Joint motor selection evaluation method for wheel-legged robot, device, and storage medium

Abstract

The present invention relates to the techniques of robot design. Disclosed is a joint motor selection evaluation method for a wheel-legged robot. The method comprises: on the basis of an expected jump height, calculating a target take-off velocity of a wheel-legged robot; on the basis of a set link length, a preset take-off angle of the wheel-legged robot, and the target take-off velocity, and on the basis of the set link length, a set total load and a preset load maximum opening angle, carrying out parameter conversion to obtain a joint target rotating speed and a joint target torque of the wheel-legged robot; and when motor parameters to be evaluated of a joint motor to be selected are received, performing parameter comparison with the joint target torque and the joint target rotating speed on the basis of the motor parameters to be evaluated, so as to obtain a motor selection evaluation result for the wheel-legged robot. The present invention can improve the accuracy of joint motor selection evaluation for wheel-legged robots.

Description

Selection and evaluation method, equipment and storage medium for joint motors of wheeled robots Technical Field

[0001] The present invention relates to robot design technology, and in particular to a joint motor selection and evaluation method, device and storage medium for a wheel-foot robot. Background Art

[0002] A two-link wheeled robot is a robot that combines the advantages of wheels and legs. It can move quickly on flat ground and can also jump and climb on complex terrain. The selection of joint motors for such robots is an important issue because it directly affects the performance and efficiency of the robot.

[0003] However, in the existing selection and evaluation methods for joint motors of wheeled robots, the selection and evaluation of joint motors can often only be performed from the dimension of joint rotational speed. The single dimension of selection and evaluation leads to low accuracy in joint motor selection.

[0004] Summary of the Invention

[0005] The present invention provides a method, device and storage medium for evaluating the selection of joint motors of a wheeled-legged robot, the main purpose of which is to improve the accuracy of the evaluation of the selection of joint motors of the wheeled-legged robot.

[0006] Obtain the set total load, expected jump height, and set connecting rod length of the wheel-legged robot;

[0007] Calculating a target lift-off speed of the wheeled robot according to the expected jump height;

[0008] Based on the set connecting rod length, the preset take-off angle of the wheeled robot, the target lift-off speed, the set connecting rod length, the set total load and the preset maximum load angle, parameter conversion is performed to obtain the target joint speed and target joint torque of the wheeled robot;

[0009] When the motor parameters to be evaluated of the joint motor to be selected are received, a parameter comparison is performed based on the motor parameters to be evaluated, the joint target torque and the joint target speed to obtain a motor selection evaluation result of the wheeled robot.

[0010] Optionally, the wheel-legged robot is a two-link wheel-legged robot and the length of each link of the two links in the wheel-legged robot is the set link length.

[0011] Optionally, the kinematic transformation using a Jacobi matrix based on the set connecting rod length, the preset take-off angle and the target lift-off speed of the wheeled robot to obtain the target joint rotation speed of the wheeled robot includes:

[0012] Based on the set link length, the preset take-off angle and the target lift-off speed of the wheeled robot, a kinematic transformation is performed using a Jacobi matrix to obtain a rotational speed of the middle joint of the two links, and the middle joint of the two links is determined as the joint target rotational speed;

[0013] Based on the set link length, the set total load and the preset maximum load angle, the Jacobi matrix is ​​used to perform kinematic transformation to obtain the torque of the middle joint of the two links, and the torque of the middle joint of the two links is determined as the joint target torque.

[0014] Optionally, performing parameter comparison based on the motor parameters to be evaluated, the joint target torque, and the joint target speed to obtain a motor selection evaluation result for the wheeled robot includes:

[0015] Extracting the motor rated speed from the motor parameters to be evaluated, and comparing the motor rated speed with the joint target speed to obtain a speed comparison result;

[0016] Calculating the thermal equilibrium torque of the joint motor to be selected based on the motor parameters to be evaluated;

[0017] Comparing the thermal equilibrium torque with the joint target torque to obtain a torque comparison result;

[0018] Based on the speed comparison result and the torque comparison result, a logical judgment is performed to obtain a motor selection evaluation result of the wheel-leg robot.

[0019] Optionally, comparing the rated speed of the motor with the target speed of the joint to obtain a speed comparison result includes:

[0020] When the rated speed of the motor is not greater than the target speed of the joint, the speed comparison result is failed;

[0021] When the rated speed of the motor is greater than the target speed of the joint, the speed comparison result is passed.

[0022] Optionally, the calculating the thermal equilibrium torque of the joint motor to be selected based on the motor parameters to be evaluated includes:

[0023] Extracting a first motor open-loop operating point and a second motor open-loop operating point of a joint motor to be selected from the motor parameters to be evaluated, and drawing an open-loop characteristic curve of the joint motor to be selected based on the first motor open-loop operating point and the second motor open-loop operating point;

[0024] Obtaining the slope of the open-loop characteristic curve;

[0025] Calculating the equivalent resistance of the joint motor at a stall point by using the slope and the pole pair number and rotor flux estimation value of the joint motor to be selected included in the motor parameters to be evaluated;

[0026] The thermal equilibrium torque of the joint motor to be selected is calculated according to the equivalent resistance and the preset thermal power.

[0027] Optionally, calculating the equivalent resistance at the stall point of the joint motor to be selected by using the slope and the pole pair number and the rotor flux estimation value of the joint motor to be selected included in the motor parameters to be evaluated includes:

[0028] Wherein, R is the equivalent resistance, J is the number of pole pairs, S is the slope, and C is the estimated value of the rotor flux.

[0029] Optionally, the calculating the thermal equilibrium torque of the joint motor to be selected according to the equivalent resistance and the preset thermal power includes:

[0030] Based on the preset thermal power and the equivalent resistance, calculating the current of the joint motor to be selected when it is in thermal equilibrium;

[0031] The thermal equilibrium torque is calculated based on the current of the joint motor to be selected when it is in thermal equilibrium and a preset torque conversion constant.

[0032] Optionally, the calculating the current of the target joint when it is in thermal equilibrium based on the preset thermal power and the equivalent resistance includes:

[0033] Wherein, I is the current when the target joint is in thermal equilibrium, P is the preset thermal power, and R is the equivalent resistance.

[0034] In order to solve the above problems, the present invention also provides a joint motor selection and evaluation device for a wheeled robot, which is characterized by comprising:

[0035] A data acquisition module is used to obtain a set total load, an expected jump height, and a set connecting rod length of the wheeled robot; and calculate a target liftoff speed of the wheeled robot according to the expected jump height;

[0036] a joint torque and speed calculation module, configured to perform parameter conversion based on the set connecting rod length, the preset take-off angle of the wheeled robot, the target lift-off speed, the set connecting rod length, the set total load, and the preset maximum load angle, to obtain the target joint speed and target joint torque of the wheeled robot;

[0037] The motor selection evaluation module is used to compare the motor parameters to be evaluated of the joint motor to be selected based on the motor parameters to be evaluated with the joint target torque and the joint target speed to obtain the motor selection evaluation result of the wheel-leg robot.

[0038] In order to solve the above problem, the present invention further provides an electronic device, characterized in that the electronic device includes:

[0039] at least one processor; and,

[0040] a memory communicatively coupled to the at least one processor;

[0041] Wherein, the memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the joint motor selection and evaluation method of the wheel-leg robot as described in any one of claims 1 to 7.

[0042] In order to solve the above problems, the present invention also provides a computer-readable storage medium, in which at least one computer program is stored. The at least one computer program is executed by a processor in an electronic device to implement the above-mentioned method for selecting and evaluating joint motors of a wheeled robot.

[0043] The embodiment of the present invention uses the Jacobi matrix to perform kinematic transformation based on the set connecting rod length, the preset take-off angle and the target lift-off speed of the wheel-leg robot to obtain the target rotational speed of the joint of the wheel-leg robot; based on the set connecting rod length, the set total load and the preset maximum load angle, the Jacobi matrix is ​​used to perform kinematic transformation to obtain the target torque of the joint of the wheel-leg robot; when the motor parameters to be evaluated of the joint motor to be selected are received, the motor parameters to be evaluated are compared with the joint target torque and the joint target rotational speed to obtain the motor selection evaluation result of the wheel-leg robot. The selection evaluation of the joint motor is performed from the two dimensions of the rotational speed and torque of the joint, and the evaluation dimensions are more diversified, thereby improving the accuracy of the selection evaluation of the joint motor of the wheel-leg robot. Therefore, the joint motor selection evaluation method, device, electronic device and readable storage medium of the wheel-leg robot proposed in the embodiment of the present invention improve the accuracy of the selection evaluation of the joint motor of the wheel-leg robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] FIG1 is a schematic flow chart of a method for selecting and evaluating joint motors for a wheeled robot according to an embodiment of the present invention;

[0045] FIG2 is a schematic diagram of a module of a joint motor selection and evaluation device for a wheeled robot according to an embodiment of the present invention;

[0046] FIG3 is a schematic diagram of the internal structure of an electronic device for implementing joint motor selection evaluation of a wheeled robot provided by an embodiment of the present invention;

[0047] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0049] An embodiment of the present invention provides a method for selecting and evaluating the joint motors of a wheeled robot. The execution subject of the method for selecting and evaluating the joint motors of a pet wheeled robot includes but is not limited to at least one of the electronic devices such as a server and a terminal that can be configured to execute the method provided by the embodiment of the present application. In other words, the method for selecting and evaluating the joint motors of a pet wheeled robot can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc. The server can be an independent server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms.

[0050] 1 , a flow chart of a method for selecting and evaluating a joint motor of a wheeled robot according to an embodiment of the present invention is shown. In an embodiment of the present invention, the method for selecting and evaluating a joint motor of a wheeled robot includes:

[0051] S1. Obtain the set total load, expected jump height, and set connecting rod length of the wheel-legged robot;

[0052] The wheeled robot described in the embodiment of the present invention is a two-link wheeled robot for which joint motor selection and design are to be performed. Specifically, the wheeled robot comprises a robot wheel foot, two links, and a robot base, wherein the end joint of the two links is connected to the robot wheel foot, and the other end of the two links is fixedly connected to the robot base; the two links of the two links are connected via an intermediate joint. The set total load is the total load set for the wheeled robot, the expected jump height is the maximum jump height set for the wheeled robot, and the set link length is the length of each link of the two links in the wheeled robot. The lengths of all links of the two links in the wheeled robot are the same, i.e., the set link length.

[0053] S2. Calculating a target lift-off speed of the wheeled robot according to the expected jump height;

[0054] In an embodiment of the present invention, in order to evaluate the performance parameters of the joint motors that can achieve the performance design target of the wheeled robot, the target lift-off speed of the wheeled robot is calculated according to the expected jump height.

[0055] Specifically, in the embodiment of the present invention, the target lift-off speed of the wheeled robot is calculated using the following formula:

[0056] Wherein, v is the target lift-off velocity, g is the acceleration due to gravity, and h is the expected jump height.

[0057] S3, performing parameter conversion based on the set connecting rod length, the preset take-off angle of the wheeled robot, the target lift-off speed, the set connecting rod length, the set total load, and the preset maximum load angle to obtain the target joint speed and target joint torque of the wheeled robot;

[0058] In order to calculate the rotational speed and torque of the joint motor that meet the performance of the wheeled robot, in an embodiment of the present invention, parameter conversion is performed based on the set connecting rod length, the preset take-off angle of the wheeled robot, the target lift-off speed, the set connecting rod length, the set total load and the preset maximum load angle to obtain the joint target torque of the wheeled robot.

[0059] In detail, the embodiment of the present invention performs parameter conversion based on the set connecting rod length, the preset take-off angle of the wheeled robot, the target lift-off speed, the set connecting rod length, the set total load and the preset maximum load angle to obtain the target joint torque of the wheeled robot, including:

[0060] Based on the set link length, the preset take-off angle and the target lift-off speed of the wheeled robot, the Jacobi matrix is ​​used for kinematic transformation to obtain the intermediate joint speed of the two links, and the intermediate joint speed is determined as the joint target speed.

[0061] Based on the set link length, the set total load and the preset maximum load angle, the Jacobi matrix is ​​used to perform kinematic transformation to obtain the torque of the middle joint of the two links, and the torque of the middle joint of the two links is determined as the joint target torque.

[0062] It should be explained that the intermediate joint speed is the speed that the intermediate joint of the two-link needs to meet when the wheeled robot meets the design performance. Furthermore, in an embodiment of the present invention, based on the set link length, the preset take-off angle and the target lift-off speed of the wheeled robot, the Jacobi matrix is ​​used for kinematic transformation to obtain the end joint speed of the two-link, wherein the end joint speed is the speed that the end joint of the two-link needs to meet when the wheeled robot meets the design performance. The torque of the intermediate joint is the torque that the intermediate joint of the two-link needs to meet when the wheeled robot meets the design performance. Further, in an embodiment of the present invention, based on the set link length, the set total load and the preset maximum load angle, the Jacobi matrix is ​​used for kinematic transformation to obtain the end joint speed of the wheeled robot. Wherein, the end joint speed is the torque that the end joint of the two-link needs to meet when the wheeled robot meets the design performance.

[0063] The kinematic conversion using the Jacobi matrix in the embodiment of the present invention is a kinematic conversion method commonly used in the art and will not be described in detail here.

[0064] Specifically, the preset take-off angle in the embodiment of the present invention is the preset minimum angle between the connecting rod connected to the wheel foot of the robot and the horizontal plane when the wheel foot robot is standing on the horizontal plane. Specifically, the maximum load angle is the maximum angle formed by the two connecting rods in the two connecting rods of the wheel foot robot.

[0065] S4. When the motor parameters to be evaluated of the joint motor to be selected are received, a parameter comparison is performed based on the motor parameters to be evaluated, the joint target torque, and the joint target speed to obtain a motor selection evaluation result of the wheeled robot.

[0066] The joint motor to be selected in the embodiment of the present invention is a joint motor to be selected and is intended to be installed in the middle joint of the wheel-foot robot of the target robot, and the motor parameters to be evaluated are the performance parameters of the motor provided by the motor manufacturer, including: motor rated speed, motor open-loop operating point, pole pair number, rotor flux estimation value, and may also include the phase resistance of the joint motor to be selected; it should be explained that the rated speed of the motor is the speed at which the motor can output rated power under rated voltage and frequency; the open-loop operating point of the motor is the speed corresponding to a certain load torque of the motor in the absence of feedback control (the motor parameters to be evaluated include at least two motor open-loop operating points); the pole pair number is the number of magnetic pole pairs of the motor rotor; the rotor flux estimation value is the estimated value of the magnetic flux generated in the motor rotor winding; the phase resistance is the DC resistance value of each phase winding of the motor.

[0067] Furthermore, in an embodiment of the present invention, in order to determine whether the joint motor to be selected can meet the design requirements of the wheeled robot, a parameter comparison is performed with the motor parameters to be evaluated based on the joint target torque and the joint target speed to obtain a motor selection evaluation result of the wheeled robot.

[0068] In detail, the embodiment of the present invention performs parameter comparison based on the motor parameters to be evaluated, the joint target torque, and the joint target speed to obtain the motor selection evaluation result of the wheeled robot, including:

[0069] Extracting the motor rated speed from the motor parameters to be evaluated, and comparing the motor rated speed with the joint target speed to obtain a speed comparison result;

[0070] Calculating the thermal equilibrium torque of the joint motor to be selected based on the motor parameters to be evaluated;

[0071] Comparing the thermal equilibrium torque with the joint target torque to obtain a torque comparison result;

[0072] Based on the speed comparison result and the torque comparison result, a logical judgment is performed to obtain a motor selection evaluation result of the wheel-leg robot.

[0073] In one embodiment of the present invention, if the motor parameters to be evaluated do not include the phase resistance of the joint motor to be selected, calculating the thermal equilibrium torque of the joint motor to be selected based on the motor parameters to be evaluated includes:

[0074] Extracting a first motor open-loop operating point and a second motor open-loop operating point of a joint motor to be selected from the motor parameters to be evaluated, and drawing an open-loop characteristic curve of the joint motor to be selected based on the first motor open-loop operating point and the second motor open-loop operating point;

[0075] Obtaining the slope of the open-loop characteristic curve;

[0076] Calculating the equivalent resistance of the joint motor at a stall point by using the slope and the pole pair number and rotor flux estimation value of the joint motor to be selected included in the motor parameters to be evaluated;

[0077] The thermal equilibrium torque of the joint motor to be selected is calculated according to the equivalent resistance and the preset thermal power.

[0078] In the embodiment of the present invention, the open-loop operating point of the motor is the output torque of the motor at different input voltages.

[0079] Furthermore, in an embodiment of the present invention, a target coordinate system is constructed with input voltage as the horizontal axis and output torque as the vertical axis, and a straight line passing through the open-loop operating point of the first motor and the open-loop operating point of the second motor is drawn in the target coordinate system to obtain the open-loop characteristic curve.

[0080] In detail, in the embodiment of the present invention, the equivalent resistance R of the stall point of the joint motor to be selected is calculated using the following formula:

[0081] Wherein, R is the equivalent resistance, J is the number of pole pairs, S is the slope, and C is the estimated value of the rotor flux.

[0082] In one embodiment of the present invention, if the motor parameters to be evaluated include the phase resistance of the joint motor to be selected, calculating the thermal equilibrium torque of the joint motor to be selected based on the motor parameters to be evaluated includes:

[0083] Extracting the phase resistance of the joint motor to be selected from the motor parameters to be evaluated;

[0084] Determine the phase resistance as the equivalent resistance of the locked-rotor point of the joint motor to be selected;

[0085] The thermal equilibrium torque of the joint motor to be selected is calculated according to the equivalent resistance and the preset thermal power.

[0086] Furthermore, in an embodiment of the present invention, the step of calculating the thermal equilibrium torque of the joint motor to be selected based on the equivalent resistance and the preset thermal power includes:

[0087] Based on the preset thermal power and the equivalent resistance, calculating the current of the joint motor to be selected when it is in thermal equilibrium;

[0088] The thermal equilibrium torque is calculated based on the current of the joint motor to be selected when it is in thermal equilibrium and a preset torque conversion constant.

[0089] Specifically, in the embodiment of the present invention, the current of the joint motor to be selected when it is in thermal equilibrium is calculated using the following formula:

[0090] Among them, I is the current of the joint motor to be selected when it is in thermal equilibrium, P is the preset thermal power, and R is the equivalent resistance.

[0091] Furthermore, the embodiment of the present invention calculates the thermal equilibrium torque based on the current of the selected joint motor when it is in thermal equilibrium and a preset torque conversion constant, including:

[0092] The thermal equilibrium torque is obtained by multiplying the current of the joint motor to be selected when it is in thermal equilibrium by the torque conversion constant.

[0093] The preset thermal power and the torque conversion constant in the embodiment of the present invention are artificially set parameters, which depend on factors such as the structure, material, and heat dissipation conditions of the motor. The preset thermal power refers to the maximum thermal energy power that can be dissipated when the motor is in long-term stable operation, and the torque conversion constant is the correlation constant between the current when the motor is in thermal equilibrium and the thermal equilibrium torque of the motor.

[0094] It should be explained that if the joint motor to be selected is to meet the speed requirements of the joint of the wheeled robot, the rated speed of the motor needs to be greater than the target speed of the joint. Therefore, the speed comparison result obtained by comparing the rated speed of the motor with the target speed of the joint includes:

[0095] When the rated speed of the motor is not greater than the target speed of the joint, the speed comparison result is failed;

[0096] When the rated speed of the motor is greater than the target speed of the joint, the speed comparison result is passed.

[0097] Specifically, in an embodiment of the present invention, if the joint motor to be selected is to meet the torque requirement of the wheeled robot joint, the thermal equilibrium torque is greater than the joint target torque. Therefore, the thermal equilibrium torque is compared with the joint target torque to obtain a torque comparison result, including:

[0098] When the thermal equilibrium torque is greater than the joint target torque, the torque comparison result is passed;

[0099] When the thermal equilibrium torque is not greater than the joint target torque, the torque comparison result is failed.

[0100] Furthermore, in the embodiment of the present invention, the motor selection evaluation result of the wheeled robot is obtained by performing logical judgment based on the speed comparison node and the torque comparison result, including:

[0101] If there is a failed result in the speed comparison result and the torque comparison result, the motor selection evaluation result is failed;

[0102] If both the speed comparison result and the torque comparison result are passed, the motor selection evaluation result is passed.

[0103] As shown in FIG2 , it is a functional module diagram of the joint motor selection and evaluation device of the wheel-leg robot of the present invention.

[0104] The joint motor selection and evaluation device 100 for a wheeled robot, as described in the present invention, can be installed in an electronic device. Depending on the functionality to be implemented, the device can include a data acquisition module 101, a joint speed and torque calculation module 102, and a motor selection and evaluation module 103. A module, also referred to as a unit, is a series of computer program segments that can be executed by an electronic device processor and perform a fixed function, and is stored in the memory of the electronic device.

[0105] In this embodiment, the functions of each module / unit are as follows:

[0106] The joint speed calculation module 101 is used to obtain the set total load, expected jumping height, and set connecting rod length of the wheel-legged robot; and calculate the target lift-off speed of the wheel-legged robot according to the expected jumping height;

[0107] The joint torque calculation module 102 is used to perform parameter conversion based on the set connecting rod length, the preset take-off angle of the wheeled robot, the target lift-off speed, the set connecting rod length, the set total load and the preset maximum load angle to obtain the target joint speed and target joint torque of the wheeled robot;

[0108] The motor selection evaluation module 103 is used to, when receiving the motor parameters to be evaluated of the joint motor to be selected, perform parameter comparison based on the motor parameters to be evaluated, the joint target torque and the joint target speed, to obtain the motor selection evaluation result of the wheeled robot.

[0109] In detail, the modules described in the joint motor selection and evaluation device 100 of the wheeled robot described in the embodiment of the present invention adopt the same technical means as the joint motor selection and evaluation method of the wheeled robot described in Figure 1 above when in use, and can produce the same technical effects, which will not be repeated here.

[0110] FIG3 is a schematic diagram showing the structure of an electronic device for implementing the method for selecting and evaluating joint motors of a wheeled robot according to the present invention.

[0111] The robot pet may include a processor 10, a memory 11, a communication bus 12 and a communication interface 13, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as a joint motor selection and evaluation program for a wheeled robot.

[0112] Furthermore, the memory 11 includes at least one type of readable storage medium, and the readable storage medium includes a flash memory, a mobile hard disk, a multimedia card, a card-type memory (for example, an SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of the robot pet, such as a mobile hard disk of the robot pet. In other embodiments, the memory 11 can also be an external storage device of the robot pet, such as a plug-in mobile hard disk, a smart memory card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the robot pet. Furthermore, the memory 11 can also include both an internal storage unit and an external storage device of the robot pet. The memory 11 can not only be used to store application software and various types of data installed in the robot pet, such as the code of the joint motor selection and evaluation program of the wheeled robot, but can also be used to temporarily store data that has been output or is to be output.

[0113] In some embodiments, the processor 10 may be comprised of an integrated circuit, such as a single packaged integrated circuit or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and combinations of various control chips. The processor 10 is the control core (Control Unit) of the robotic pet, connecting the various components of the entire robotic pet using various interfaces and circuits. It executes programs or modules stored in the memory 11 (e.g., a joint motor selection and evaluation program for a wheeled robot) and accesses data stored in the memory 11 to execute various functions and process data for the robotic pet.

[0114] The communication bus 12 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. Such a bus may be classified as an address bus, a data bus, a control bus, etc. The communication bus 12 is configured to enable communication between the memory 11 and at least one processor 10. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or one type of bus.

[0115] Figure 3 only shows a robot pet with components. Those skilled in the art will understand that the structure shown in Figure 3 does not constitute a limitation on the robot pet, and may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0116] For example, although not shown, the robotic pet may also include a power source (e.g., a battery) to power various components. Preferably, the power source may be logically connected to the at least one processor 10 via a power management device, thereby enabling functions such as charge management, discharge management, and power consumption management. The power source may also include one or more DC or AC power sources, a recharging device, a power failure classification circuit, a power converter or inverter, a power status indicator, and other arbitrary components. The robotic pet may also include various sensors, Bluetooth modules, Wi-Fi modules, and the like, which are not further detailed here.

[0117] Optionally, the communication interface 13 may include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the robot pet and other electronic devices.

[0118] Optionally, the communication interface 13 may further include a user interface, which may be a display or an input unit (such as a keyboard). Optionally, the user interface may also be a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. The display may also be appropriately referred to as a display screen or a display unit, and is used to display information processed in the robot pet and to display a visual user interface.

[0119] It should be understood that the embodiment is for illustration only and the scope of the patent application is not limited to this structure.

[0120] The joint motor selection and evaluation program for the wheeled robot stored in the memory 11 of the robot pet is a combination of multiple computer programs. When running in the processor 10, it can achieve the following:

[0121] Obtain the set total load, expected jump height, and set connecting rod length of the wheel-legged robot;

[0122] Calculating a target lift-off speed of the wheeled robot according to the expected jump height;

[0123] Parameter conversion is performed based on the set connecting rod length, the preset take-off angle of the wheeled robot, the target lift-off speed, the set connecting rod length, the set total load and the preset maximum load angle to obtain the target joint torque of the wheeled robot;

[0124] When the motor parameters to be evaluated of the joint motor to be selected are received, a parameter comparison is performed based on the motor parameters to be evaluated, the joint target torque and the joint target speed to obtain a motor selection evaluation result of the wheeled robot.

[0125] Specifically, the specific implementation method of the above-mentioned computer program by the processor 10 can refer to the description of the relevant steps in the corresponding embodiment of Figure 1, which will not be repeated here.

[0126] Furthermore, if the modules / units integrated into the robotic pet are implemented as software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium. The computer-readable medium may be non-volatile or volatile. The computer-readable medium may include any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard drive, a magnetic disk, an optical disk, a computer memory, or a read-only memory (ROM).

[0127] An embodiment of the present invention may further provide a computer-readable storage medium, wherein the computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor of a robot pet, the computer program may implement:

[0128] Obtain the set total load, expected jump height, and set connecting rod length of the wheel-legged robot;

[0129] Calculating a target lift-off speed of the wheeled robot according to the expected jump height;

[0130] Parameter conversion is performed based on the set connecting rod length, the preset take-off angle of the wheeled robot, the target lift-off speed, the set connecting rod length, the set total load and the preset maximum load angle to obtain the target joint torque of the wheeled robot;

[0131] When the motor parameters to be evaluated of the joint motor to be selected are received, a parameter comparison is performed based on the motor parameters to be evaluated, the joint target torque and the joint target speed to obtain a motor selection evaluation result of the wheeled robot.

[0132] Furthermore, the computer-usable storage medium may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created according to the use of the blockchain node, etc.

[0133] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the module division is merely a logical function division, and other division methods may be used in actual implementation.

[0134] The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed across multiple network elements. Some or all of the modules may be selected to achieve the purpose of the solution of this embodiment according to actual needs.

[0135] The embodiments of the present application can acquire and process relevant data based on artificial intelligence technology. Artificial Intelligence (AI) is the theory, method, technology, and application system that uses digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use knowledge to achieve optimal results.

[0136] In addition, the functional modules in various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or hardware plus software functional modules.

[0137] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0138] Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and all changes that come within the meaning and range of equivalents of the claims are intended to be embraced therein. Any reference to a figure in a claim should not be construed as limiting the claim to which it relates.

[0139] Blockchain, as used in this article, refers to a novel application model for computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanisms, and encryption algorithms. Blockchain is essentially a decentralized database, a series of data blocks generated using cryptographic methods. Each block contains information about a batch of online transactions, used to verify the validity of this information (to prevent counterfeiting) and generate the next block. Blockchain can include the underlying blockchain platform, the platform product service layer, and the application service layer.

[0140] Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices recited in a system claim may also be implemented by a single unit or device through software or hardware. Second-order terms are used to indicate names and do not imply any particular order.

[0141] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for selecting and evaluating joint motors of a wheeled robot, characterized in that: The method comprises: Obtain the set total load, expected jumping height and set connecting rod length of the wheel-legged robot; Calculating a target lift-off speed of the wheeled robot according to the expected jump height; Based on the set connecting rod length, the preset take-off angle of the wheeled robot, the target lift-off speed, the set connecting rod length, the set total load and the preset maximum load angle, parameter conversion is performed to obtain the joint target rotation speed and joint target torque of the wheeled robot; When the motor parameters to be evaluated of the joint motor to be selected are received, a parameter comparison is performed based on the motor parameters to be evaluated, the joint target torque and the joint target speed to obtain the motor selection evaluation result of the wheeled robot.

2. The joint motor selection and evaluation method of the wheeled foot robot according to claim 1, characterized in that: The wheeled-legged robot is a two-link wheeled-legged robot, and the length of each link of the two links in the wheeled-legged robot is the set link length.

3. The method for selecting and evaluating joint motors of a wheeled robot according to claim 2, wherein: The method of performing parameter conversion based on the set connecting rod length, the preset take-off angle of the wheeled robot, the target lift-off speed, the set connecting rod length, the set total load and the preset maximum load angle to obtain the joint target rotation speed and joint target torque of the wheeled robot includes: Based on the set connecting rod length, the preset take-off angle and the target lift-off speed of the wheeled robot, a Jacobi matrix is ​​used for kinematic transformation to obtain the rotation speed of the middle joint of the two connecting rods, and the middle joint of the two connecting rods is determined as the joint target rotation speed; Based on the set connecting rod length, the set total load and the preset maximum load angle, the Jacobi matrix is ​​used to perform kinematic transformation to obtain the torque of the middle joint of the two connecting rods, and the middle joint torque of the two connecting rods is determined as the joint target torque.

4. The method for selecting and evaluating the joint motors of a wheeled robot according to any one of claims 1 to 3, characterized in that: The method of performing parameter comparison based on the motor parameter to be evaluated, the joint target torque, and the joint target speed to obtain the motor selection evaluation result of the wheeled robot includes: Extracting the rated speed of the motor from the motor parameters to be evaluated, and comparing the rated speed of the motor with the target speed of the joint to obtain a speed comparison result; Calculating the thermal balance torque of the joint motor to be selected based on the motor parameters to be evaluated; Comparing the thermal equilibrium torque with the joint target torque to obtain a torque comparison result; Based on the speed comparison result and the torque comparison result, a logical judgment is performed to obtain a motor selection evaluation result of the wheeled robot.

5. The method for selecting and evaluating joint motors of a wheeled robot according to claim 4, characterized in that: The step of comparing the rated speed of the motor with the target speed of the joint to obtain a speed comparison result includes: When the rated speed of the motor is not greater than the target speed of the joint, the speed comparison result is failed; When the rated speed of the motor is greater than the target speed of the joint, the speed comparison result is passed.

6. The method for selecting and evaluating joint motors of a wheeled robot according to claim 4, wherein: The step of calculating the thermal balance torque of the joint motor to be selected based on the motor parameters to be evaluated includes: Extracting a first motor open-loop operating point and a second motor open-loop operating point of the joint motor to be selected from the motor parameters to be evaluated, and drawing an open-loop characteristic curve of the joint motor to be selected based on the first motor open-loop operating point and the second motor open-loop operating point; Obtaining the slope of the open-loop characteristic curve; Calculate the equivalent resistance of the joint motor to be selected at the stall point by using the slope and the pole pair number and rotor flux estimation value of the joint motor to be selected contained in the motor parameters to be evaluated; The thermal balance torque of the joint motor to be selected is calculated according to the equivalent resistance and the preset thermal power.

7. The method for selecting and evaluating joint motors of a wheeled robot according to claim 6, wherein: The step of calculating the equivalent resistance of the joint motor to be selected at the stall point by using the slope and the pole pair number and the rotor flux estimation value of the joint motor to be selected contained in the motor parameters to be evaluated comprises: Wherein, R is the equivalent resistance, J is the number of pole pairs, S is the slope, and C is the estimated value of the rotor flux.

8. The method for selecting and evaluating joint motors of a wheeled robot according to claim 6, wherein: The step of calculating the thermal balance torque of the joint motor to be selected according to the equivalent resistance and the preset thermal power includes: Based on the preset thermal power and the equivalent resistance, calculating the current of the joint motor to be selected when it is in thermal equilibrium; The thermal equilibrium torque is calculated based on the current of the joint motor to be selected when it is in thermal equilibrium and a preset torque conversion constant.

9. The method for selecting and evaluating joint motors of a wheeled robot according to claim 8, wherein: The step of calculating the current when the target joint is in thermal equilibrium based on the preset thermal power and the equivalent resistance includes: Among them, I is the current when the target joint is in thermal equilibrium, P is the preset thermal power, and R is the equivalent resistance.

10. A joint motor selection and evaluation device for a wheeled robot, characterized in that: include: The data acquisition module is used to acquire the set total load, expected jumping height, and set connecting rod length of the wheeled robot; and calculate the target lift-off speed of the wheeled robot according to the expected jumping height; A joint torque speed calculation module is used to perform parameter conversion based on the set connecting rod length, the preset take-off angle of the wheel-foot robot, the target lift-off speed, the set connecting rod length, the set total load and the preset maximum load angle to obtain the joint target speed and joint target torque of the wheel-foot robot; The motor selection and evaluation module is used to compare the motor parameters to be evaluated of the joint motor to be selected based on the motor parameters to be evaluated, the joint target torque and the joint target speed, so as to obtain the motor selection evaluation result of the wheel-foot robot.

11. An electronic device, characterized in that: The electronic device comprises: at least one processor; and, a memory communicatively coupled to the at least one processor; Wherein, the memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the joint motor selection and evaluation method of the wheeled foot robot as described in any one of claims 1 to 9.

12. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the joint motor selection and evaluation method of the wheeled-legged robot according to any one of claims 1 to 9 is implemented.

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