and the joint angle is input to a motor that controls the wheel's position to perform adjustments to the wheel's position.

[0332] Exemplary, embodiments of this application further provide a mobile robot.

[0333] Exemplary, the mobile robot includes a first wheel section having retractable legs, a second wheel section having retractable legs, and a base section connected to the first and second wheel sections, the mobile robot being provided with a controller which is used to control the mobile robot to realize the motion control method for the mobile robot described above.

[0334] It should be understood that the mobile robot according to the embodiment of this application may be a sub-actuated robot. Furthermore, the mobile robot according to the embodiment of this application is a mobile robot capable of achieving two-wheel balance, for example, a leg-wheeled robot that achieves two-wheel balance.

[0335] In this case, this type of robot lacks degrees of freedom in the roll angle direction between the motion plane of the legs and the base. Taking a leg-wheeled robot as an example, which includes a first wheel section, a second wheel section, and a base connected to the first and second wheel sections, the motion planes of the legs of the first and second wheel sections are held perpendicular to the base.

[0336] Here, the placement of the controller may be set according to actual needs and is not limited in this application. Any mobile robot capable of achieving the goal of preventing the loaded object from falling from the base through motion control by the controller is within the scope of protection of this application. The motion control method for the mobile robot is described in detail above and is available for reference, so it will not be described further.

[0337] Figure 32 shows a schematic diagram of a motion control device for a mobile robot according to an exemplary embodiment of this application. The device is The mobile robot includes a control module 3220 configured to control a first wheel section having retractable legs and a second wheel section having retractable legs so that they are in an upright equilibrium state. The control module 3220 is further configured to control the mobile robot to perform pseudo-bipedal movements based on an upright equilibrium state.

[0338] In this configuration, the base of the mobile robot is parallel to the horizontal reference plane in an upright equilibrium state, and during the process of pseudo-bipedal movement, the first and second wheel sections alternately land, causing the base section to tilt and oscillate.

[0339] Selectively, the first wheel section is positioned in a first direction relative to the base section, and the second wheel section is positioned in a second direction relative to the base section. The control module 3220 is configured to control the mobile robot to change from an upright equilibrium state to a first tilted state, where the base section is tilted in a first direction, and to return the mobile robot from the first tilted state to an upright equilibrium state. It is also configured to control the mobile robot to change from an upright equilibrium state to a second tilted state, where the base section is tilted in a second direction, and to return the mobile robot from the second tilted state to an upright equilibrium state. In this configuration, during the process of the mobile robot returning from the first tilted state to an upright equilibrium state, the first wheel of the first wheel section touches the ground and the second wheel of the second wheel section lifts up. During the process of the mobile robot returning from the second tilted state to an upright equilibrium state, the second wheel touches the ground and the first wheel lifts up.

[0340] Selectively, the control module 3220 is configured to control the lower-drive robot to shorten the first leg of the first wheel unit and extend the second leg of the second wheel unit so that the robot is in a first tilting state, where, during the extension and retraction of the first and second legs, the base unit gradually tilts from a horizontal state parallel to the horizontal reference plane to a first direction, and both the first and second wheels touch the ground.

[0341] Selectively, the control module 3220 controls the mobile robot to extend the first leg of the first wheel unit and shorten the second leg of the second wheel unit so that the mobile robot is in a first single-wheel landing state, where the first wheel is on the ground and the second wheel is lifted. The control module is configured to control the robot to continuously extend the first leg and continuously shorten the second leg so that the sub-drive robot returns from the first single-wheel landing state to an upright equilibrium state, where, during the extension and retraction process of the first and second legs, the base unit gradually tilts in a second direction until it returns to a horizontal state parallel to the horizontal reference plane, and the second wheel changes from a landing state to a lifted state and then returns to a landing state again.

[0342] Selectively, the lengths of the first and second legs are the same in the standing equilibrium state, the mobile robot is in the first single-wheel landing state within the first time length, where within the first time length, the length of the first leg is shorter than the length of the second leg, and at the end of the first time length, the lengths of the first and second legs are the same.

[0343] Optionally, the control module 3220 is configured to control the sub-drive robot to extend the first leg of the first wheel unit and shorten the second leg of the second wheel unit so that the sub-drive robot is in a second tilting state, where, during the extension and retraction of the first and second legs, the base unit gradually tilts from a horizontal state parallel to the horizontal reference plane to a second direction, and both the first and second wheels touch the ground.

[0344] Selectively, the control module 3220 controls the mobile robot to shorten the first leg of the first wheel unit and extend the second leg of the second wheel unit so that the mobile robot is in a second single-wheel landing state, where the first wheel is lifted and the second wheel is on the ground. The control module is configured to continuously shorten the first leg and continuously extend the second leg so that the sub-motorized robot returns from the second single-wheel landing state to an upright equilibrium state, where, during the extension and retraction process of the first and second legs, the base unit gradually tilts in the first direction until it returns to a horizontal state parallel to the horizontal reference plane, and the first wheel changes from a landing state to a lifted state and then returns to a landing state again.

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

[0346] Optionally, the control module 3220 is configured to control the mobile robot to change from an upright equilibrium state to a first tilted state when the tilt angle of the mobile robot reaches a first limiting width, where the tilt angle of the mobile robot is used to represent the angle between the plane on which the base is located and a plane parallel to the horizontal reference plane.

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

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

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

[0350] Selectively, the pseudo-bipedal motion includes at least one of the following: stepping motion, linear motion, curved motion, stepping motion with rotation, and obstacle-climbing motion.

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

[0352] Selectively, the pseudo-bipedal motion includes at least one of linear motion, curved motion, stepping and rotating motion, and obstacle-climbing motion, wherein in the process of linear motion, curved motion, stepping and rotating motion, or obstacle-climbing motion, the landing position after the first wheel section or second wheel section is lifted is different from the landing position before lifting, the distance difference between the landing position after the first wheel section or second wheel section is lifted and the landing position before lifting is greater than or equal to a second tolerance value, the base section tilts and swings alternately in a third direction and a fourth direction, and the angle between the third direction or fourth direction and the forward direction of the mobile robot is acute.

[0353] Selectively, during the process of pseudo-bipedal movement, the first wheel of the first wheel section and the second wheel of the second wheel section are locked.

[0354] Optionally, during the process of pseudo-bipedal movement, the first wheel of the first wheel section and / or the second wheel of the second wheel section are in an unlocked state.

[0355] Optionally, the control module 3220 may be configured to control the first and / or second wheel sections, which are in an unlocked state, to perform a gliding motion during the process of pseudo-bipedal movement.

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

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

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

[0359] The electronic device 3300 may be an electronic device for realizing control of a mobile robot, a smartphone, a tablet computer, a Moving Picture Experts Group Audio Layer III (MP3) player, a Moving Picture Experts Group Audio Layer IV (MP4) player, a notebook computer, or a portable mobile terminal such as a desktop computer. The electronic device 3300 may also be called by other names such as a user device, a mobile terminal, a laptop terminal, or a desktop terminal. In the embodiments of this application, the electronic device 3300 may be realized as a control device component in a robot.

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

[0361] The processor 3301 may include one or more processing cores, such as a quad-core processor or an oct-core processor. The processor 3301 can be implemented by employing at least one hardware form from among Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 3301 may also include a main processor and a coprocessor, the main processor being a processor for processing data in the wake-up state and also called a Central Processing Unit (CPU), and the coprocessor being a low-power processor for processing data in the standby state. In some embodiments, the processor 3301 may integrate a Graphics Processing Unit (GPU), which is used to render and draw content that needs to be displayed on a display screen. In some embodiments, the processor 3301 may further include an Artificial Intelligence (AI) processor, which is used to process computing operations related to machine learning.

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

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

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

[0365] The radio frequency circuit 3304 is used to receive and transmit radio frequency (RF) signals, also known as electromagnetic signals. The radio frequency circuit 3304 communicates with communication networks and other communication equipment via electromagnetic signals. The radio frequency circuit 3304 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency circuit 3304 includes an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identification module card, and the like. The radio frequency circuit 3304 can communicate with other terminals via at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to, the web, metropolitan area networks, intranets, each generation of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or wireless fidelity (Wi-Fi) networks. In some embodiments, the radio frequency circuit 3304 may further include, but is not limited to, circuits related to near-field communication (NFC).

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

[0367] The camera component 3306 is used to collect images or videos. Optionally, the camera component 3306 includes a front camera and a rear camera. Typically, the front camera is located on the front panel of the device, and the rear camera is located on the back of the device. In some embodiments, the rear camera consists of at least two cameras, each being one of a main camera, a depth-of-field camera, a wide-angle camera, or a telephoto camera, enabling background virtualization by fusing the main camera and the depth-of-field camera, panoramic and virtual reality (VR) shooting functions or other fusing shooting functions by fusing the main camera and the wide-angle camera. In some embodiments, the camera component 3306 may further include a strobe. The strobe may be a monochromatic or dichromatic strobe. A dichromatic strobe is a combination of a warm-light strobe and a cold-light strobe, which can be used for ray compensation at different color temperatures.

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

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

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

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

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

[0373] The gyroscope sensor 3312 can detect the orientation and rotation angle of the electronic device 3300, and in cooperation with the accelerometer sensor 3311, it can collect the user's 3D movements relative to the electronic device 3300. Based on the data collected by the gyroscope sensor 3312, the processor 3301 can implement functions such as motion guidance (for example, changing the UI based on the user's tilt operation), image stabilization during shooting, game control, and inertial navigation.

[0374] The pressure sensor 3313 may be set on the side frame of the electronic device 3300 and / or beneath the display screen 3305. When the pressure sensor 3313 is set on the side frame of the electronic device 3300, it can detect the user's grip signal toward the electronic device 3300, and the processor 3301 can perform left-hand and right-hand recognition or shortcut operations based on the grip signal collected by the pressure sensor 3313. When the pressure sensor 3313 is set beneath the display screen 3305, the processor 3301 can control operable controls on the UI interface based on the user's pressure operation toward the display screen 3305. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

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

[0376] The proximity sensor 3315, also known as a distance sensor, is typically located on the front panel of the electronic device 3300. The proximity sensor 3315 is used to collect the distance between the user and the front of the electronic device 3300. In one embodiment, if the proximity sensor 3315 detects that the distance between the user and the front of the electronic device 3300 is gradually decreasing, the processor 3301 controls the display screen 3305 to switch from a bright screen state to a hibernation screen state. If the proximity sensor 3315 detects that the distance between the user and the front of the electronic device 3300 is gradually increasing, the processor 3301 controls the display screen 3305 to switch from a hibernation screen state to a bright screen state.

[0377] Those skilled in the art will understand that the structure shown in Figure 33 does not constitute a limitation on the electronic device 3300, and that it may include more or fewer components than shown, or combine several components, or employ a different component arrangement.

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

[0379] Embodiments of this application further provide a computer-readable storage medium in which a computer program is stored, and the computer program is executed by a processor and used to realize the motion control method of the mobile robot described above.

[0380] Embodiments of this application further provide a chip comprising a programmable logic circuit and / or a computer program, which, when executed, is used to realize the motion control method of the mobile robot described above.

[0381] Embodiments of this application further provide a computer program product or computer program, the computer program product or computer program including computer instructions, the computer instructions stored in a computer-readable storage medium, and a processor reading and executing the computer instructions from the computer-readable storage medium to realize the motion control method for the mobile robot described above.

[0382] In this application, it should be understood that terms such as "first," "second," etc., are used solely to describe the purpose and are not intended to indicate or imply relative importance or implicitly indicate the number of technical features shown.

[0383] All of the above selectable technical concepts can be adopted in any combination to form selectable embodiments of this application, which will not be repeated here.

[0384] The above describes only selectable embodiments of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. [Explanation of Symbols]

[0385] 10-legged wheeled robot 11 Base section 12 Wheel section 121 Thigh Unit 122 Lower Leg Unit 123 Drive wheels 124 Drive Unit 1241 First Motor 1242 Second Motor 13 tail 131 Counterweight Legs 132 Passive Wheel 133 Third Motor 01 Torsion spring 02 Rotation axis 03 Timing belt 04 Timing Pulley

Claims

1. A method for controlling the motion of a mobile robot, which is executed by a chip, wherein the mobile robot includes a first wheel section having a first leg section that can be bent and extended, a second wheel section having a second leg section that can be bent and extended, and a base section connected to the first wheel section and the second wheel section, and the method for controlling the motion of the mobile robot is: A step of controlling the first wheel section and the second wheel section to be in an upright equilibrium state, The step includes controlling the mobile robot to perform pseudo-bipedal movement in the standing equilibrium state, The base portion is parallel to the horizontal reference plane in the standing equilibrium state, and in the process of the pseudo-bipedal movement, the first wheel portion and the second wheel portion alternately land, and the base portion tilts and swings, The mobile robot further includes a controller, wherein in the upright equilibrium state, the pitch angle of the mobile robot indicates the swing amplitude in the forward direction of the mobile robot, and the control corresponding to the pitch angle includes inputting to the controller and outputting torque to the wheel motor based on the difference between a reference speed and the moving speed of the wheel center, and the roll angle of the mobile robot indicates the swing amplitude in the lateral direction due to the lengths of the first leg and the second leg not matching or the heights of the first leg and the second leg not matching. A method for controlling the motion of a mobile robot, characterized in that the control corresponding to the roll angle direction includes inputting an ideal angle to the controller, and the controller controlling the lengths of the first leg and the second leg based on the difference between the current roll angle direction and the ideal angle, so that the height at which the first leg and the second leg support the base portion is the same.

2. The first wheel portion is located in a first direction relative to the base portion, and the second wheel portion is located in a second direction relative to the base portion. The step of controlling the mobile robot to perform pseudo-bipedal movement in the standing equilibrium state is: A step of controlling the mobile robot to change from the upright equilibrium state to a first tilted state, wherein the first tilted state is a state in which the base portion is tilted in a first direction, The steps include controlling the mobile robot to return from the first tilted state to the upright equilibrium state, A step of controlling the mobile robot to change from the upright equilibrium state to a second tilted state, wherein the second tilted state is a state in which the base portion is tilted in a second direction, The step includes controlling the mobile robot to return from the second tilted state to the upright equilibrium state, The mobile robot is characterized in that, in the process of returning from the first tilted state to the upright equilibrium state, the first wheel of the first wheel section touches the ground and the second wheel of the second wheel section lifts up, and in the process of returning from the second tilted state to the upright equilibrium state, the second wheel touches the ground and the first wheel lifts up. A method for controlling the motion of a mobile robot according to claim 1.

3. The step of controlling the mobile robot to change from the upright equilibrium state to the first tilted state is: The steps include controlling the mobile robot to shorten the first legs of the first wheel section and extend the second legs of the second wheel section so that the mobile robot is in the first tilted state, During the extension and retraction process of the first and second legs, the base portion gradually tilts from a horizontal state parallel to the horizontal reference plane to a first direction, and both the first and second wheels touch the ground. The method for controlling the motion of a mobile robot according to claim 2.

4. The step of controlling the mobile robot to return from the first tilted state to the upright equilibrium state is: The steps include controlling the mobile robot to extend the first leg of the first wheel section and shorten the second leg of the second wheel section so that the mobile robot is in a first single-wheel landing state, wherein the first single-wheel landing state is a state in which the first wheel is on the ground and the second wheel is lifted, and The steps include controlling the mobile robot to continuously extend its first leg and continuously shorten its second leg so that it returns from the first single-wheel landing state to the upright equilibrium state, During the extension and retraction process of the first and second legs, the base portion gradually tilts in the second direction until it returns to a horizontal state parallel to the horizontal reference plane, and the second wheel changes from a landing state to a lifted state, and then returns to a landing state again. The method for controlling the motion of a mobile robot according to claim 2.

5. The lengths of the first leg and the second leg are the same in the standing equilibrium state, and the mobile robot is in the first single-wheel landing state within the first time length. Within the first time length, the length of the first leg is shorter than the length of the second leg. At the end of the first time length, the first leg portion and the second leg portion are of the same length, characterized in that The method for controlling the motion of a mobile robot according to claim 4.

6. The step of controlling the mobile robot to change from the upright equilibrium state to the second tilted state is: The steps include controlling the mobile robot to extend the first legs of the first wheel section and shorten the second legs of the second wheel section so that the mobile robot is in the second tilted state, During the extension and retraction process of the first and second legs, the base portion gradually tilts from a horizontal state parallel to the horizontal reference plane to the second direction, and both the first and second wheels touch the ground. The method for controlling the motion of a mobile robot according to claim 2.

7. The step of controlling the mobile robot to return from the second tilted state to the upright equilibrium state is: A step of controlling the mobile robot to shorten the first leg of the first wheel section and extend the second leg of the second wheel section so that the mobile robot is in a second single-wheel landing state, wherein the second single-wheel landing state is a state in which the first wheel is lifted and the second wheel is on the ground. The steps include controlling the mobile robot to continuously shorten the first leg and continuously extend the second leg so that it returns from the second single-wheel landing state to the standing equilibrium state, During the extension and retraction process of the first and second legs, the base portion gradually tilts in the first direction until it returns to a horizontal state parallel to the horizontal reference plane, and the first wheel changes from a landing state to a lifted state, and then returns to a landing state again. The method for controlling the motion of a mobile robot according to claim 2.

8. The length of the first leg and the length of the second leg are the same in the standing equilibrium state, and the mobile robot is in the second single-wheel landing state within the second time length. Within the second time length, the length of the first leg is longer than the length of the second leg. At the end of the second time length, the first leg portion and the second leg portion are of the same length, characterized in that A method for controlling the motion of a mobile robot according to claim 7.

9. The step of controlling the mobile robot to change from the upright equilibrium state to the first tilted state is: When the inclination angle of the mobile robot reaches a first limited width, the step includes controlling the mobile robot to change from the upright equilibrium state to the first inclined state, The tilt angle of the mobile robot is used to indicate the angle between the plane on which the base portion is located and the plane parallel to the horizontal reference plane, characterized in that The method for controlling the motion of a mobile robot according to claim 2.

10. The step of controlling the mobile robot to return from the first tilted state to the upright equilibrium state is: If the tilt angle of the mobile robot reaches a second limiting width, the step includes controlling the mobile robot to return from the first tilted state to the upright equilibrium state, The tilt angle of the mobile robot is used to indicate the angle between the plane on which the base portion is located and the plane parallel to the horizontal reference plane, characterized in that The method for controlling the motion of a mobile robot according to claim 2.

11. The step of controlling the mobile robot to change from the upright equilibrium state to the second tilted state is: When the inclination angle of the mobile robot reaches a third limiting width, the step includes controlling the mobile robot to change from the upright equilibrium state to the second inclined state, The tilt angle of the mobile robot is used to indicate the angle between the plane on which the base portion is located and the plane parallel to the horizontal reference plane, characterized in that The method for controlling the motion of a mobile robot according to claim 2.

12. The step of controlling the mobile robot to return from the second tilted state to the upright equilibrium state is: If the tilt angle of the mobile robot reaches a fourth limiting width, the step includes controlling the mobile robot to return from the second tilting state to the upright equilibrium state, The tilt angle of the mobile robot is used to indicate the angle between the plane on which the base portion is located and the plane parallel to the horizontal reference plane, characterized in that The method for controlling the motion of a mobile robot according to claim 2.

13. The aforementioned pseudo-bipedal movement is, Stepping exercise, linear motion, curved motion, A movement of rotating while stepping in place, and It is characterized by including at least one of the exercises for overcoming obstacles. A method for controlling the motion of a mobile robot according to claim 1.

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

15. In the process of the linear motion, the curved motion, the rotational motion while stepping, or the motion of overcoming the obstacle, the landing position after the first wheel portion or the second wheel portion is lifted is different from the landing position before lifting, and the difference in distance between the landing position after the first wheel portion or the second wheel portion is lifted and the landing position before lifting is greater than or equal to the second allowable value. The base portion is characterized in that it tilts and swings alternately in a third direction and a fourth direction, and the angle between the third or fourth direction and the forward direction of the mobile robot is acute. A method for controlling the motion of a mobile robot according to claim 14.

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

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

18. The process of the simulated bipedal movement further includes a step of controlling the first wheel portion and / or the second wheel portion, which are in the unlocked state, to perform movement. A method for controlling the motion of a mobile robot according to claim 17.

19. During the process of the simulated bipedal movement, the movements of the first wheel section, the second wheel section, and the base section are as follows: Change in the length of the first leg of the first wheel section, The angle and amount of change of at least one joint motor of the first leg, Change in the length of the second leg of the second wheel section, The angle and amount of change of at least one joint motor of the second leg, The contact force between the first wheel of the first wheel section and the ground, The contact force between the second wheel of the second wheel section and the ground, The pitch angle information and angular velocity of the aforementioned mobile robot, The roll angle information and angular velocity of the aforementioned mobile robot, and The mobile robot is controlled based on at least one of the yaw angle information and angular velocity. A method for controlling the motion of a mobile robot according to claim 1.

20. When both the first wheel section and the second wheel section are in contact with the ground, the sum of the motor moments of the first drive motor corresponding to the first wheel section and the second drive motor corresponding to the second wheel section is the first moment. When the first wheel section is on the ground and the second wheel section is lifted, the motor moment of the first drive motor is the first moment. The motor moment of the second drive motor is the first moment when the second wheel portion is on the ground and the first wheel portion is lifted. A method for controlling the motion of a mobile robot according to claim 1.

21. A mobile robot comprising a first wheel section having a first leg section that can be bent and extended, a second wheel section having a second leg section that can be bent and extended, and a base section connected to the first wheel section and the second wheel section. A mobile robot, wherein the mobile robot is provided with a controller, and the controller is used to control the mobile robot in order to realize the motion control method for a mobile robot described in any one of claims 1 to 20.

22. A motion control device for a mobile robot, The mobile robot includes a control module configured to control a first wheel section having a flexible first leg and a second wheel section having a flexible second leg, so that they are in an upright equilibrium state. The control module is further configured to control the mobile robot to perform pseudo-bipedal movement in the upright equilibrium state, The base of the mobile robot is parallel to the horizontal reference plane in the upright equilibrium state, and during the process of the pseudo-bipedal movement, the first wheel section and the second wheel section alternately land, causing the base section to tilt and swing. In the upright equilibrium state, the pitch angle of the mobile robot indicates the amplitude of oscillation in the forward direction of the mobile robot, and the control by the control module corresponding to the pitch angle includes inputting the difference between the reference speed and the moving speed of the wheel center to the control module and outputting the torque of the wheel motor, and the roll angle of the mobile robot indicates the amplitude of oscillation in the lateral direction due to the lengths of the first leg and the second leg not matching or the heights of the first leg and the second leg not matching. A motion control device for a mobile robot, wherein the control by the control module corresponding to the roll angle direction includes inputting an ideal angle to the control module and controlling the lengths of the first leg and the second leg based on the difference between the current roll angle direction and the ideal angle to align the height at which the first leg and the second leg support the base.

23. A computer device, wherein the computer device includes memory and a processor, A computer device in which a computer program is stored in the memory, and the computer program is loaded and executed by the processor to realize the motion control method for a mobile robot according to any one of claims 1 to 20.

24. A chip comprising a programmable logic circuit and / or a computer program, which is used to implement a method for controlling the motion of a mobile robot according to any one of claims 1 to 20 when an electronic device on which the chip is mounted is in operation.

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