Robot action processing method, robot action processing apparatus, and electronic device, storage medium and program product

Abstract

Provided in the present application are a robot action processing method and apparatus, and an electronic device, a computer-readable storage medium and a computer program product. The method comprises: by means of a bionic component of a robot, autonomously and sequentially executing each action in a first action sequence on a target subject supported by a first target object, so as to adjust the target subject to lie on his / her side on the first target object from lying supine on the first target subject; autonomously and sequentially executing each action in a second action sequence on the target subject supported by the first target object, so as to adjust the target subject to sit up on the first target object from lying on his / her side on the first target object; and autonomously and sequentially executing each action in a third action sequence on the target subject supported by the first target object, so as to adjust the target subject to sit up on a second target object from sitting up on the first target object.

Description

Robot motion processing method, robot motion processing device, electronic device, storage medium and program product

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on the Chinese patent application with application number 2023113064956 and application date of October 9, 2023, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced into this application as a reference. Technical Field

[0003] The present application relates to robotics technology, and in particular to a robot motion processing method, a robot motion processing device, an electronic device, a computer-readable storage medium, and a computer program product. Background Art

[0004] In the related art, the solution for assisting the target object (for example, the elderly or people with leg injuries) to move from a bed to a wheelchair is mainly achieved through special equipment, such as a bed specially designed with an assistive turning function, or a lifting method is used to assist the transfer of the target object, or the transfer of the target object is achieved through a walker and an intelligent wheelchair.

[0005] However, the solutions provided in the related art belong to special equipment, which has a single function and usually requires manual operation to coordinate the transfer process, and cannot autonomously achieve the transfer of the target object.

[0006] Summary of the Invention

[0007] The embodiments of the present application provide a robot motion processing method, a robot motion processing device, an electronic device, a computer-readable storage medium, and a computer program product, which can sequentially change the posture of a target object through a sequence of actions under the premise of autonomy, thereby ultimately completing the adjustment of the target object from a first posture to a second posture. Since the final posture adjustment is achieved based on multiple actions, the convenience and safety of the posture adjustment process can be improved.

[0008] The technical solution of the embodiment of the present application is implemented as follows:

[0009] The present invention provides a method for processing robot motions, including:

[0010] The robot moves to the action range of the target object, wherein the target object is supported by a target object, and the action range is the area within which the robot can perform actions on the target object;

[0011] autonomously and sequentially executing, by the bionic component of the robot, each action in the action sequence on the target object supported by the target object, so as to adjust the target object on the target object from a first pose to a second pose;

[0012] Each of the actions corresponds to a posture change of the target object, and the posture change from the first posture to the second posture is obtained based on multiple posture changes of the action sequence.

[0013] The present invention provides a robot motion processing device, comprising:

[0014] a moving module configured to move the robot to an action range of the target object, wherein the target object is supported by a target object, and the action range is an area within which the robot can perform an action on the target object;

[0015] a fourth action module configured to autonomously and sequentially perform each action in the action sequence on the target object supported by the target object through the bionic component of the robot, so as to adjust the target object on the target object from the first pose to the second pose;

[0016] Each of the actions corresponds to a posture change of the target object, and the posture change from the first posture to the second posture is obtained based on multiple posture changes of the action sequence.

[0017] The present invention provides a method for processing robot motions, including:

[0018] autonomously and sequentially performing, by the bionic component of the robot, each action in a first action sequence on a target object supported by a first target object, so as to adjust the target object from lying supine on the first target object to lying on its side on the first target object;

[0019] autonomously and sequentially performing, by the bionic component of the robot, each action in a second action sequence on the target object supported by the first target object, so as to adjust the target object from lying on its side on the first target object to sitting up on the first target object;

[0020] autonomously and sequentially performing, by the bionic component of the robot, each action in a third action sequence on the target object supported by the first target object, so as to adjust the target object from sitting up on the first target object to sitting up on the second target object;

[0021] Each of the actions corresponds to a posture change of the target object, and each adjustment to the target object is obtained based on multiple posture changes of the corresponding action sequence.

[0022] The present invention provides a robot motion processing device, comprising:

[0023] a first action module configured to autonomously and sequentially perform each action in a first action sequence on a target object supported by a first target object through a bionic component of the robot, so as to adjust the target object from lying supine on the first target object to lying on its side on the first target object;

[0024] a second action module configured to autonomously and sequentially perform each action in a second action sequence on a target object supported by the first target object through a bionic component of the robot, so as to adjust the target object from lying on its side on the first target object to sitting up on the first target object;

[0025] a third action module configured to autonomously and sequentially perform each action in a third action sequence on the target object supported by the first target object through the bionic component of the robot, so as to adjust the target object from sitting up on the first target object to sitting up on a second target object;

[0026] Each of the actions corresponds to a posture change of the target object, and each adjustment to the target object is obtained based on multiple posture changes of the corresponding action sequence.

[0027] An embodiment of the present application provides a robot, wherein the robot includes: a bionic component and a controller; the controller is used to control the bionic component to execute the robot motion processing method provided by the embodiment of the present application.

[0028] An embodiment of the present application provides an electronic device for controlling a robot, including:

[0029] a memory for storing computer-executable instructions;

[0030] The processor is used to control the robot to implement the robot motion processing method provided by the embodiment of the present application when executing the computer executable instructions stored in the memory.

[0031] An embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions for causing a processor to execute and implement the robot motion processing method provided in the embodiment of the present application.

[0032] An embodiment of the present application provides a computer program product, including computer-executable instructions. When the computer-executable instructions are executed by a processor, the robot action processing method provided by the embodiment of the present application is implemented.

[0033] The embodiments of the present application have the following beneficial effects:

[0034] The robot's bionic components autonomously and sequentially perform each action in a first action sequence on the target object supported by the first target object, thereby adjusting the target object from lying on its back on the first target object to lying on its side on the first target object. The robot's bionic components autonomously and sequentially perform each action in a second action sequence on the target object supported by the first target object, thereby adjusting the target object from lying on its side on the first target object to sitting up on the first target object. The robot's bionic components autonomously and sequentially perform each action in a third action sequence on the target object supported by the first target object, thereby adjusting the target object from sitting up on the first target object to sitting up on the second target object. Because the transfer is performed in stages, and the position change within each stage is achieved through a sequence of actions, the position of the target object can be safely and stably changed sequentially through the action sequence to achieve the transfer of the target object. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] FIG1A is a first structural diagram of a robot motion processing system provided by an embodiment of the present application;

[0036] FIG1B is a second structural diagram of the robot motion processing system provided in an embodiment of the present application;

[0037] FIG2 is a schematic structural diagram of an electronic device provided in an embodiment of the present application;

[0038] FIG3A is a schematic diagram of a first flow chart of a method for processing a robot motion according to an embodiment of the present application;

[0039] FIG3B is a schematic diagram of a second flow chart of the robot motion processing method provided by an embodiment of the present application;

[0040] FIG3C is a schematic diagram of a third flow chart of the robot motion processing method provided in an embodiment of the present application;

[0041] FIG3D is a schematic diagram of a fourth flow chart of the robot motion processing method provided in an embodiment of the present application;

[0042] FIG3E is a fifth flow chart of the robot motion processing method provided in an embodiment of the present application;

[0043] FIG4 is a schematic diagram of the structure of a robot according to the robot motion processing method provided in an embodiment of the present application;

[0044] FIG5A is a schematic diagram of the first posture change of the first action sequence provided in an embodiment of the present application;

[0045] FIG5B is a schematic diagram of a second posture change of the first action sequence provided in an embodiment of the present application;

[0046] FIG5C is a schematic diagram of a third posture change of the first action sequence provided in an embodiment of the present application;

[0047] FIG6A is a schematic diagram of the first posture change of the second action sequence provided in an embodiment of the present application;

[0048] FIG6B is a schematic diagram of a second posture change of a second action sequence provided in an embodiment of the present application;

[0049] FIG7A is a schematic diagram of the first posture change of the third action sequence provided in an embodiment of the present application;

[0050] FIG7B is a schematic diagram of a second posture change of a third action sequence provided in an embodiment of the present application;

[0051] FIG7C is a schematic diagram of a third posture change in a third action sequence provided in an embodiment of the present application;

[0052] FIG8 is a schematic diagram of posture changes in the fourth action sequence provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limiting this application. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0054] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0055] In the following description, the terms "first\second\third" involved are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0057] Before further describing the embodiments of the present application in detail, the nouns and terms involved in the embodiments of the present application are explained. The nouns and terms involved in the embodiments of the present application are subject to the following interpretations.

[0058] 1) A robot is an intelligent machine that can operate semi-autonomously or fully autonomously. A robot can be programmed and automatically controlled to perform tasks such as work or movement.

[0059] 2) Pose: This describes the position and posture of an object (e.g., coordinates) in a given coordinate system. Robots often use pose to describe their position and posture in a spatial coordinate system.

[0060] 3) Bionic robots are robots that mimic living organisms and perform biological functions. Bionic components are those parts of a bionic robot that simulate animal or human movements. For example, bionic components are parts that mimic human arms and torsos.

[0061] 4) Disabled elderly people refer to those who are unable to take care of themselves or partially unable to take care of themselves in daily life due to illness, physical deterioration, or other reasons. In other words, disabled elderly people are those who have lost at least some of their activities of daily living (ADL).

[0062] 5) Tracks: A continuous belt-like structure, typically consisting of a series of links or plates made of metal or other materials, connected by hinges to form a closed loop. The primary function of a track is to provide traction and support between the machine's drive wheels and the ground, enabling the machine to move smoothly over various terrains.

[0063] The robot provided in the embodiments of the present application is a robot that uses legs to move. It uses animals as biomimetic objects and aims to simulate the movement forms of animals and replicate the movement abilities of animals based on engineering technology and scientific research results. The robot has a strong adaptability to various environments (including structured environments (such as roads, railways, treated flat roads, etc.) and unstructured environments (such as mountains, swamps, rough roads, etc.). It can adapt to various changes in terrain, climb over high obstacles, and can effectively reduce loads and improve the energy utilization efficiency of the system. Robots can be divided into single-legged, bipedal, quadrupedal, hexapodal, octapodal, etc. according to the number of legs. Among them, humanoid robots have super strong movement abilities, better static stability than bipedal robots, and simpler and more flexible movement than hexapodal and octapodal robots. Therefore, humanoid robots are a common choice for researching robots. The gait of a humanoid robot is the coordination relationship of its four legs in time and space in order for the humanoid robot to be able to move continuously. The gait of a humanoid robot is derived from the gait of a quadrupedal mammal (eg, a puppy), which may include but is not limited to the following three simplified forms: walk, trot, and bound.

[0064] FIG4 is a schematic diagram of a robot according to an embodiment of the present application. As shown in FIG4 , the quadruped humanoid robot is an intelligent device that can approximately imitate an animal. It has the ability to walk and move flexibly in complex terrain and environments, and therefore has a wide range of applications in many scenarios. For example, in an emergency, the humanoid robot can be used for tasks such as search and rescue, detection, and demolition. It can work in places that are difficult for humans to reach, such as mountainous areas, deserts, and forests. In daily life, the humanoid robot can serve as an intelligent companion. It can interact with humans in a home environment, and can also adapt to different terrains in the home, such as slopes, steps, etc. The robot is not only highly intelligent and flexible, but also highly adaptable and practical.

[0065] The exemplary robot includes multiple components, such as a head component (optional), a torso component and a leg component, etc. Continuing to refer to Figure 4, the robot 400 includes: a head 401, a torso 402, an upper limb 403, a waist component 404, and a leg component 405. Among them, the waist component 404 is connected to the torso 402 via the axis of the pitch rotation center 4041, and the waist component 404 is connected to the multiple legs included in the leg component 405 via the hip rotation center 4042, and the leg component 405 includes an outer leg 4052 and an inner leg 4051. The part of each leg in the leg component that contacts the support surface (for example, the ground) is provided with a wheel 4053. Of course, the embodiment of the present application is not limited to this. During specific application, the components of the robot can be set according to the needs of the actual application scenario, for example, the wheels of the leg component are replaced with structures such as tracks, support plates, and anti-slip components.

[0066] The exemplary head assembly may be equipped with a visual camera, a voice interaction system, and other sensing components to facilitate environmental interaction and human-computer interaction. In some examples, the head assembly also includes a neck rotation assembly to enable pitch and left-right rotation of the head to obtain a wider field of view. Of course, the embodiments of the present application are not limited to this.

[0067] One end of the head assembly is connected to the body assembly of the robot. The exemplary body assembly may contain components such as a battery, a computing system, and a control system to provide energy and computing support for the robot's movement.

[0068] In addition, exemplary body components include but are not limited to upper limb components, waist components, and hip components. Of course, the present invention is not limited to these embodiments.

[0069] The left and right ends of the exemplary torso assembly include symmetrical upper limb assemblies. The exemplary upper limb assembly includes a shoulder joint assembly, an arm assembly and an end effector. The shoulder joint assembly has six degrees of freedom to enable complex movements of the arm assembly, such as rotation and lifting in all directions. One end of the arm assembly is connected to the shoulder joint assembly, and the other end is connected to the end effector. Optionally, the connection between the arm assembly and the end effector includes a motor to enable the end effector to move along four degrees of freedom. Among them, the optional end effector can be a manipulator in any form, which has a rich degree of freedom to imitate human movements such as grasping, pushing, and supporting objects of various shapes.

[0070] The waist and hip assemblies connect the leg and torso assemblies. The waist assembly houses a motor that rotates the torso assembly in pitch, allowing the robot to mimic a human bending motion. The hip assembly also houses a motor that rotates the leg assemblies. Controlling these motors allows the leg assemblies to change their posture.

[0071] The leg assembly includes four mechanical legs, and the example robot can move based on the four mechanical legs. Among them, the four mechanical legs are two inner legs (shown in gray) and two outer legs (shown in white). Each mechanical leg includes a retractable rigid component and a drive wheel, one end of the retractable rigid component of the inner leg is connected to the body component of the robot, for example, connected to the hip, and the other end is connected to the drive wheel. The optional inner leg and outer leg are respectively controlled by different motors, so that the relative positions of the inner leg and the outer leg can be changed to be more suitable for human living environment. The retractable rigid component can be extended and shortened. The leg motor is used to drive the mechanical leg to walk, and when encountering an obstacle during walking, the retractable rigid component can cross the obstacle by extending or shortening. The drive wheel is used for wheeled movement.

[0072] The retractable rigid assembly includes a main leg segment, a telescopic leg segment, and a telescopic drive mechanism. The main leg segment is connected to the leg motor. The telescopic leg segment is slidably connected to the main leg segment, and the end of the telescopic leg segment away from the leg motor is connected to the drive wheel assembly. The telescopic drive mechanism is connected to each of the main leg segment and the telescopic leg segment, and is used to drive the telescopic leg segment to slide. When the telescopic drive mechanism drives the telescopic leg segment to slide away from the leg motor, the mechanical leg extends; when the telescopic drive mechanism drives the telescopic leg segment to slide toward the leg motor, the mechanical leg shortens. The embodiments of this application do not limit the relative positional relationship between the main leg segment and the telescopic leg segment. In some examples, one side of the main leg segment is slidably connected to one side of the telescopic leg segment. In other examples, the main leg segment has a receiving cavity, and a portion of the telescopic leg segment is located within the cavity, allowing the telescopic leg segment to extend and retract relative to the cavity. The embodiments of this application do not limit the type of telescopic drive mechanism. In some examples, the telescopic drive mechanism can be a screw-nut mechanism, a synchronous belt mechanism, a rack-and-pinion mechanism, a hydraulic rod mechanism, or an electric push rod mechanism.

[0073] It should be noted that the robot can also be equipped with a variety of sensors, such as IMU (Inertial Measurement Unit) sensors and joint angle encoders. The IMU sensor can provide real-time acceleration and posture information for the robot, while the joint angle encoder can provide real-time joint angle information (such as joint angle angle, angular velocity feedback value, etc.) for each joint of the robot. Under the control of the multiple motors mentioned above, the example robot is already able to simulate real human movements such as running, jumping, and climbing stairs.

[0074] In the related art, the solution for assisting the target object (the elderly are used as an example below) from the bed to the wheelchair is mainly implemented through special equipment, such as a bed specially designed to assist in turning over, or a lifting method to assist the elderly in transferring, or a walker and a smart wheelchair to achieve the transfer of the elderly. However, the solution provided in the related art is a special equipment, which has a single function and usually requires manual operation, and cannot realize the transfer of the elderly autonomously. In addition, the transfer of the elderly in the related art has problems with safety, stability and labor-saving ability, which makes it difficult to apply to real-life scenarios.

[0075] The embodiments of the present application provide a robot motion processing method, a robot motion processing device, an electronic device for controlling the robot, a computer-readable storage medium, and a computer program product, which can safely and stably change the posture of a target object in sequence through a sequence of motions to achieve the transfer of the target object.

[0076] The exemplary application of the electronic device that the motion processing method of the robot provided in the embodiment of the present application is related to is described below. The motion processing method of the robot provided in the embodiment of the present application can be performed by electronic equipment and robot in collaboration, for example: the robot is controlled by electronic equipment such as a terminal device or a server to perform an action. For another example: the robot is executed alone, that is, the robot makes the decision to perform an action autonomously, specifically by the robot's own central processing unit (CPU) to make the decision to perform an action. The electronic device for controlling the robot provided in the embodiment of the present application can be implemented as various types of user terminals such as a laptop computer, a tablet computer, a desktop computer, a set-top box, a mobile device (for example, a mobile phone, a portable music player, a personal digital assistant, a dedicated messaging device, a portable gaming device), and can also be implemented as a server.

[0077] See Figure 1A, which is a first architectural diagram of the robot motion processing system provided in an embodiment of the present application. The robot 400 is connected to the server 200 through the network 300. The network 300 can be a wide area network or a local area network, or a combination of the two.

[0078] For example, the electronic device controlling the robot is the server 200, and the user is a person with limited mobility, such as an elderly person. The robot 400 may be a robot that imitates a human form, and may have multiple legs and multiple robotic arms.

[0079] When the robot 400 observes the target object, the robot 400 collects status data of the target object and sends the status data to the server 200. The server 200 recognizes the intention of the target object, thereby sensing that the target object has the need to transfer from the first target object to the second target object. The server 200 sends the action execution instructions of the first action sequence, the second action sequence and the third action sequence to the robot 400, so that the robot 400 autonomously performs each action in the first action sequence on the target object supported by the first target object in sequence, so as to adjust the target object from lying on its back on the first target object to lying on its side on the first target object; the robot 400 autonomously performs each action in the second action sequence on the target object supported by the first target object in sequence, so as to adjust the target object from lying on its side on the first target object to sitting up on the first target object; the robot 400 autonomously performs each action in the third action sequence on the target object supported by the first target object in sequence, so as to adjust the target object from sitting up on the first target object to sitting up on the second target object.

[0080] In some embodiments, the server 200 may be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It may also be 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, CDN, and big data and artificial intelligence platforms. The terminal 400 may be a smartphone, tablet computer, laptop computer, desktop computer, smart speaker, smart watch, etc., but is not limited to these. The terminal and the server may be directly or indirectly connected via wired or wireless communication, which is not limited in the embodiments of the present invention.

[0081] The motion processing method of the robot provided in the embodiment of the present application is applied to artificial intelligence technology. For example, artificial intelligence (AI) technology can be used to identify the needs of the target object. Artificial intelligence is a theory, method, technology and application system that uses a digital computer or a machine controlled by a digital computer to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results. The surrounding environment information and the target object are identified by the robot's sensors (such as cameras, laser radars, ultrasonic sensors, etc.), and the dynamic changes in the environment are understood, such as the behavior of obstacles or target objects. Based on the current state of the target object (for example, posture) and the current environmental information, artificial intelligence technology is called to predict the drive parameters corresponding to the action to be performed by the robot, and then the motor of the robot is controlled based on the drive parameters so that the robot performs related action processing.

[0082] Refer to Figure 1B, which is a second architectural diagram of the robot's motion processing system provided in an embodiment of the present application. The robot 400 is controlled by internally provided electronic devices.

[0083] When the robot 400 observes the target object, the robot 400 collects state data of the target object, identifies the intention of the target object based on the state data, and thereby perceives that the target object has a need to transfer from the first target object to the second target object. The electronic device in the robot 400 determines the first action sequence, the second action sequence, and the third action sequence to be executed by the robot, and drives the motor of the robot 400 so that the robot 400 autonomously and sequentially performs each action in the first action sequence on the target object supported by the first target object to adjust the target object from lying on its back on the first target object to lying on its side on the first target object; the robot 400 autonomously and sequentially performs each action in the second action sequence on the target object supported by the first target object to adjust the target object from lying on its side on the first target object to sitting up on the first target object; and the robot 400 autonomously and sequentially performs each action in the third action sequence on the target object supported by the first target object to adjust the target object from sitting up on the first target object to sitting up on the second target object.

[0084] Referring to Figure 2, Figure 2 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Taking the electronic device as a server as an example for explanation, the server 200 shown in Figure 2 includes: at least one processor 210, a memory 250, at least one network interface 220 and a user interface 230. The various components in the server 200 are coupled together through a bus system 240. It can be understood that the bus system 240 is used to achieve connection and communication between these components. In addition to including a data bus, the bus system 240 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, various buses are labeled as bus system 240 in Figure 2.

[0085] The processor 210 can be an integrated circuit chip with signal processing capabilities, such as a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., where the general-purpose processor can be a microprocessor or any conventional processor, etc.

[0086] The user interface 230 includes one or more output devices 231 that enable presentation of media content, including one or more speakers and / or one or more visual display screens. The user interface 230 also includes one or more input devices 232, including user interface components that facilitate user input, such as a keyboard, mouse, microphone, touch screen display, camera, other input buttons and controls.

[0087] The memory 250 may be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid-state memory, hard drives, optical drives, etc. The memory 250 may optionally include one or more storage devices that are physically remote from the processor 210.

[0088] The memory 250 includes volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory may be a read-only memory (ROM), and the volatile memory may be a random access memory (RAM). The memory 250 described in the embodiments of the present application is intended to include any suitable type of memory.

[0089] In some embodiments, the memory 250 can store data to support various operations, examples of which include programs, modules, and data structures, or a subset or superset thereof, as exemplified below.

[0090] Operating system 251, including system programs for processing various basic system services and performing hardware-related tasks, such as the framework layer, core library layer, and driver layer, which are used to implement various basic services and process hardware-based tasks;

[0091] A network communication module 252 for reaching other electronic devices via one or more (wired or wireless) network interfaces 220 , exemplary network interfaces 220 including Bluetooth, WiFi, and USB;

[0092] a presentation module 253 for enabling presentation of information via one or more output devices 231 (e.g., a display screen, a speaker, etc.) associated with the user interface 230 (e.g., a user interface for operating peripheral devices and displaying content and information);

[0093] The input processing module 254 is configured to detect one or more user inputs or interactions from one of the one or more input devices 232 and to translate the detected inputs or interactions.

[0094] In some embodiments, the motion processing device of the robot provided in the embodiments of the present application can be implemented in software. Figure 2 shows the motion processing device 255 of the robot stored in the memory 250, which can be software in the form of programs and plug-ins, including the following software modules: a first action module 2551, a second action module 2552 and a third action module 2553. These modules are logical, so they can be arbitrarily combined or further split according to the functions implemented. The functions of each module will be explained below.

[0095] The motion processing method of the robot provided in the embodiment of the present application will be explained in combination with the exemplary application and implementation of the robot provided in the embodiment of the present application.

[0096] Referring to FIG3A , FIG3A is a first flow chart of the robot motion processing method provided in an embodiment of the present application, which will be described in conjunction with steps 101 to 103 shown in FIG3A . In steps 101 to 103, the execution subject may be the electronic device controlling the robot or the robot body; or the robot and external electronic device may collaboratively execute steps 101 to 103. Each of the actions involved in the embodiments of the present application corresponds to a posture change of the target object, and each adjustment to the target object is obtained based on multiple posture changes of the corresponding action sequence.

[0097] In step 101, each action in a first action sequence is autonomously performed in sequence on a target object supported by a first target object through the bionic component of the robot, so as to adjust the target object from lying on its back on the first target object to lying on its side on the first target object.

[0098] As an example, the target object here is a user who needs help (for example, a person with a leg injury, an elderly person). The following description will be made using an elderly person as an example. The bionic component is a component on the robot that simulates the form of a human or an animal. Taking the simulation of a human as an example, the bionic component can be the head, waist, arm, etc. of the robot. The bionic component involved in step 101 is the bionic component related to the first action sequence, that is, the bionic component required to perform the actions in the first action sequence. The first target object here is an object for the target object to lie flat on, such as a bed or, the following description will be made using a bed as an example. The first action sequence is used to assist the elderly in adjusting from lying on their back to lying on their side in bed. The elderly's initial position is lying flat on the bed. By performing multiple actions in the first action sequence, the elderly are adjusted from lying flat on the bed to lying on their side in bed.

[0099] For ease of understanding, the structure of the robot involved in the robot motion processing method provided in the embodiment of the present application is explained. The bionic component of the robot includes a leg assembly, a torso and a robotic arm, the robotic arm includes a first arm and a second arm, the leg assembly includes an inner leg and an outer leg; the robotic arm is used to adjust the posture of the target object; the end of the leg assembly in contact with the contact surface is set to any one of the following components: a track, a wheel and a suction cup. The robotic arm of the robot can be used to adjust the posture of the target object and move the target object. The leg assembly of the robot can provide support for the robot, maintain the balance of the robot, and prevent the robot from falling during movement. The torso of the robot is used to connect the robotic arm and leg assembly of the robot.

[0100] Refer to Figure 3B, which is a second flow chart of the robot's motion processing method provided in an embodiment of the present application; in step 101, the bionic components of the robot autonomously and sequentially execute each action in the first action sequence on the target object supported by the first target object to adjust the target object from lying on its back on the first target object to lying on its side on the first target object, which can be achieved through steps 1011 to 1013 shown in Figure 3B.

[0101] In step 1011 , the waist of the robot is tilted toward a direction corresponding to the target object so that the target object is within the range of motion of the robot.

[0102] As an example, the robot's waist is tilted towards the elderly. In order to ensure stability, the tilt angle must be less than a first tilt angle threshold. The first tilt angle threshold is the maximum tilt angle obtained through experimental testing to maintain stable movement. If it is greater than the first tilt angle threshold, there is a greater probability of overturning.

[0103] In step 1012 , the first arm of the robot moves to the hip of the target object, and the second arm of the robot moves up to the shoulder of the target object.

[0104] For example, if the first arm is the left arm, the second arm is the right arm; if the first arm is the right arm, the second arm is the left arm. To save effort, the robot's two hands work together to reduce the force required by each hand. The distance between the two hands' points of application is as large as possible to achieve this goal. Considering the anatomy of the elderly, applying force to the shoulders and hips is more appropriate. The robot's force is driven by a motor within the robot structure, which reduces the robot's force and energy consumption. Saving effort also reduces the robot's energy consumption.

[0105] In step 1013, the buttocks of the target object are used as the force point of the first arm of the robot, and the shoulder of the target object is used as the force point of the second arm of the robot. The first arm and the second arm exert force on the target object to adjust the target object from lying on its back on the first target object to lying on its side on the first target object.

[0106] In some embodiments, in step 1013, the first arm and the second arm exert force on the target object to adjust the target object from lying on its back on the first target object to lying on its side on the first target object. This can be achieved through the following technical solutions: the first arm and the second arm apply a force on the target object away from the robot to adjust the target object from lying on its back to lying on its side with its back facing the robot; or the first arm and the second arm apply a force on the target object toward the robot to adjust the target object from lying on its back to lying on its side facing the robot.

[0107] There are two possible implementations here: the target object can be flipped away from the robot, or it can be flipped toward the robot. This is because the elderly person lying on their back has two sides, the left side corresponding to the left arm and the right side corresponding to the right arm. When the second target object is on the left side corresponding to the elderly person's left arm, the target object is flipped toward the left side. When the second target object is on the right side corresponding to the elderly person's right arm, the target object is flipped toward the right side. In the later stage of the action, when approaching side-lying, both hands should cooperate to provide reverse force to maintain the stability of the elderly person (relative to the robot, a smaller downward and forward force is provided. The direction and value of the force here are obtained based on simulation tests). Let go after the elderly person is stable.

[0108] In some embodiments, the robot removes obstacles in the area where the target object is located before the robot's waist tilts toward the direction corresponding to the target object so that the target object is within the robot's range of motion; the robot places the target object's arms on the target object's chest; the robot adjusts the target object's legs from a straight state to a bent state; wherein the bent state, the support structure, and the placement of the arms are used to keep the target object stable during the process of adjusting from lying on its back on the first target object to lying on its side on the first target object.

[0109] As an example, the motion design needs to take stability into consideration. The elderly person's legs need to be kept in a bent state, otherwise they will be unstable when lying on their side. Therefore, when the elderly person is in a supine position, the legs should be assisted to bend first. To maintain stability, the robot is required to resist the risk of tipping forward. Therefore, the robot's chassis is extended as much as possible and extended under the bed, as close to the bed as possible. If necessary, it can be supported against the edge of the bed to prevent tipping over. The motion design also needs to take spatial interference into consideration to avoid the elderly person's hands being pressed when transitioning from supine to side-lying. At the beginning (supine position), the elderly person's hands are assisted to be placed on the chest. The robot's front legs are extended under the bed to increase the support surface and increase stability. Both hospital beds and nursing beds have lower space.

[0110] In step 102, the robot autonomously performs each action in the second action sequence on the target object supported by the first target object through the bionic component of the robot, so as to adjust the target object from lying on its side on the first target object to sitting up on the first target object.

[0111] As an example, the second action sequence is used to assist an elderly person from lying on his side to sitting up. The elderly person's legs are lowered to the edge of the bed. The robot supports the elderly person's upper hip with its left hand and the lower shoulder with its right hand. The left hand exerts force downward to the left and the right hand exerts force upward to the left to move the elderly person from lying on his side to sitting up.

[0112] In some embodiments, referring to FIG3C , FIG3C is a third flow chart of the motion processing method of the robot provided in an embodiment of the present application; in step 102, the bionic components of the robot are used to autonomously and sequentially perform each action in the second action sequence on the target object supported by the first target object, so as to adjust the target object from lying on its side on the first target object to sitting up on the first target object, which can be achieved through steps 1021 to 1023 shown in FIG3C .

[0113] In step 1021 , the first arm of the robot moves to the upper hip of the target object.

[0114] As an example, when an elderly person is lying on his side, the left arm or the right arm of the robot is moved to the upper hip area, that is, the buttocks area away from the bed.

[0115] In step 1022 , the second arm of the robot moves to the underside of the shoulder of the target object.

[0116] For example, when an elderly person is lying on their side, the robot's left or right arm can be moved to the lower side of the shoulder, that is, the shoulder area next to the bed. The second arm here is an arm different from the first arm. If the first arm is the left arm, the second arm is the right arm, and if the first arm is the right arm, the second arm is the left arm.

[0117] In step 1023, the upper hip of the target object is used as the force point of the first arm of the robot, and the lower side of the shoulder of the target object is used as the force point of the second arm of the robot. The first arm and the second arm exert force on the target object to adjust the target object from lying on its side on the first target object to sitting up on the first target object.

[0118] In some embodiments, the force exerted on the target object by the first arm and the second arm in step 1023 can be achieved by the following technical solution: a force is applied to the upper hip of the target object by the first arm, which is parallel to the plane of the target object's legs and perpendicular to the target object's legs; and a force is applied to the lower side of the shoulder of the target object by the second arm, which is parallel to the plane of the target object's body and perpendicular to the target object's upper limb.

[0119] As an example, see Figures 6A and 6B, which are diagrams of posture changes in the second action sequence provided by an embodiment of the present application. The core action is as follows: the robot supports the elderly person's upper hip with its left hand and the lower shoulder with its right hand, using both arms and waist to move the elderly person from a side-lying position to a sitting position. Before completing the action, care must be taken to ensure the elderly person's stability to prevent them from falling. During the posture adjustment process, the robot will naturally place the elderly person's legs under the bed to keep their legs stable.

[0120] As an example, the second arm applies a force parallel to the target object's torso plane and perpendicular to the target object's upper arm to the lower side of the target object's shoulder. The force here is parallel to the target object's torso plane and perpendicular to the target object's upper arm. The force here is used to help the elderly person stand up from a side-lying position to a sitting position. The first arm applies a force parallel to the target object's leg plane and perpendicular to the target object's legs to the upper hip of the target object. The force here is parallel to the leg plane and perpendicular to the legs, so that the elderly person can be kept stable. Therefore, the force here actually plays a stabilizing role. The two forces here act simultaneously, so that the elderly person can be helped up and kept stable.

[0121] In step 103, the robot autonomously performs each action in the third action sequence on the target object supported by the first target object through the bionic component of the robot, so as to adjust the target object from sitting up on the first target object to sitting up on the second target object.

[0122] As an example, the third action sequence is used to assist an elderly person from a bed to a wheelchair. The robot supports the elderly person under the armpits with both arms, lifts the elderly person up, turns on the spot, and places the elderly person on the wheelchair.

[0123] In some embodiments, the bionic component of the robot autonomously performs each action in the third action sequence on the target object supported by the first target object in sequence to adjust the target object from sitting up on the first target object to sitting up on the second first target object. Before the target object is not at the edge of the first target object, the following processing is performed: the body of the target object on either side is lifted by the bionic component of the robot, and the body of the target object on either side is moved toward the edge of the first target object, and the target object is placed on the first target object; the body of the target object on the other side is lifted by the bionic component of the robot, and the body of the target object on the other side is moved toward the edge of the first target object, and the target object is placed on the first target object.

[0124] As an example, the fourth action sequence needs to be executed before the third action sequence. This action sequence is used to assist the elderly person in sitting up and moving closer to the bedside for transfer. The robot's left hand supports the elderly person's right hip and right hand supports the elderly person's left armpit. Simultaneously, the robot applies upward force to lift the elderly person's left half of the body, moves it a short distance forward, and then lowers the elderly person. The robot then switches to the right side and performs a mirrored action, repeating this process multiple times.

[0125] In some embodiments, the target object and the robot are facing each other; the above-mentioned lifting of either side of the target object's body by the bionic component of the robot can be achieved by the following technical solution: the first arm of the robot is moved to under the buttocks on either side of the target object, wherein the first arm and either side are on the opposite side. Since the robot and the target object are in a face-to-face state, the left arm of the robot is moved to the right armpit of the elderly, or the right arm of the robot is moved to the left armpit of the elderly; the second arm of the robot is moved to the armpit on the other side of the target object; an upward force is applied to the target object by the arms and waist of the robot to lift either side of the target object's body.

[0126] As an example, see Figure 8. The robot's left hand supports the elderly person's left hip and right armpit. Using both arms and waist, the robot lifts the elderly person's left side, moving it in front of the elderly person and behind the robot. Then, it lowers the elderly person. The robot then performs a mirrored movement: its left hand supports the elderly person's right armpit and right hand supports the elderly person's left armpit. Using both arms and waist, the robot lifts the elderly person's right side, moving it in front of the elderly person and behind the robot. Then, it lowers the elderly person. This movement is repeated until the elderly person is seated on the edge of the bed, ready for the next step.

[0127] In some embodiments, referring to FIG3D , FIG3D is a fourth flow chart of the motion processing method of the robot provided in an embodiment of the present application; in step 103, the bionic component of the robot is used to autonomously execute each action in the third action sequence on the target object supported by the first target object in sequence, so as to adjust the target object from sitting up on the first target object to sitting up on the second target object, which can be achieved through steps 1031 to 1033 shown in FIG3D .

[0128] In step 1031 , both arms of the robot move to the armpits on both sides of the target object to lift the target object and move it away from the first target object.

[0129] As an example, motion design needs to consider energy conservation. The robot is positioned as close to the elderly person as possible to reduce the lever arm. While still able to reach the elderly person, the robot minimizes forward lean at the waist. The robot's two hands collaborate to reduce the force exerted by each hand, keeping the distance between the two points of application as large as possible. Considering the human body structure, the robot's arms extend as far as possible under the elderly person's armpits, bringing the elderly person close to the robot's body. The robot then applies force with the front of its upper arms, resulting in a smaller lever arm and a lower load on the robot.

[0130] In step 1032 , the robot performs a turning action to place the target object directly above the second target object.

[0131] As an example, the robot only needs to slightly lift the elderly person (the lifting distance is less than the first distance threshold, which is the maximum distance obtained through experiments to allow the elderly person to leave the support of the bed while retaining the support of the ground for the elderly person's legs), and then turn to the wheelchair to obtain the support of the wheelchair. The entire action process is short and the load on the robot is low.

[0132] In step 1033 , the robot places the target object on the second target object.

[0133] For example, when the target object is confirmed to be directly above the second target object, the robot's arm moves downward to lower the target object's center of gravity, placing the target object on the second target object. In other words, the robot's arm moves downward, lowering the elderly person's hips until they are supported by the wheelchair, thereby securing the elderly person in the wheelchair.

[0134] As an example, the third action sequence is used to assist an elderly person to move from a bed to a wheelchair. The action design needs to take stability into consideration. The initial and final states of the elderly person are both stable (sitting position). The robot applies a small inward force to the elderly person and a force to hold the robot tightly. The robot should be as close to the elderly person as possible to resist the risk of tipping over. The action design needs to take spatial interference into consideration to avoid interference between the elderly person's legs and the robot's legs. The robot's outer legs are wider, so the outer legs are in front. While moving forward as close to the elderly person as possible, the elderly person's legs are placed between the robot's legs. At this time, the projection position of the elderly person's body center of gravity on the ground is within the robot's support area, and the risk of tipping over is also low. The support area of ​​the robot is: the area formed by the components or structures in the robot's structure that are used to fix, stabilize and support the robot body. Taking the wheel-legged robot in the embodiment of the present application as an example, the polygonal area formed by the landing position of each wheel of the robot is the support area of ​​the robot.

[0135] In some embodiments, before executing step 1031, the robot's arms move the second target object to the side of the first target object, and the second target object forms a right angle with the first target object; the robot stabilizes the second target object so that the second target object is in a stable state.

[0136] For example, assuming the second target object is a chair and the first target object is a bed, forming a right angle between the second target object and the first target object means that the seat edge of the chair and the side edge of the bed form a right angle. The seat edge of the chair is the edge parallel to the chair backrest. Referring to Figure 7A, the seat edge L1 of the chair and the side edge L2 of the bed form a right angle.

[0137] For example, if the second target object is a wheelchair, and the wheelchair is provided with wheels, the wheelchair may be displaced due to external collisions, causing the wheelchair to be unstable. The stabilization process for the second target object is to move the second target object or adjust the fastening components of the second target object so that the second target object maintains its position unchanged on the support surface. For example: the wheel part of the wheelchair is provided with a fastening component (such as a brake). When the fastening component is in a locked state, the wheel cannot rotate and the wheelchair is in a stable state. For a wheelchair, the stabilization process can be a process in which a robot adjusts the fastening components of the wheelchair to a locked state.

[0138] In the embodiment of the present application, by stabilizing the second target object, it is possible to avoid the second target object from moving excessively during the process of moving the target object to the second target object, thereby improving the success rate of moving the target object and the safety of the target object.

[0139] In some embodiments, before step 1031, the robot removes obstacles in the area where the second target object is located; the robot's front legs move to both sides of the target object's legs to form a range of motion for the target object's legs; the robot places the target object's arms on both sides of the target object's body, and the target object's arms are in a drooping state; wherein the drooping state and the range of motion are used to ensure that the target object remains stable during the process of lifting the target object and leaving the first target object.

[0140] For ease of understanding, refer to FIG8 . Taking the left side in FIG8 as an example, the robot's outer leg 801 is in front, the robot is as close to the elderly as possible, and leaves enough range of motion for the elderly's legs 802 .

[0141] As an example, motion design needs to take stability into consideration. Before moving the target object from the first target object to the second target object, clearing obstacles around the second target object can prevent the robot and the target object from colliding with obstacles during movement, thereby improving stability and safety during movement. Assisting the target object to place its arms in a drooping state on both sides of the body facilitates the stability of the force when the robot places its arms under the target object's armpits, reducing the risk of the robot tipping over. The robot's front legs move to both sides of the target object's legs to allow the target object's legs to have a range of motion, avoiding squeezing of the target object's legs by the robot's legs during movement, thereby improving the safety and comfort of the target object during the robot's movement of the target object.

[0142] In some embodiments, referring to FIG3E , FIG3E is a fifth flow chart of the robot motion processing method provided in an embodiment of the present application, which will be described in conjunction with steps 201 to 202 shown in FIG3E . Each of the actions involved in the embodiments of the present application corresponds to a posture change of the target object, and the posture change from the first posture to the second posture is obtained based on multiple posture changes in the action sequence.

[0143] In step 201, the robot moves to a range of motion of the target object, wherein the target object is supported by a target object, and the range of motion is an area in which the robot can perform motions on the target object.

[0144] In step 202, each action in the action sequence is autonomously and sequentially performed on the target object by the bionic component of the robot, so as to adjust the target object from a first posture to a second posture on the target object.

[0145] The action sequence here can be a first action sequence, a second action sequence, a third action sequence and a fourth action sequence. When the action sequence is the first action sequence, the first posture is that the target object is lying on its back on the first target object, and the second posture is that the target object is lying on its side on the first target object; after executing the first action sequence, the second action sequence can be executed. When the action sequence is the second action sequence, the first posture is that the target object is lying on its side on the first target object, and the second posture is that the target object is sitting up on the first target object; after executing the first action sequence, the fourth action sequence can be executed. When the action sequence is the fourth action sequence, the first posture is that the target object is sitting up on the first target object, and the second posture is that the target object is sitting up on the edge of the first target object; after executing the fourth action sequence, the third action sequence can be executed. When the action sequence is the third action sequence, the first posture is that the target object is sitting up on the edge of the first target object, and the second posture is that the target object is sitting up on the second target object.

[0146] Through the bionic components of the robot, each action in the action sequence is autonomously performed in sequence on the target object supported by the target object, so as to adjust the target object from a first posture to a second posture on the target object; each action corresponds to a posture change of the target object, and the posture change from the first posture to the second posture is obtained based on multiple posture changes of the action sequence. Through the present application, the posture of the target object can be changed in sequence through the action sequence under the premise of having autonomy, so as to finally complete the adjustment of the target object from the first posture to the second posture. Since the final posture adjustment is achieved based on multiple actions, the convenience and safety of the posture adjustment process can be improved.

[0147] The following describes an exemplary application of the embodiments of the present application in a practical application scenario.

[0148] When the robot observes a disabled elderly person, the robot collects status data of the disabled elderly person and sends the status data to the server 200. The server 200 recognizes the intention of the disabled elderly person, thereby sensing that the disabled elderly person has the need to transfer from the bed to the wheelchair. The server 200 sends the action execution instructions of the first action sequence, the second action sequence and the third action sequence to the robot, so that the robot autonomously performs each action in the first action sequence on the disabled elderly person supported by the bed in sequence, so as to adjust the disabled elderly person from lying on his back in bed to lying on his side in bed; the robot autonomously performs each action in the second action sequence on the disabled elderly person supported by the bed in sequence, so as to adjust the disabled elderly person from lying on his side in bed to sitting up in bed; the robot autonomously performs each action in the third action sequence on the disabled elderly person supported by the bed in sequence, so as to adjust the disabled elderly person from sitting up in bed to sitting up in a wheelchair.

[0149] Human habitation robots are used to assist disabled elderly people in transferring from bed to wheelchair in elderly care scenarios. The main action implementation steps include: assisting the elderly from supine to side-lying, from side-lying to sitting up, moving closer to the bedside when sitting up, and from bed to wheelchair. The main action sequence is formulated in accordance with safety, mainly considering three principles: avoiding spatial interference, maintaining stability, and saving effort (minimizing the load borne by the robot, reducing energy consumption, and ensuring safety). According to the principles of stability and effort saving, a large task is completed through a series of simple action sequences, in which each action only slightly changes the posture of the elderly, so as to make full use of the support of the bed, the ground, the wheelchair, etc. Before and after each action, the elderly are in a stable state without external assistance.

[0150] The embodiments of the present application are mainly applicable to the following two categories of elderly people: 1. Elderly people who are slightly weak overall and clinically only need one caregiver to assist them in completing position transfer, such as elderly people who can sit stably but cannot transfer position independently; 2. Elderly people who are slightly weak on one side of the body and need slight assistance.

[0151] For the elderly individuals described above, assistance is only required during relocation, without the robot bearing their entire weight. Part of the elderly person's weight is supported by themselves, the ground, the bed, and other factors, placing a relatively low load on the robot. Conventional service robots can meet these requirements. Furthermore, for the same reasons mentioned above, providing assistance requires a series of actions, each of which only slightly alters the elderly person's state, thereby fully leveraging the support of the environment. Furthermore, between actions, the elderly person can remain stable, eliminating the need for the robot to provide constant support. Conversely, if the goal is achieved through a single change in the elderly person's state, it would be difficult to rely on the environment, and the robot would have to bear the majority of the elderly person's weight. Conventional service robots lack such a high load capacity, which would also be detrimental to safety and energy efficiency.

[0152] Before the main steps of the movement are implemented, necessary preparations need to be made, including cleaning the environment, preparing the wheelchair, and properly positioning the elderly person's limbs before assisting them in transferring to ensure safety during the transfer. Disabled elderly people have relatively weak limbs, and changing their posture through their limbs cannot fully control their posture, increasing the risk of sprains. Therefore, the trunk needs to be used to change the elderly person's posture.

[0153] The following describes the first action sequence, which assists an elderly person from a supine to side-lying position. Initially, the elderly person is lying flat on their back. The robot first moves their legs from a straight position to a position with their knees bent upward, and places their arms across their chest to prevent them from being crushed. The robot then supports the elderly person's hips with its left hand and their shoulders with its right hand, applying force upward and backward to shift the elderly person from a supine position to a side-lying position.

[0154] The second action sequence is introduced below, which is used to assist the elderly person from lying on their side to sitting up. The elderly person's legs are lowered to the edge of the bed. The robot supports the elderly person's upper hip with its left hand and the lower shoulder with its right hand. The left hand exerts force downward to the left, and the right hand exerts force upward to the left to move the elderly person from lying on his side to sitting up.

[0155] The third action sequence is introduced below. It is used to assist the elderly person from the bed to the wheelchair. The robot supports the elderly person under the armpits with both arms, lifts the elderly person up, turns on the spot, and places the elderly person in the wheelchair.

[0156] The fourth action sequence is used to assist the elderly person in sitting up and moving closer to the bedside for transfer. The robot's left hand supports the elderly person's right hip and right hand supports the elderly person's left armpit. Simultaneously, the robot lifts the elderly person's left half of the body, moves it a short distance forward, and then lowers the elderly person. The robot then switches to the right side and performs a mirrored action, repeating this process multiple times.

[0157] The above-mentioned action sequence is completed by a robot, which requires the robot to have flexible arms (6 degrees of freedom and above), palms, waist, and lower limbs that can ensure stable support and in-situ turning. Robots with these can all be applied to the action processing method provided in the embodiment of the present application. The action processing method provided in the embodiment of the present application mainly focuses on the basic action design under the principle of safety. In the specific robot implementation process, it is necessary to cooperate with the robot's flexible control, the elderly's intention recognition and a complete exception handling safety strategy to further ensure safety.

[0158] The embodiments of this application utilize a humanoid robot, including a waist, robotic arms, and hands, capable of performing humanoid movements. The motion processing methods provided in the embodiments of this application are applicable to all general-purpose robotic devices, without the need for specialized design. In addition to assisting elderly individuals with relocation, the robot can also be used for other service functions, such as delivering items, pushing wheelchairs, assisting with walking and climbing stairs, preparing meals, and opening doors. The robot can autonomously complete the task of assisting the elderly with relocation, without the need for human intervention or operation.

[0159] The following details the design principles for the first action sequence, which assists an elderly person from a supine to a side-lying position. Stability must be considered during movement design. The initial position (supine) is stable, and the final position (side-lying) also needs to remain stable. The patient's legs must be bent, otherwise they will be unstable when lying on their side. Therefore, when initially in the supine position, the robot first assists the patient in bending their legs. To adjust the patient from a supine to a side-lying position, the robot must apply upward and backward forces to the patient and bend forward. To maintain stability, the robot must be able to resist the risk of tipping forward. Therefore, the robot's chassis is extended as far as possible to extend under the bed, keeping it as close to the bed as possible, and supporting the bedside when necessary to prevent tipping. Later in the movement, as the patient approaches side-lying, both hands collaborate to provide counterforce to maintain stability (providing a smaller downward and forward force than the robot itself). Release hands only after the patient stabilizes. Movement design must also consider the need for effort reduction. The robot moves as close to the patient as possible to reduce the moment arm. While still able to reach the patient, the robot minimizes forward lean at the waist, using the waist to generate force to complete the movement. The coordinated force exerted by both hands reduces the force exerted by a single hand. The distance between the application points of both hands should be as large as possible. Considering the human body structure, it's more appropriate to apply force to the shoulders and hips. The motion design also needs to account for spatial interference to prevent pressure on the elderly person's hands when transitioning from supine to side-lying. Initially (in supine position), the robot assists by placing the elderly person's hands on their chest. The robot's front legs extend under the bed to increase support and stability, as both hospital beds and nursing beds have lower space.

[0160] The initial state of the first action sequence is that the elderly person is lying supine on the bed. The robot enters the room and performs the following preparatory actions: the robot clears the workspace, avoiding debris on the bed, on the sides of the bed, and between the bed and the wheelchair; see FIG5A , which is a schematic diagram of the first position change of the first action sequence provided by the embodiment of the present application. The robot 400 moves to the edge of the bed, contacts the bed to stabilize the robot body and prevent it from leaning forward. The robot moves as close to the bed (the first target object) as possible, extends its front legs 410 under the bed, and uses its legs to support the bed; the elderly person's arms 501A are placed on the chest to avoid being pressed, and the elderly person's legs 502A are changed from a straight state to a bent state. Referring to Figures 5B to 5C, Figure 5B is a schematic diagram of the second position change of the first action sequence provided by an embodiment of the present application, and Figure 5C is a schematic diagram of the third position change of the first action sequence provided by an embodiment of the present application. The robot 400 leans forward, the mechanical arm 420 is raised, the left hand holds the elderly's buttocks 502B, and the right hand holds the elderly's shoulder 501B. Both arms and waist work together to change the elderly from a lying position to a side-lying position. That is, the robot's mechanical arm holds the elderly's shoulders and buttocks, and the robot exerts force upward and backward (relative to the robot). Before completing the action, the robot will ensure the stability of the elderly and avoid toppling over. This is achieved by: the robot adjusts the force with both hands, provides a slight downward and forward force (relative to the robot), and then lets go after the elderly's posture is stable. What is shown in Figures 5A to 5C is only a schematic diagram of the action. In the specific implementation, it is necessary to make fine adjustments according to the specific shape of the robot arm and palm.

[0161] The following details the design principles for the second motion sequence, which assists the elderly person from side-lying to sitting up. Stability must be considered during motion design. The initial position (side-lying) is stable, and the final position (sitting) is also stable. To adjust the elderly person from side-lying to sitting up, the robot must apply an upward and leftward force and bend forward (the angle of the bend is less than the angle of the bend in the first motion sequence). To maintain stability, the robot must be able to resist the risk of tipping forward and right. Furthermore, considering the elderly person's overall leftward bias, the robot is initially positioned to face the elderly person to the left. The chassis is extended as far as possible under the bed, keeping it close to the bed. The right leg can support the edge of the bed to prevent tipping forward and right. Similarly, in the latter stages of the motion, both hands coordinate to provide opposing forces to maintain the elderly person's stability (left hand to the right, right hand to the left), releasing the hands once the elderly person is stable. Effort reduction must be considered during motion design. The robot moves as close to the elderly person as possible to reduce the moment arm. While still able to reach the elderly person, the robot minimizes forward tilt at the waist. The coordinated force exerted by both hands reduces the force exerted by each hand. The distance between the points of application of both hands is kept as large as possible. Considering the human body structure, it's more appropriate to apply force to the lower shoulder (right hand) and upper hip (left hand). The right hand provides upward and left force, while the left hand provides downward and left force. The motion design needs to consider spatial interference to prevent interference between the elderly person's legs and the bed when they sit up. Before starting, move the elderly person's legs off the bed and lower them beyond the edge. The robot's front legs extend under the bed to increase support and stability. Hospital beds or nursing beds have lower space, so the robot's standing position needs to be as far to the left as possible without interfering with the elderly person's legs.

[0162] The initial state of the second action sequence is after the robot completes the first action sequence. The elderly person is lying on their side in bed, and the robot is at the bedside. See Figures 6A and 6B. The preparatory action is as follows: before executing the second action sequence, the elderly person's legs are moved beyond the edge of the bed. During the process of the action switching from Figure 6A to Figure 6B, that is, during the elderly person's transition from lying on their side to sitting up, the robot faces the elderly person to the left, leans forward as much as possible, extends its front legs under the bed, and places its front legs (e.g., right front leg 422) against the edge of the bed to improve stability. Furthermore, the robot's left front leg 421 cannot spatially interfere with the elderly person's legs after sitting up. Continuing with Figure 6B, the core action is as follows: the robot's left hand supports the elderly person's upper hips, and its right hand supports the elderly person's lower shoulders. Both arms and waist exert force (the robot's left hand presses the elderly person's hips 602B and exerts force to the left, while its right hand supports the elderly person's shoulders 601B and exerts force upward and to the left) to change the elderly person from lying on their side to sitting up. Before completing the action, care must be taken to ensure the elderly person's stability to prevent them from falling.

[0163] The following describes the fourth action sequence, which assists the elderly person in sitting closer to the bedside, preparing for the next step of transferring them to a wheelchair. Stability must be considered in action design. The elderly person's initial and final states (sitting position) are both stable. The robot primarily needs to apply upward force. To maintain stability, the robot must be able to resist the risk of tipping forward, so it should be as close to the elderly person as possible. Effort reduction must be considered in action design. The robot should be as close to the elderly person as possible to reduce the lever arm. While still able to reach the elderly person, the robot should minimize forward lean at the waist. The robot's two hands should work together to reduce the force exerted by a single hand. The distance between the two hands' points of application should be as large as possible, requiring only half of the elderly person's body to be lifted and then moved a short distance to the bedside. Therefore, considering the human body structure, force should be applied to the underarm and hip areas on the same side, with the robot applying force upward and backward (relative to the robot itself). The action design needs to take spatial interference into consideration to avoid interference between the elderly person's legs and the robot's legs. See Figure 4. The robot's outer legs are wider (the distance between the two legs included in the outer legs is greater than the distance between the two legs included in the inner legs). Therefore, the outer legs are in front, moving forward as close to the elderly person as possible, while the elderly person's legs are in the middle of the robot's legs. At this time, the elderly person's body is basically in the robot's support area, and the risk of overturning is also low.

[0164] The initial state of the fourth action sequence is the sitting position of the elderly person after the completion of the second action sequence. (See Figure 8.) The robot's left hand supports the elderly person's left hip and right armpit. Using both arms and waist, the robot lifts the elderly person's left side, moves it in front of the elderly person and behind the robot, and then lowers it. Next, the robot performs a mirrored action: its left hand supports the elderly person's right armpit and right hand supports the elderly person's left armpit. Using both arms and waist, the robot lifts the elderly person's right side, moves it in front of the elderly person and behind the robot, and then lowers it. This action is repeated until the elderly person is seated on the edge of the bed, ready for the next action.

[0165] The following describes the third action sequence, which assists an elderly person in moving from a bed to a wheelchair. Stability must be considered in the action design. The elderly person's initial and final states (sitting position) are both stable. The robot primarily needs to apply an upward force, but to maintain stability, a smaller inward force and a force to hold the robot tightly are also required. The robot should be as close to the elderly person as possible to prevent the risk of tipping forward. The action design must also consider energy conservation. The robot should be as close as possible to the elderly person to reduce the lever arm. While still able to reach the elderly person, the forward lean of the waist should be minimized. The robot's two-handed collaborative force can reduce the force exerted by a single hand, and the distance between the two hands' points of application should be as large as possible. Taking the human body structure into consideration, the robot's arms extend as much as possible under the elderly person's armpits, bringing the elderly person close to the robot's body. The robot uses the front of its upper arms to exert force, resulting in a smaller lever arm and a lower load on the robot. In addition, the elderly person only needs to be slightly lifted off the bed's support (retaining the support of the ground facing the elderly person's legs), and then turned to the wheelchair for support. The entire action process is short and the load on the robot is low. Action design needs to take spatial interference into account to avoid interference between the elderly person's legs and the robot's legs. The robot's outer legs are wider, so the outer legs are in front. While moving forward as close to the elderly person as possible, the elderly person's legs are placed between the robot's legs. At this time, the elderly person's torso is basically within the robot's support area, and the risk of overturning is also low.

[0166] Referring to FIG7A , the initial state of the third action sequence is when the elderly person sits up at the edge of the bed after the second or third action sequence is completed. The preparatory action is as follows: the wheelchair 701A is moved to the edge of the bed so that the seat edge L1 of the wheelchair is at a 90-degree angle to the side edge L2 of the bed, the wheelchair wheel brakes are locked, and the wheelchair armrests 702A are raised. Referring to FIG7B , FIG7B is a schematic diagram of the second position change of the third action sequence provided in an embodiment of the present application. The core action of the third action sequence is as follows: the robot 400 supports the elderly person's armpits 701B with both arms, lifting the elderly person. The elderly person's buttocks are off the edge of the bed, but the elderly person's legs are still touching the ground. At this point, the elderly person is not fully lifted, and the robot only bears approximately 70% of the elderly person's weight. FIG7B switches to FIG7C , which is a schematic diagram of the third position change of the third action sequence provided in an embodiment of the present application. The robot 400 turns in place, moves the elderly person over the wheelchair, and lowers the elderly person so that the elderly person is sitting in the wheelchair. Before completing the action, care must be taken to ensure the elderly person's stability to prevent them from falling.

[0167] Finally, assist the elderly person to move closer to the backrest in the wheelchair. The corresponding action sequence is similar to the fourth action sequence and will not be described in detail.

[0168] The motion processing method provided in the embodiment of the present application uses a robot to complete a solution for assisting disabled elderly people to transfer their positions (from bed to chair). Compared with special beds, wheelchairs, special equipment, etc., the embodiment of the present application is more humane and can provide emotional care. The embodiment of the present application is universal and applicable to other similar robots. The robot may provide other elderly care and home services in addition to assisting transfer. The motion processing method provided in the embodiment of the present application is autonomous and does not require manual operation, which can solve the pain points in elderly care services.

[0169] It is understandable that in the embodiments of the present application, when user information and other related data are involved, when the embodiments of the present application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0170] The following continues to describe an exemplary structure of the robot's motion processing device 255 provided in an embodiment of the present application implemented as a software module. In some embodiments, as shown in Figure 2, the software modules stored in the robot's motion processing device 255 in the memory 250 may include: a first motion module, configured to autonomously and sequentially perform each motion in a first motion sequence on a target object supported by a first target object through the bionic components of the robot, so as to adjust the target object from lying on its back on the first target object to lying on its side on the first target object; a second motion module, configured to autonomously and sequentially perform each motion in a second motion sequence on the target object supported by the first target object through the bionic components of the robot, so as to adjust the target object from lying on its side on the first target object to sitting up on the first target object; a third motion module, configured to autonomously and sequentially perform each motion in a third motion sequence on the target object supported by the first target object through the bionic components of the robot, so as to adjust the target object from sitting up on the first target object to sitting up on the second target object; wherein each of the motions corresponds to a posture change of the target object, and each adjustment of the target object is obtained based on multiple posture changes of the corresponding motion sequence.

[0171] In some embodiments, the first action module is further configured as follows: the waist of the robot is tilted toward the direction corresponding to the target object so that the target object is within the range of motion of the robot; the first arm of the robot moves to the hips of the target object, and the second arm of the robot moves upward to the shoulder of the target object; the hips of the target object are used as the force point of the first arm of the robot, and the shoulder of the target object is used as the force point of the second arm of the robot, and force is exerted on the target object through the first arm and the second arm to adjust the target object from lying on its back on the first target object to lying on its side on the first target object.

[0172] In some embodiments, the first action module is further configured to: apply a force away from the robot to the target object through the first arm and the second arm to adjust the target object from lying on its back to lying on its side with its back facing the robot; or apply a force toward the robot through the first arm and the second arm to adjust the target object from lying on its back to lying on its side facing the robot.

[0173] In some embodiments, the first action module is further configured to: tilt the robot's waist toward the direction corresponding to the target object so that the target object is within the robot's range of action, and the robot removes obstacles in the area where the target object is located; the robot's front legs are straightened under the first target object to form a support structure; the robot places the target object's arms on the target object's chest; the robot adjusts the target object's legs from a straight state to a bent state; wherein the bent state, the support structure, and the placement of the arms are used to keep the target object stable during the process of adjusting from lying on its back on the first target object to lying on its side on the first target object.

[0174] In some embodiments, the second action module is further configured as follows: the first arm of the robot moves to the upper hip of the target object; the second arm of the robot moves to the lower side of the shoulder of the target object; the upper hip of the target object is used as the force point of the first arm of the robot, and the lower side of the shoulder of the target object is used as the force point of the second arm of the robot, and the first arm and the second arm are used to exert force on the target object to adjust the target object from lying on its side on the first target object to sitting up on the first target object.

[0175] In some embodiments, the second action module is further configured to: apply a force parallel to the plane of the target object's legs and perpendicular to the target object's legs to the upper hip of the target object through the first arm; and apply a force parallel to the plane of the target object's body and perpendicular to the target object's upper limbs to the lower side of the target object's shoulder through the second arm.

[0176] In some embodiments, the third action module is further configured to: autonomously and sequentially perform each action in the third action sequence on the target object supported by the first target object through the bionic component of the robot, so as to adjust the target object from sitting up on the first target object to sitting up on the second first target object, and before the target object is at the edge of the first target object, perform the following processing: lift the body of the target object on either side through the bionic component of the robot, and move the body of the target object on either side toward the edge of the first target object, and place the target object on the first target object; lift the body of the target object on the other side through the bionic component of the robot, and move the body of the target object on the other side toward the edge of the first target object, and place the target object on the first target object.

[0177] In some embodiments, the third action module is further configured as follows: the first arm of the robot moves to under the buttocks on either side of the target object, wherein the first arm and the either side are on the opposite side; the second arm of the robot moves to the armpit on the other side of the target object; and an upward force is applied to the target object by both arms of the robot to lift the body on either side of the target object.

[0178] In some embodiments, the third action module is further configured as follows: the robot's arms move to the armpits on both sides of the target object to lift the target object and move it away from the first target object; the robot performs a turning action to make the target object directly above the second target object; and the robot places the target object on the second target object.

[0179] In some embodiments, the third action module is further configured as follows: the robot's arms move the second target object to the side of the first target object, and a right angle is formed between the second target object and the first target object; the robot stabilizes the second target object so that the second target object is in a stable state.

[0180] In some embodiments, a motion processing device of a robot includes: a moving module, configured to move the robot to the motion range of the target object, wherein the target object is supported by the target object, and the motion range is the area range in which the robot can perform actions on the target object; a fourth action module, configured to autonomously and sequentially perform each action in an action sequence on the target object supported by the target object through the bionic components of the robot, so as to adjust the target object from a first posture to a second posture on the target object; wherein each of the actions corresponds to a posture change of the target object, and the posture change from the first posture to the second posture is obtained based on multiple posture changes in the action sequence.

[0181] An embodiment of the present application provides a robot, comprising: a bionic component and a controller; the controller is used to control the bionic component to execute the robot motion processing method described above in the embodiment of the present application.

[0182] An embodiment of the present application provides an electronic device for controlling a robot, comprising: a memory for storing computer-executable instructions; and a processor for controlling the robot to execute the robot motion processing method described above in the embodiment of the present application when executing the computer-executable instructions stored in the memory.

[0183] The present invention provides a computer program product comprising computer-executable instructions stored in a computer-readable storage medium. A processor of an electronic device for controlling a robot reads the computer-executable instructions from the computer-readable storage medium and executes the computer-executable instructions, causing the electronic device for controlling the robot to perform the robot motion processing method described in the present invention.

[0184] An embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions, wherein computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, the processor will cause the processor to execute the robot motion processing method provided by an embodiment of the present application, for example, the robot motion processing method shown in Figures 3A to 3E.

[0185] In some embodiments, the computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface storage, optical disk, or CD-ROM; or various devices including one or any combination of the above memories.

[0186] In some embodiments, computer-executable instructions may be in the form of a program, software, software module, script, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0187] As an example, computer-executable instructions may, but need not, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, such as in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinating files (e.g., files storing one or more modules, subroutines, or code portions).

[0188] As an example, computer-executable instructions may be deployed to be executed on one electronic device that controls a robot, or on multiple electronic devices that control robots located at one location, or on multiple electronic devices that control robots distributed at multiple locations and interconnected by a communication network.

[0189] In summary, through the bionic components of the robot, each action in the action sequence is autonomously performed in sequence on the target object supported by the target object, so as to adjust the target object from the first posture to the second posture on the target object; each action corresponds to a posture change of the target object, and the posture change from the first posture to the second posture is obtained based on multiple posture changes of the action sequence. Through the present application, the posture of the target object can be changed in sequence through the action sequence under the premise of having autonomy, so as to finally complete the adjustment of the target object from the first posture to the second posture. Since the final posture adjustment is achieved based on multiple actions, the convenience and safety of the posture adjustment process can be improved.

[0190] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements, and improvements made within the spirit and scope of the present application are included in the scope of protection of the present application.

Claims

1. A robot motion processing method, the method comprising: By means of the bionic component of the robot, each action in the first action sequence is autonomously performed in sequence on the target object supported by the first target object, so as to adjust the target object from lying on its back on the first target object to lying on its side on the first target object; By means of the bionic component of the robot, each action in the second action sequence is autonomously performed in sequence on the target object supported by the first target object, so as to adjust the target object from lying on its side on the first target object to sitting up on the first target object; By means of the bionic component of the robot, each action in a third action sequence is autonomously performed in sequence on the target object supported by the first target object, so as to adjust the target object from sitting up on the first target object to sitting up on the second target object; The second target object is an object different from the first target object, each of the actions corresponds to a posture change of the target object, and each adjustment of the target object is obtained based on multiple posture changes of the corresponding action sequence.

2. The method according to claim 1, wherein: The method of autonomously and sequentially performing each action in a first action sequence on a target object supported by a first target object by using the bionic component of the robot, so as to adjust the target object from lying supinely on the first target object to lying sideways on the first target object, comprises: The waist of the robot is tilted toward the direction corresponding to the target object so that the target object is within the action range of the robot; The first arm of the robot moves to the hip of the target object, and the second arm of the robot moves upward to the shoulder of the target object; The buttocks of the target object are used as the force point of the first arm of the robot, and the shoulder of the target object is used as the force point of the second arm of the robot. The first arm and the second arm are used to exert force on the target object to adjust the target object from lying on its back on the first target object to lying on its side on the first target object.

3. The method according to claim 2, wherein: The step of applying force to the target object by using the first arm and the second arm to adjust the target object from lying supinely on the first target object to lying sideways on the first target object includes: Applying a force to the target object away from the robot by the first arm and the second arm to adjust the target object from lying on its back to lying on its side with its back facing the robot; or A force acting on the target object toward the robot is applied by the first arm and the second arm to adjust the target object from lying on its back to lying on its side facing the robot.

4. The method according to claim 2, wherein: Before the waist of the robot is tilted toward the direction corresponding to the target object so that the target object is within the action range of the robot, the method further includes: The robot removes obstacles in the area where the target object is located; The front legs of the robot are extended below the first target object to form a support structure; The robot places both arms of the target object on the chest of the target object; The robot adjusts the legs of the target object from a straight state to a bent state; The bent state, the support structure, and the placement of the two arms are used to keep the target object stable during the process of adjusting from lying supinely on the first target object to lying sideways on the first target object.

5. The method according to any one of claims 1 to 4, wherein: The step of autonomously and sequentially performing each action in a second action sequence on a target object supported by the first target object through the bionic component of the robot, so as to adjust the target object from lying sideways on the first target object to sitting up on the first target object, comprises: The first arm of the robot moves to the upper hip of the target object; The second arm of the robot moves to the underside of the shoulder of the target object; The upper hip of the target object is used as the force point of the first arm of the robot, and the lower side of the shoulder of the target object is used as the force point of the second arm of the robot. The first arm and the second arm are used to exert force on the target object to adjust the target object from lying on its side on the first target object to sitting up on the first target object.

6. The method according to claim 5, wherein: The applying force to the target object by using the first arm and the second arm includes: Applying a force parallel to the plane of the legs of the target object and perpendicular to the legs of the target object to the upper hip of the target object through the first arm; A force parallel to the target object's body plane and perpendicular to the target object's upper arm is applied to the target object's lower shoulder through the second arm.

7. The method according to any one of claims 1 to 6, wherein: The method further comprises: autonomously and sequentially performing each action in a third action sequence on the target object supported by the first target object by the bionic component of the robot, so as to adjust the target object from sitting up on the first target object to sitting up on a second first target object; When the target object is not at the edge of the first target object, the following processing is performed: Lifting the body of the target object on either side by using the bionic component of the robot, and moving the body of the target object on either side toward the edge of the first target object, so as to place the target object on the first target object; The body on the other side of the target object is lifted by the bionic component of the robot, and the body on the other side of the target object is moved toward the edge of the first target object, so that the target object is placed on the first target object.

8. The method of claim 7, wherein: The target object and the robot are facing each other; and the step of lifting the target object on any side of its body by using the bionic component of the robot comprises: The first arm of the robot moves to under the buttocks of either side of the target object, wherein the first arm and the either side are on the opposite side; The second arm of the robot moves to the armpit on the other side of the target object; An upward force is applied to the target object by the double arms of the robot to lift the body on either side of the target object.

9. The method according to any one of claims 1 to 8, wherein: The step of autonomously and sequentially performing each action in a third action sequence on the target object supported by the first target object through the bionic component of the robot, so as to adjust the target object from sitting up on the first target object to sitting up on the second target object, comprises: The two arms of the robot move to the armpits of both sides of the target object respectively to lift the target object and leave the first target object; The robot performs a turning action so that the target object is directly above the second target object; The robot places the target object at the second target object.

10. The method according to claim 9, wherein: The method further comprises: The double arms of the robot move the second target object to the side of the first target object, and the second target object forms a right angle with the first target object; The robot performs stabilization processing on the second target object so that the second target object is in a stable state.

11. The method according to claim 9, wherein: Before the two arms of the robot move to the armpits of both sides of the target object respectively to lift the target object and leave the first target object, the method further includes: The robot removes obstacles in the area where the second target object is located; The front legs of the robot move to both sides of the legs of the target object to form a range of motion for the legs of the target object; The robot places the arms of the target object on both sides of the body of the target object, with the arms of the target object in a drooping state; The drooping state and the movable range are used to ensure that the target object remains stable during the process of lifting the target object and leaving the target object from the first target object.

12. The method according to any one of claims 1 to 11, wherein: The method further comprises: The bionic part of the robot comprises a leg assembly, a trunk and a mechanical arm, the mechanical arm comprises a first arm and a second arm, the leg assembly comprises an inner leg and an outer leg, and the leg assembly and the mechanical arm are arranged on the trunk; The robotic arm is used to adjust the posture of the target object; The end of the leg assembly in contact with the contact surface is configured as any one of the following components: a track, a wheel, and a suction cup.

13. A method for processing a robot's motion, the method comprising: The robot moves to the action range of the target object, wherein the target object is supported by a target object, and the action range is the area in which the robot can perform actions on the target object; autonomously and sequentially performing each action in the action sequence on the target object through the bionic component of the robot, so as to adjust the target object from a first posture to a second posture on the target object; Each of the actions corresponds to a posture change of the target object, and the posture change from the first posture to the second posture is obtained based on multiple posture changes of the action sequence.

14. A robot motion processing device, the device comprising: A moving module, configured to move the robot to within the action range of the target object, wherein the target object is supported by a target object, and the action range is an area range in which the robot can perform actions on the target object; a fourth action module configured to autonomously and sequentially perform each action in the action sequence on the target object supported by the target object through the bionic component of the robot, so as to adjust the target object on the target object from the first posture to the second posture; Each of the actions corresponds to a posture change of the target object, and the posture change from the first posture to the second posture is obtained based on multiple posture changes of the action sequence.

15. A robot motion processing device, the device comprising: a first action module configured to autonomously and sequentially perform each action in a first action sequence on a target object supported by a first target object through a bionic component of the robot, so as to adjust the target object from lying supinely on the first target object to lying sideways on the first target object; a second action module configured to autonomously and sequentially perform each action in a second action sequence on a target object supported by the first target object through a bionic component of the robot, so as to adjust the target object from lying sideways on the first target object to sitting up on the first target object; a third action module configured to autonomously and sequentially perform each action in a third action sequence on the target object supported by the first target object through the bionic component of the robot, so as to adjust the target object from sitting up on the first target object to sitting up on the second target object; The second target object is an object different from the first target object, each of the actions corresponds to a posture change of the target object, and each adjustment of the target object is obtained based on multiple posture changes of the corresponding action sequence.

16. A robot, comprising: Bionic components and controllers; A controller is used to control the bionic component to execute the robot action processing method described in any one of claims 1 to 12 or claim 13.

17. An electronic device for controlling a robot, the electronic device comprising: A memory for storing computer executable instructions; A processor is used to control the robot to implement the robot action processing method according to any one of claims 1 to 12 or claim 13 when executing the computer executable instructions stored in the memory.

18. A computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions, when executed by a processor, implement the robot motion processing method according to any one of claims 1 to 12 or claim 13.

19. A computer program product, comprising computer executable instructions, which, when executed by a processor, implement the robot action processing method according to any one of claims 1 to 12 or claim 13.

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