Robot, robot control method, robot control apparatus, electronic device, computer storage medium, and computer program product

Abstract

Provided in the present application are a robot, a robot control method and apparatus, an electronic device, and a storage medium. The robot comprises: a base, a robot body and a leg assembly, wherein one end of the robot body is connected to the base by means of a first connecting member; the leg assembly comprises a plurality of robotic legs, one end of each robotic leg being connected to the base by means of a different second connecting member; and a first rotating shaft is provided on a first robotic leg among the plurality of robotic legs, the first rotating shaft is configured to connect to a support chassis, the support chassis comprising a first side and a second side, the first side of the support chassis being provided with first moving wheels, and the first rotating shaft rotates to make the support chassis form a first relative position and a second relative position relative to the first robotic leg, in the first relative position, the first moving wheels being configured to come into contact with a support surface, and in the second relative position, the second side of the support chassis being configured to come into contact with the support surface.

Description

Robot, robot control method, robot control device, electronic device, computer storage medium, and computer program product

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on the Chinese patent application with application number 202410108694.4 and application date of January 25, 2024, 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 robots and artificial intelligence technology, and in particular to a robot, a robot control method, a robot control device, an electronic device, a computer storage medium, and a computer program product. Background Art

[0004] With the continuous development of robotics, robotic mobility has attracted considerable attention. This capability is fundamental to deploying robots in diverse scenarios. In these technologies, the primary modes of robot movement are either leg-based or wheeled. This single mode of movement compromises the stability of robots in various scenarios, affecting their operational efficiency.

[0005] In the related technologies, there is currently no good way to improve the stability of robots moving in complex environments. Summary of the Invention

[0006] Embodiments of the present application provide a robot, a robot control method, a robot control device, an electronic device, a computer storage medium, and a computer program product, which can improve the stability of the robot's movement in a complex environment.

[0007] The technical solution of the embodiment of the present application is implemented as follows:

[0008] An embodiment of the present application provides a robot, comprising: a base, a robot body, and a leg assembly;

[0009] One end of the robot body is connected to the base via a first connecting member;

[0010] The leg assembly includes a plurality of mechanical legs, and one end of each of the mechanical legs is connected to the base via a different second connecting member;

[0011] A first rotating shaft is provided on a first mechanical leg among the plurality of mechanical legs, the first rotating shaft being used to connect to a supporting chassis, the supporting chassis comprising a first surface and a second surface, a first moving wheel being provided on the first surface of the supporting chassis, and the first rotating shaft is rotated so that the supporting chassis forms a first relative position and a second relative position relative to the first mechanical leg;

[0012] Wherein, in the first relative position, the first moving wheel is used to contact the support surface;

[0013] In the second relative position, the second surface of the support chassis is adapted to contact a support surface.

[0014] The present invention provides a method for controlling a robot, wherein the method is used to control the robot according to the embodiment of the present invention, and the method includes:

[0015] Obtaining environmental information of the current environment of the robot;

[0016] In response to a current environment in which the robot is located meeting a first contact condition, controlling a first rotation axis of the first mechanical leg of the robot to rotate the support chassis to form a first relative position;

[0017] In response to the current environment not satisfying the first contact condition, the first rotation axis of the first mechanical leg of the robot is controlled to rotate the support chassis to form a second relative position.

[0018] An embodiment of the present application provides a robot control device, which is used to control the robot as described in the embodiment of the present application, including:

[0019] An acquisition module configured to acquire environmental information of the current environment in which the robot is located;

[0020] a switching module configured as a module configured to control the first rotation axis of the first mechanical leg of the robot to rotate the support chassis to form a first relative position in response to environmental information of the environment in which the robot is located satisfying a first contact condition;

[0021] The switching module is further configured to control the first rotation axis of the first mechanical leg of the robot to rotate the supporting chassis to form a second relative position in response to the environmental information not satisfying the first contact condition.

[0022] An embodiment of the present application provides an electronic device, comprising:

[0023] a memory for storing computer-executable instructions or computer programs;

[0024] The processor is used to implement the robot control method provided in the embodiment of the present application when executing the computer executable instructions or computer program stored in the memory.

[0025] An embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions or a computer program, which is used to implement the robot control method provided in the embodiment of the present application when executed by a processor.

[0026] An embodiment of the present application provides a computer program product, including a computer program or computer-executable instructions. When the computer program or computer-executable instructions are executed by a processor, the robot control method provided by the embodiment of the present application is implemented.

[0027] The embodiments of the present application have the following beneficial effects:

[0028] The robot's main body and mechanical legs are connected via a base plate, making the robot's mechanical legs relatively independent of the main body, increasing the robot's flexibility. Multiple mechanical legs support the main body on the basis of the base. By providing the robot with multiple mechanical legs, the robot's balance and stability are enhanced. The ends of the multiple mechanical legs contact the support surface, meeting the needs of more diverse terrain environments and facilitating the robot's adaptation to different environments. By providing a first mechanical leg among the multiple mechanical legs, and the first mechanical leg including a support chassis and moving wheels, the robot's support method can be switched. When the plane of the supporting floor contacts the support surface, the robot's stability can be improved. When the moving wheels contact the support surface, the robot's movement speed on the support surface can be increased. The switched support method improves the robot's versatility in complex environments, thereby improving the robot's work efficiency and mobility efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] FIG1A is a schematic diagram of a first application mode of a robot control method provided by an embodiment of the present application;

[0030] FIG1B is a schematic diagram of a second application mode of the robot control method provided in an embodiment of the present application;

[0031] FIG2A is a schematic diagram of the structure of a terminal device provided in an embodiment of the present application;

[0032] FIG2B is a schematic structural diagram of a robot provided in an embodiment of the present application;

[0033] FIG3 is a schematic flow chart of a robot control method according to an embodiment of the present application;

[0034] FIG4A is a first structural diagram of a robot provided in an embodiment of the present application;

[0035] FIG4B is a second structural diagram of the robot provided in an embodiment of the present application;

[0036] FIG4C is a third structural diagram of the robot provided in an embodiment of the present application;

[0037] FIG4D is a schematic structural diagram of a leg assembly of a robot provided in an embodiment of the present application;

[0038] FIG4E is a first structural diagram of the robot body of the robot provided in an embodiment of the present application;

[0039] FIG5A is a first structural diagram of a base and leg assembly of a robot provided in an embodiment of the present application;

[0040] FIG5B is a second structural diagram of the base and leg assembly of the robot provided in an embodiment of the present application;

[0041] FIG5C is a schematic diagram of a fifth relative position of the first mechanical leg of the robot provided in an embodiment of the present application;

[0042] 5D is a first schematic diagram of a fourth relative position of the first mechanical leg of the robot provided by an embodiment of the present application;

[0043] FIG5E is a second schematic diagram of the fourth relative position of the first mechanical leg of the robot provided by an embodiment of the present application;

[0044] FIG5F is a third structural diagram of the base and leg assembly of the robot provided in an embodiment of the present application;

[0045] FIG5G is a fourth structural diagram of the base and leg assembly of the robot provided in an embodiment of the present application;

[0046] FIG6 is a second structural diagram of the robot body of the robot provided in an embodiment of the present application;

[0047] FIG7A is a first structural diagram of a supporting chassis of a robot provided in an embodiment of the present application;

[0048] FIG7B is a second structural diagram of the support chassis of the robot provided in an embodiment of the present application;

[0049] FIG7C is a third structural diagram of the support chassis of the robot provided in an embodiment of the present application;

[0050] FIG7D is a fourth structural diagram of the support chassis of the robot provided in an embodiment of the present application;

[0051] FIG8 is a schematic diagram of the structure of a machine learning model provided in an embodiment of the present application;

[0052] FIG9A is a first schematic diagram of a connector provided in an embodiment of the present application;

[0053] FIG9B is a second schematic diagram of a connector provided in an embodiment of the present application;

[0054] FIG9C is a third schematic diagram of the connector provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] 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.

[0056] 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.

[0057] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "close", "adjacent", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0058] 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.

[0059] It should be pointed out that the relevant data collection and processing in this application (for example, the robot's collection of data on the surrounding environment) should be strictly in accordance with the requirements of relevant national laws and regulations when applied in practice, and the informed consent or separate consent of the personal information subject should be obtained. Subsequent data use and processing should be carried out within the scope of authorization of laws and regulations and the personal information subject.

[0060] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program that has a predetermined function and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories) or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0061] 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.

[0062] Before further explaining 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.

[0063] 1) Robot: A machine that can be programmed and automatically controlled to perform tasks such as movement or movement. Possessing fundamental capabilities such as perception, decision-making, and execution, robots can assist or even replace humans in completing dangerous, arduous, and complex tasks, improving work efficiency and quality, contributing to human well-being and expanding the scope of human activities and capabilities.

[0064] 2) Kinematic Pair: A movable connection between two components that directly contact and produce relative motion. The points, lines, and surfaces on the two components that form the kinematic pair are called kinematic pair elements. Types include: revolute, translation, screw, and helical pairs.

[0065] 3) Linear pair: It is a kinematic pair in which two surfaces are parallel to each other and one surface slides on the other surface.

[0066] 4) Revolute: Also known as a rotational pair, this is a type of kinematic pair, usually denoted by the letter R. A revolute pair allows two components to rotate relative to each other about a common axis, through an angle α. The vertical distance L between the two components is a constant, called the offset.

[0067] 5) Direct driver: refers to the direct rigid connection between the motor and the driven workpiece, without intermediate links such as screws, gears, and reducers.

[0068] 6) Linear Drive Leg: This refers to a robot leg structure that allows two parts to move in a straight line. An Inboard Curved Leg is a robot leg structure that has a joint that allows the two connected parts to move in a non-linear direction.

[0069] 7) Track: It is a flexible chain link driven by the driving wheel and surrounding the driving wheel, road wheel, inducer wheel and track roller. The track is composed of track shoes and track pins. The track pins connect the track shoes to form a track chain link. There are holes at both ends of the track shoe, which engage with the driving wheel. There is an inducer tooth in the middle to regulate the track and prevent the track from falling off when the robot turns or tilts. There are reinforced anti-skid ribs (referred to as patterns) on the side in contact with the ground to improve the sturdiness of the track shoe and the adhesion of the track to the ground. In the embodiment of the present application, the track includes at least a driving wheel and a flexible chain link.

[0070] 8) Active Wheel: This generally refers to a device in a mechanical system responsible for transferring energy from one component to another, such as a wheel driven by a motor. In the embodiments of this application, the active wheel in contact with the support surface can be driven by the motor to rotate and drive the entire robot to move.

[0071] 9) Passive wheel: usually refers to a wheel that has no driving force of its own, but relies on the driving force of other wheels (usually the driving wheel) to rotate.

[0072] Embodiments of the present application provide a robot, a robot control method, a robot control device, an electronic device, a computer-readable storage medium, and a computer program product, which can improve the stability of the robot's movement in a complex environment.

[0073] The following describes exemplary applications of electronic devices provided by embodiments of the present application. The electronic devices provided by embodiments of the present application can implement terminal devices, such as laptop computers, tablet computers, desktop computers, set-top boxes, smart TVs, mobile devices (e.g., mobile phones, portable music players, personal digital assistants, dedicated messaging devices, portable gaming devices), vehicle-mounted terminals, virtual reality (VR) devices, augmented reality (AR) devices, and other types of user terminals, and can also be implemented as servers. Below, exemplary applications when the electronic device is implemented as a terminal device or a server will be described.

[0074] Referring to FIG. 1A , FIG. 1A is a schematic diagram illustrating a first application mode of a robot control method provided in an embodiment of the present application. For example, FIG. 1A involves a robot 100, a terminal device 400, a server 200, and a network 300. The terminal device 400 may be provided on the robot 100, and the terminal device 400 is connected to the server 200 via the network 300. The network 300 may be a wide area network (WAN), a local area network (LAN), or a combination of the two.

[0075] In some embodiments, the terminal device 400 may be provided on the robot 100, or the terminal device 400 may be connected to a communication module on the robot 100 via a short-range communication technology (e.g., ZigBee, Bluetooth, and Wi-Fi). Alternatively, the robot 100 and the terminal device 400 may be connected via a wired connection (e.g., a serial communication COM port or USB port provided on the robot, a data cable inserted into the port, and connected to the terminal device 400).

[0076] For example, the sensors set on the robot 100 collect environmental information and send the environmental information to the terminal device 400. The terminal device 400 sends the environmental information to the server 200 through the network 300. The server 200 determines the motion control instructions of the robot based on the environmental information of the environment in which the robot 100 is located. The server 200 sends the motion control instructions to the terminal device 400. The terminal device 400 sends the motion control instructions to the robot 100. The robot 100 performs corresponding actions according to the motion control instructions.

[0077] Referring to FIG. 1B , FIG. 1B is a schematic diagram illustrating a second application mode of a robot control method according to an embodiment of the present application. For example, FIG. 1B includes a robot 100 and a terminal device 400. The terminal device 400 is provided on the robot 100, or the terminal device 400 is connected to a communication module on the robot 100 via Bluetooth, Zigbee, or Wi-Fi. Alternatively, the robot 100 and the terminal device 400 are connected by wire.

[0078] For example, the sensors set on the robot 100 collect environmental information and send the environmental information to the terminal device 400. The terminal device 400 determines the robot's motion control instructions based on the environmental information of the environment in which the robot 100 is located. The terminal device 400 sends the motion control instructions to the robot 100, and the robot 100 performs corresponding movements according to the motion control instructions.

[0079] In some embodiments, the robot controlled by the robot control method of the embodiments of the present application can be used in industrial, home, or office environments. The robot can be used in scenarios such as environmental detection, housekeeping services, and industrial assembly lines.

[0080] 1. Regarding environmental detection, the robot controlled by the robot control method provided in the embodiment of the present application can adjust the motion state of the mechanical legs according to information about obstacles on the ground and information about the roughness of the ground, so that the robot can move in various terrains.

[0081] 2. For housekeeping services, the robot controlled by the robot control method provided in the embodiment of the present application can adjust the movement state of the mechanical legs according to the environmental information in the home environment, and the robot's mechanical arms can be used to carry objects or support users.

[0082] 3. For industrial assembly lines, the robot controlled by the robot control method provided in the embodiment of the present application can adjust the movement state of the robot legs according to the environmental information in the working environment, and the robot's robotic arm can be used to carry goods.

[0083] The embodiments of the present application can be implemented using database technology. A database, in short, can be considered an electronic filing cabinet that stores electronic files, allowing users to add, query, update, and delete data in these files. A "database" is a collection of data that is stored together in a specific manner, can be shared by multiple users, has minimal redundancy, and is independent of applications.

[0084] A database management system (DBMS) is a computer software system designed for managing databases, typically providing basic functions such as storage, retrieval, security, and backup. DBMSs can be categorized by the database model they support, such as relational or XML (Extensible Markup Language); by the type of computer they support, such as server clusters or mobile phones; by the query language they use, such as SQL or XQuery; by performance priorities, such as maximum scale or maximum speed; or by other classification methods. Regardless of the classification method used, some DBMSs are cross-category, for example, supporting multiple query languages ​​simultaneously.

[0085] In some embodiments, the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It can 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 electronic device can be a smart phone, tablet computer, laptop computer, desktop computer, smart speaker, smart watch, etc., but is not limited to this. The terminal device and the server can be directly or indirectly connected through wired or wireless communication, which is not limited in the embodiments of the present application.

[0086] The electronic device provided in the embodiment of the present application may be a terminal device. Referring to FIG2A , FIG2A is a schematic diagram of the structure of the terminal device provided in the embodiment of the present application. The electronic device provided in the embodiment of the present application may be a terminal device 400. The terminal device 400 shown in FIG2A includes: at least one processor 410, a memory 450, at least one network interface 420, and a user interface 430. The various components in the terminal device 400 are coupled together via a bus system 440. It will be understood that the bus system 440 is used to implement connection and communication between these components. In addition to including a data bus, the bus system 440 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, in FIG2A , all various buses are labeled as bus system 440.

[0087] The processor 410 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.

[0088] The user interface 430 includes one or more output devices 431 that enable presentation of media content, including one or more speakers and / or one or more visual display screens. The user interface 430 also includes one or more input devices 432, including user interface components that facilitate user input, such as a keyboard, mouse, microphone, touch screen display, camera, other input buttons and controls.

[0089] The memory 450 may be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid-state memory, hard drives, optical drives, etc. The memory 450 may optionally include one or more storage devices that are physically remote from the processor 410.

[0090] The memory 450 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 450 described in the embodiments of the present application is intended to include any suitable type of memory.

[0091] In some embodiments, the memory 450 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.

[0092] Operating system 451, 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;

[0093] A network communication module 452 is used to reach other electronic devices via one or more (wired or wireless) network interfaces 420. Exemplary network interfaces 420 include Bluetooth, Wi-Fi, and Universal Serial Bus (USB).

[0094] a presentation module 453 for enabling presentation of information via one or more output devices 431 (e.g., a display screen, a speaker, etc.) associated with the user interface 430 (e.g., a user interface for operating peripheral devices and displaying content and information);

[0095] The input processing module 454 is configured to detect one or more user inputs or interactions from one of the one or more input devices 432 and to translate the detected inputs or interactions.

[0096] In some embodiments, the apparatus provided by the embodiments of the present application can be implemented using software. FIG2A shows a robot control device 455 stored in memory 450. This device can be software in the form of a program or plug-in, and includes the following software modules: an acquisition module 4551 and a switching module 4552. These modules are logical and can be arbitrarily combined or further separated according to the functions implemented. The functions of each module will be described below.

[0097] Referring to FIG. 2B , FIG. 2B is a schematic diagram of the structure of a robot provided in an embodiment of the present application. The electronic device provided in an embodiment of the present application can be provided in the robot 100 of FIG. 1A or 1B to implement autonomous control of the robot 100. The robot 100 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 robot 100 are coupled together via a bus system 240. It will be understood that the bus system 240 is used to implement connectivity 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, in FIG. 2B , all of the various buses are labeled as the bus system 240.

[0098] 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.

[0099] 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 microphone, a touch screen display, a camera, other input buttons and controls.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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;

[0104] 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;

[0105] 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);

[0106] 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.

[0107] In some embodiments, the apparatus provided by the embodiments of the present application can be implemented using software. FIG2B shows a robot control device 255 stored in memory 250. This device can be software in the form of a program or plug-in, and includes the following software modules: an acquisition module 2551 and a switching module 2552. These modules are logical and can be arbitrarily combined or further separated according to the functions implemented. The functions of each module will be described below.

[0108] In other embodiments, the control device of the robot provided in the embodiments of the present application can be implemented in hardware. As an example, the control device of the robot provided in the embodiments of the present application can be a processor in the form of a hardware decoding processor, which is programmed to execute the control method of the robot provided in the embodiments of the present application. For example, the processor in the form of a hardware decoding processor can adopt one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs) or other electronic components.

[0109] The robot and the robot control method provided in the embodiments of the present application will be explained in combination with the exemplary application and implementation of the terminal device provided in the embodiments of the present application.

[0110] The present invention provides a robot, as shown in Figure 4A, which is a schematic diagram of the structure of the robot provided in the present invention. Figure 4A shows the structure of the robot 100 in Figure 1A or Figure 1B.

[0111] Refer to Figure 4A, which is a structural diagram of the robot provided in an embodiment of the present application. The robot includes: a base 53, a robot body 51, and a leg assembly 52.

[0112] One end of the robot body 51 is connected to the base 53 via a first connector 531. The leg assembly 52 includes multiple robotic legs, each of which is connected to the base at one end via a different second connector. For example, the base 53 is connected to the first robotic leg 521 via a second connector 532, and the base 53 is connected to the second robotic leg 522 via a second connector 533.

[0113] For example, the robot body can be bionic, for example, made in the form of a human or an animal. In the embodiments of the present application, imitation of a human is used as an example for explanation. The first connecting member can be a ball joint. A ball joint is a mechanical connection device that allows the two connected parts to rotate or swing in one or more directions. The ball joint usually consists of a ball head and a ball socket. The ball head can rotate freely in the ball socket to achieve angle adjustment and movement within a certain range. The base is used as a structure to connect the parts of the robot used for movement (leg assembly) and the parts used to perform operations corresponding to the application scenario (robot body).

[0114] For example, the robotic legs are used to support the robot's movement. The second connecting member can be a revolute pair, such as a rotating shaft. The specific number of robotic legs can be set based on the actual application scenario of the robot, for example, three, four, or more. In the embodiment of this application, three robotic legs are used as an example. The three robotic legs include: two second robotic legs and one first robotic leg.

[0115] Continuing with reference to FIG4A , a first mechanical leg 521 among the multiple mechanical legs is provided with a first rotating shaft 523 on the end away from the robot body, the first rotating shaft 523 is used to connect to a supporting chassis 524, a first moving wheel 525 is provided on the first surface of the supporting chassis 524, and the first rotating shaft 523 is used to rotate to form a first relative position and a second relative position relative to the first mechanical leg 521.

[0116] To facilitate understanding of the connection method, refer to Figures 9A and 9B, which are schematic diagrams of the connecting member provided in an embodiment of the present application. Figures 9A and 9B are side views of the connecting rod 903 from different directions. In Figure 9A, the connecting rod 901 and the connecting rod 903 are connected by a rotating shaft 902, which is a connecting member. The side of the connecting rod 901 used to connect to the connecting rod 903 is set as two fork-shaped ends to easily cover the end of the connecting rod 903 used to connect to the connecting rod 901. In Figure 9B, the center of the end of the connecting rod 903 used to connect to the connecting rod 901 is a circular hole 9031, and the circular hole 9031 allows the rotating shaft 902 to pass through the connecting rod 903. Through the connection of the rotating shaft 902, the connecting rod 901 and the connecting rod 903 can rotate around the rotating shaft 902. The connection method in Figures 9A and 9B corresponds to the first connecting member between the first rotating shaft, the first mechanical leg and the base.

[0117] In the first relative position, the first moving wheel and the first rotating shaft are located on the first surface of the supporting chassis, and the first moving wheel is used to contact the supporting surface. Referring to FIG4B , FIG4B is a schematic structural diagram of the robot provided in an embodiment of the present application. FIG4B shows the robot in FIG4A in the first relative position.

[0118] In Figure 4B , a bracket is provided on the first surface of the support chassis 524, which is used to set the rotation axis of the first moving wheel 525. In the first relative position, the first surface or the second surface of the support chassis 524 is parallel to at least a portion of the first robotic leg, with the first surface of the support chassis 524 facing the robot's forward direction and the second surface facing the opposite direction of the robot's forward direction.

[0119] In some embodiments, in the first relative position, the support chassis and the first robotic leg can be engaged to form the first relative position. Engaging refers to securing two objects together using a structure such as a tenon or protrusion. For example, the portion of the support chassis that engages the first robotic leg can be provided with a protrusion, and the portion of the first robotic leg that engages the support chassis can be provided with a groove.

[0120] Alternatively, the first rotation axis is driven by the robot's drive motor to a fixed angle to form the first relative position. For example, the first rotation axis is rotated so that a preset acute angle (the size of the preset angle is set according to the actual application scenario) is formed between the plane of the support chassis and the connecting rod of the first mechanical leg, and the center of the first movable wheel of the support chassis and the connecting rod of the first mechanical leg are aligned.

[0121] In some embodiments, in addition to the configuration shown in FIG. 4B , the first movable wheel may be fixed to the supporting chassis via a nut, and the first movable wheel may be a passive universal wheel.

[0122] In the second relative position, the second surface of the support chassis is in contact with the support surface (e.g., the ground). Continuing with FIG4A , FIG4A illustrates the second relative position of the first robotic leg, with the second surface of the support chassis 524 in contact with the support surface and located in a direction opposite to the support surface.

[0123] In an embodiment of the present application, the end of the first mechanical leg is set as a supporting chassis and a moving wheel. The end of the first mechanical leg can switch between a mode in which the supporting chassis contacts the supporting surface and a mode in which the moving wheel contacts the supporting surface, thereby enriching the robot's movement mode and improving the robot's stability during movement.

[0124] In some embodiments, the second surface of the supporting chassis is used to contact the supporting surface, and any one of the following structures is provided on the second surface of the supporting chassis:

[0125] 1. The second surface is provided with a detachable anti-slip part; for example, the material of the detachable anti-slip part can be rubber or plastic. Referring to Figure 7A, Figure 7A is a schematic diagram of the first structure of the support chassis of the robot provided in an embodiment of the present application. Figure 7A is a side view of the support chassis 524. The second surface of the support chassis 524 is provided with an anti-slip part 701. The anti-slip part 701 is clamped with the support chassis 524, and the anti-slip part 701 can be removed from the support chassis 524. The anti-slip part 701 is used for the side in contact with the support surface, and is provided with an anti-slip structure. The anti-slip structure can be a structure with grooves or protrusions on the surface. The above structure can increase the friction between the support surface.

[0126] In the embodiment of the present application, by providing a detachable anti-slip part, on the one hand, the friction between the robot and the ground can be improved, thereby improving the stability of the robot; on the other hand, the detachable anti-slip part facilitates the replacement and maintenance of the robot components.

[0127] 2. The second surface is dispersedly provided with a plurality of groove components. For example, the groove components can be in the form of dots, strips, or patterns. Assume that the supporting chassis is made of metal, and the second surface can be provided with groove components formed by a rubber coating applied on the metal. Alternatively, the supporting chassis is cast as a metal component with grooves. Referring to Figure 7B, Figure 7B is a second structural schematic diagram of the supporting chassis of the robot provided in an embodiment of the present application, and Figure 7B is a top view of the second surface of the supporting chassis 524. A plurality of anti-slip members 702 are provided on the second surface (the shading indicates that the portion is concave). The anti-slip members 702 are dot-shaped groove members, and the anti-slip members 702 are regularly arranged to enhance the friction between the second surface and the supporting surface.

[0128] 3. The second surface is provided with a plurality of protruding parts in a dispersed manner. For example, the protruding parts can be in the form of dots, strips, or patterns. Assume that the supporting chassis is made of metal, and the second surface can be provided with protruding parts formed by a rubber coating applied on the metal. Alternatively, the supporting chassis is cast with protruding metal parts. Referring to Figure 7C, Figure 7C is a third structural schematic diagram of the supporting chassis of the robot provided in an embodiment of the present application. Figure 7C is a side view of the supporting chassis 524. The second surface of the supporting chassis 524 is provided with a plurality of anti-slip parts 703, which are protruding parts and are in the form of strips.

[0129] For example, the protruding part can also be a vacuum suction cup, which is also called a vacuum hanger or vacuum nozzle. It is one of the actuators of the vacuum equipment. It creates negative pressure in the vacuum chamber, so that the adsorbent generates adsorption force and sticks it to the smooth surface, thereby achieving the suction and transportation of objects. Referring to Figure 7D, Figure 7D is a fourth structural schematic diagram of the support chassis of the robot provided in an embodiment of the present application. The second surface of the support chassis 524 is provided with a plurality of anti-slip parts 704, and the anti-slip parts 704 are vacuum suction cups. The anti-slip part 705 is a three-dimensional view of the anti-slip part 704. The anti-slip part 705 can be a bowl-shaped part with round ends made of rubber material. The larger round end of the bowl-shaped part is used to contact the support surface, and the bottom of the bowl-shaped part is used to be fixed to the support chassis.

[0130] In the embodiments of the present application, by providing a raised or recessed anti-slip member on the robot's support chassis, the anti-slip member can adapt to different types of floors, such as rough, smooth, and uneven surfaces, thereby increasing the robot's adaptability and reliability in complex environments. By providing a suction cup on the robot's support chassis, the suction cup can firmly adhere to the ground or other surface, increasing the friction between the robot and the ground, thereby improving the robot's stability during operation, especially on uneven or smooth surfaces. This allows the robot to maintain good contact and stability on different floors and adapt to various complex environments.

[0131] In some embodiments, the supporting chassis may have both recessed portions and protruding portions. For example, in FIG. 7A and FIG. 7C , the recessed portions and the protruding portions are opposite to each other.

[0132] In the embodiment of the present application, by setting the second surface of the supporting chassis (the surface for contacting the supporting surface) to a rough, non-slip surface, the friction between the supporting chassis and the supporting surface is increased, thereby improving the stability of the robot.

[0133] In some embodiments, the first robotic leg includes a first portion and a second portion, the first portion being connected to the base via a second connector, the first rotation axis being disposed on an end of the second portion away from the robot body; the first portion and the second portion being connected via a second rotation axis, the second rotation axis being configured to rotate so as to form a third relative position and a fourth relative position between the first portion and the second portion; wherein,

[0134] In the third relative position, the second part serves to support the first part.

[0135] For example, the third relative position is presented during the movement of the robot supported by the first mechanical leg. The first part and the second part can be connecting rods. For ease of understanding, refer to Figure 5A, Figure 5A is a first structural schematic diagram of the base and leg assembly of the robot provided in an embodiment of the present application, Figure 5A is a simplified structural diagram of Figure 4A, and the first mechanical leg in Figure 5A is presented in the third relative position. The first mechanical leg includes a first part 5211 and a second part 5212. The first part 5211 and the second part 5212 are connected by a second rotating shaft 5213, and the second part 5212 is connected to the first surface of the support chassis 524 by the first rotating shaft 523. The second surface of the support chassis 524 is a plane, and the angle formed by the second part and the first part is a non-acute angle, then the second part supports the first part.

[0136] In the fourth relative position, the angle formed between the second portion and the first portion is an acute angle, and the first moving wheel or the second surface of the supporting chassis is not in contact with the supporting surface.

[0137] For example, the fourth relative position is present when the first mechanical leg is folded. Referring to Figure 4C, Figure 4C is a schematic structural diagram of the robot provided by an embodiment of the present application. Figure 4C shows the first mechanical leg of the robot of Figure 4A or Figure 4B folded, and in Figure 4C, the first mechanical leg is in the fourth relative position. The first portion 5211 and the second portion 5212 are connected by a second rotating shaft 5213, and the second rotating shaft 5213 rotates to form an acute angle between the first portion 5211 and the second portion 5212.

[0138] Figure 4C shows a picture of the first mechanical leg folded in the forward direction of the robot. In actual application scenarios, if there are no obstacles in the environment where the robot is located that affect the movement of the robot, the first mechanical leg of the robot can also be folded in the opposite direction of the forward direction.

[0139] For ease of understanding, the following explanation is provided with reference to simplified schematic diagrams, with reference to FIG5D and FIG5E . FIG5D to FIG5E are schematic diagrams of the fourth relative position of the first mechanical leg of the robot provided in an embodiment of the present application.

[0140] In Figure 5D, the second part 5212 moves counterclockwise toward the first part 5211, and the second rotating shaft 5213 rotates, forming a folded shape between the second part 5212 and the first part 5211. Through the rotation of the first rotating shaft 523, an acute angle is formed between the supporting chassis 524 and the second part 5212, that is, the supporting chassis 524 and the second part 5212 are also in a folded shape. The folding method of Figure 5D is the same as the folding method in Figure 4C.

[0141] In Figure 5E , posture A is the upright posture of the first robotic leg 521, and posture B is the folded posture of the first robotic leg 521, with the folding direction opposite to that in Figure 5D . In posture A, the second portion 5212 moves clockwise toward the first portion 5211, and the rotation of the first rotation axis 523 forms an acute angle between the supporting chassis 524 and the second portion 5212, allowing the leg to fold in a direction opposite to the robot's forward direction, which is the opposite of the folding method in Figure 5D .

[0142] In an embodiment of the present application, the first mechanical leg is configured to be bendable or foldable. In the folded form, the robot's footprint is saved, making the robot applicable to more application scenarios and improving the robot's versatility.

[0143] In some embodiments, the second robotic leg among the multiple robotic legs includes a third part and a fourth part, one end of the third part is connected to the base through a second connecting member corresponding to the second robotic leg, and the other end of the third part is connected to the fourth part through a third connecting member.

[0144] For example, the second connecting member can be a revolute pair. Referring to Figure 9C, Figure 9C is a third schematic diagram of the connecting member provided in an embodiment of the present application. Figure 9C is a side view of the connecting member, which is applicable to the second connecting member corresponding to the second mechanical leg. The connecting rod 904 and the connecting rod 906 are connected by a rotating shaft 905. The connecting rod 904 can be set on the base, and the connecting rod 906 can be the connecting rod of the second mechanical leg. The parts of the connecting rods 904 and 906 for connecting with other components are provided with circular holes, and the rotating shaft 905 can pass through the circular hole to connect the two connecting rods, and the two connecting rods can rotate around the rotating shaft 905.

[0145] For ease of understanding, referring to FIG5A , the second mechanical leg 522 includes a second moving wheel 526 , a third portion 5221 , a fourth portion 5222 , and a third connecting member 5223 , and the third portion 5221 and the fourth portion 5222 are connected via the third connecting member 5223 .

[0146] In some embodiments, a second movable wheel is provided at one end of the robot body in the fourth portion, and the second movable wheel is configured to contact the support surface. For example, the second movable wheel is a driving wheel, driven by the robot's drive motor. Continuing with FIG. 5A , the second movable wheel 526 may be a driving wheel.

[0147] In an embodiment of the present application, by setting the end of the second mechanical leg as a moving wheel, the flexibility of the second mechanical leg during movement is improved, and when the second moving wheel is an active moving wheel, the movement speed of the robot can also be improved.

[0148] In some embodiments, a track is provided at one end of the robot body in the fourth portion, and the track is used to contact the support surface. For example, if a track is provided at the end away from the robot body, the track includes a driving wheel and a flexible chain. Referring to Figure 5G, Figure 5G is a fourth structural schematic diagram of the base and leg assembly of the robot provided in an embodiment of the present application; a track 528 is provided at one end of the robot body in the fourth portion 5222 of the second mechanical leg 522, and the track 528 includes a driving wheel 5281 and a flexible chain wrapped around the driving wheel 5281.

[0149] In the embodiment of the present application, by setting the end of the second mechanical leg as a track, the support area between the robot and the support surface is increased, which can improve the stability of the robot's movement on the support surface and facilitate the robot to maintain a balanced state.

[0150] In some embodiments, the third connecting member is a sliding track; and the fourth portion is configured to slide parallel to the third portion based on the sliding track.

[0151] For example, referring to Figure 5A , the third connecting member is a linear pair. When the third connecting member is a linear pair, the second mechanical leg 522 in Figure 5A is a linear drive leg. The fourth portion 5222 slides on the third portion 5221 based on the linear pair. During the sliding process, the fourth portion 5222 and the third portion 5221 are parallel. The linear pair is a component such as a sliding track. The fourth portion 5222 is sleeved on the inner side of the third portion 5221, and the sliding track can be set in the gap between the fourth portion 5222 and the third portion 5221.

[0152] For ease of explanation, refer to Figure 4D, which is a schematic structural diagram of a robot provided in an embodiment of the present application, and Figure 4D is a detailed structural diagram corresponding to Figure 5A. The sliding rail is simply referred to as a slide rail. The slide rail 527 is disposed inside the third portion 5221, and the third portion 5221 is sleeved on the outside of the fourth portion 5222, so that the slide rail 527 is located in the gap between the fourth portion 5222 and the third portion 5221.

[0153] In an embodiment of the present application, a slide rail is provided between the third part and the fourth part of the second mechanical leg so that the second mechanical leg can be extended and retracted, thereby improving the mobility of the robot and enabling the robot to adapt to more different environments.

[0154] In some embodiments, the third connecting member is a third rotation axis; the fourth portion is configured to rotate about an end of the third portion away from the robot body based on the third rotation axis. Referring to Figure 5B , Figure 5B is a schematic diagram of a first structure of a robot base and leg assembly provided in an embodiment of the present application. In Figure 5B , the third connecting member in the form of a sliding track in Figure 5A is replaced with a rotational pair, which can be a third rotation axis.

[0155] In some embodiments, the third connecting member is used to rotate or slide so that the fourth part forms a fifth relative position relative to the first robotic leg; in the fifth relative position, the second surface of the support chassis of the first robotic leg is used to contact the support surface, and the second moving wheel of the fourth part does not contact the support surface.

[0156] For example, in an embodiment of the present application, the example of a mechanical leg including a first mechanical leg and a second mechanical leg is used for explanation. When the second moving wheel of the fourth part does not contact the support surface, the robot only relies on the support chassis to contact the support surface. Referring to Figure 5C, Figure 5C is a schematic diagram of the fifth relative position of the first mechanical leg of the robot provided in an embodiment of the present application; when the third connecting member 5223 is a linear pair, the third part 5221 and the fourth part 5222 of the second mechanical leg 522 can slide, so that the length of the second mechanical leg 522 can be extended and retracted. When the second mechanical leg 522 shrinks, the support chassis 524 of the first mechanical leg is used to contact the support surface, forming the posture shown in Figure 5C, where the robot only relies on the support chassis to contact the support surface.

[0157] In this embodiment of the present application, the second mechanical leg is retracted so that the robot relies solely on the first mechanical leg for support, which can reduce the robot's footprint. The robot's mechanical legs can perform different movements, such as folding and retracting, making the robot's posture more diverse and suitable for different application scenarios.

[0158] In some embodiments, when there are multiple second robotic legs, the second connecting members corresponding to the multiple second robotic legs and the first robotic legs are dispersedly disposed on the base.

[0159] For example, the second connecting members of the mechanical legs are dispersed on the base so that the multiple mechanical legs are evenly distributed, which can make the robot body stable and balanced (for example, in Figure 4A, the mechanical legs are evenly arranged). Since the first mechanical leg and the second mechanical leg are both connected to the base through a convertible connecting member, the angle between the first mechanical leg and the second mechanical leg is adjustable during movement. The larger the angle between the first mechanical leg and the second mechanical leg, the lower the center of gravity of the robot body, and vice versa. The angle can be dynamically adjusted according to the load of the robot so that the center of gravity does not exceed the height threshold, avoiding falling due to excessive center of gravity and ensuring the stability of movement. Alternatively, when the center of gravity of the robot is unstable (for example, the speed at which the center of gravity moves in a certain direction is greater than the speed threshold), by switching the first surface of the support chassis of the first mechanical leg to the second surface, the support area between the robot and the support surface is increased, thereby improving stability.

[0160] In some embodiments, when the number of the second robotic legs is even, the second connectors of the plurality of second robotic legs are arranged on the base around the second connector of the first robotic leg.

[0161] For example, the second connectors of the plurality of second mechanical legs are arranged on the base around the second connector of the first mechanical leg, meaning that the second connectors of the plurality of second mechanical legs are evenly distributed on the base, with the second connector of the first mechanical leg as the center. For ease of explanation, referring to FIG4A , the number of second mechanical legs 522 is an even number, namely two, and the second connectors 533 of the two second mechanical legs 522 are arranged symmetrically with the first mechanical leg 521 as the center, thereby balancing the weight on both sides of the robot and improving the balance of the robot.

[0162] In the embodiment of the present application, through the above-mentioned arrangement, the first mechanical leg is located at the center of gravity of the robot. During the process of the first rotation axis of the first mechanical leg switching between the first relative position and the second relative position, the other second mechanical legs of the robot can provide more stable support, thereby improving the stability of the robot and reducing the probability of the robot losing balance and falling.

[0163] In some embodiments, second connecting members corresponding to multiple second robotic legs are respectively arranged in a sliding track on the base, and the second connecting member corresponding to any second robotic leg is used to change the distance between the second robotic leg and the adjacent second robotic leg when the sliding track moves.

[0164] The second connector of the second mechanical leg is arranged in the sliding track on the base, that is, the distance between the second mechanical legs is movable, and the sliding track has a limiting structure to prevent the position of the second connector from exceeding the length range of the sliding track and derailing. For example: the limiting structure is fixed to the two ends of the sliding track by screws, nuts, and mortise and tenon structures; for another example: the second connector of the second mechanical leg has a preset sliding range, and the limiting structure of the sliding track can be a baffle, which is respectively arranged at the two ends of the preset sliding range on the sliding track; or the contact area between the guide rail and the second connector itself has a moving damping coefficient (using damping material), which can fix the second connector at its current position.

[0165] For ease of understanding, refer to FIG5F , which is a third structural schematic diagram of the base and leg assembly of the robot provided in an embodiment of the present application; the second mechanical leg of the robot includes leg A and leg B, leg A is connected to the base via a second connector a, and leg B is connected to the base via a second connector b, the base is provided with a connecting rod 534 and a slide rail 535 (dark portion), the slide rail 535 (dark portion) is fixed to the connecting rod 534, and the second connector a and the second connector b are provided on the slide rail. The ends of the slide rails 535 are respectively provided with limit baffles. In posture C, the second connector b of leg B is located within the sliding range of the slide rail 535. By sliding, the distance between leg A and leg B changes, and the posture of the leg assembly of the robot changes to posture D, and in posture D, the second connector b of leg B is located at the end of the slide rail 535.

[0166] In some embodiments, the combination of the first moving wheel of the first robotic leg and the second moving wheel of the second robotic leg includes the following types:

[0167] Type 1: The first movable wheel is a passive wheel, and the second movable wheel is a driving wheel; for example, the first movable wheel can be a passive universal wheel, and the second movable wheel can be a driving wheel driven by a motor. The passive wheel is a wheel that has no driving force of its own and is driven by other devices, and the driving wheel is a wheel driven by a motor. A castor wheel is a wheel that can rotate freely on a horizontal plane. Its main feature is that it can rotate freely on a fixed axis, so that the object connected to the castor wheel can easily change direction. A castor wheel usually consists of a wheel and a bearing connected to it, and the bearing allows the wheel to rotate freely around the axis.

[0168] Type 2: The first moving wheel is a driving wheel, and the second moving wheel is a driving wheel. For example, the first moving wheel and the second moving wheel can both be motor-driven driving wheels. When both the first and second moving wheels are in contact with the support surface, the driving forces corresponding to the first and second moving wheels are determined based on the robot's current motion environment.

[0169] In an embodiment of the present application, when the first moving wheel is set as a passive wheel, the electric energy required to drive the first moving wheel can be saved. When the first moving wheel and the second moving wheel are both set as active wheels, under slippery or unstable ground conditions, multiple active wheels can reduce slipping, improve the traction of the robot, and enhance the stability and movement efficiency of the robot.

[0170] In some embodiments, the robot body includes a trunk and at least one robotic arm, and one end of each robotic arm is connected to the trunk via a different fifth connecting member. The fifth connecting member can be a ball pair, such as a spherical bearing.

[0171] In some embodiments, the torso includes at least one connecting rod; when there are multiple connecting rods, each of the connecting rods is connected in sequence, and two adjacent connecting rods are connected by a fourth rotation axis, the number of fourth rotation axes is less than the number of connecting rods, and one end of the connecting rod closest to the base among the multiple connecting rods is connected to the base through a first connecting member.

[0172] Referring to Figure 6 , which is a second schematic structural diagram of the robot body of the robot provided in an embodiment of the present application, Figure 6 is a simplified structural diagram of the robot body 51 in Figures 4A to 4C and 4E .

[0173] The robot body includes a first link 512, a second link 513, a third link 516, and multiple robotic arms 511. In this embodiment, two robotic arms 511 are used as an example for illustration. Depending on the specific application scenario, the structures of the two robotic arms can be different or the same. The two robotic arms are arranged on opposite sides of the first link 512. The robotic arms 511 are connected to the end of the second link 513 away from the robot base via a fifth connector 515. The second link 513 is connected to the first link 512 via a fourth rotation axis 514. The end of the first link 512 closer to the robot base is connected to the base via a first connector 531. The fifth connector 515 can be a ball joint. The first connector 531 can be a ball joint, such as a spherical bearing. The robotic arms 511 can be equipped with revolute joints, manipulators, and other structures to facilitate the robot's performance of various operations.

[0174] In some embodiments, when there are multiple connecting rods and multiple robotic arms, the connection relationship between the connecting rods and the robotic arms is any one of the following:

[0175] Type 1: The connecting rod is connected to multiple robotic arms through different fifth connecting members; referring to FIG6 , both sides of the first connecting rod 512 are connected to different robotic arms 511 respectively.

[0176] Type 2: The connecting rod is not connected to any robotic arm; referring to FIG6 , both sides of the second connecting rod 513 are not connected to any robotic arm.

[0177] Type 3: The connecting rod is connected to a robotic arm through a fifth connecting member.

[0178] In the embodiments of this application, the robotic arms are positioned at different locations within the robot's main body. This distribution of the robotic arms enhances the robot's stability. Multiple robotic arms are used to maintain the robot's main body's balance, reducing the risk of shaking and tipping over. Different tasks may require different types of robotic arms. By equipping the robot with multiple robotic arms, the robot can more easily adapt to different tasks.

[0179] In some embodiments, the robot body is connected to the base via a first connecting member, or, continuing to refer to FIG6 , the robot body may be fixed to the base via a connecting rod.

[0180] In an embodiment of the present application, the main body and mechanical legs of the robot are connected through a substrate, so that the mechanical legs of the robot are relatively independent from the main body, which facilitates the disassembly and maintenance of the robot; by providing the robot with multiple mechanical legs, the robot can adapt to different environments to maintain the balance of the robot main body and improve the movement efficiency of the robot; by providing a first mechanical leg among the multiple mechanical legs, and the first mechanical leg includes a supporting chassis and moving wheels, the support mode of the robot can be switched, thereby improving the stability of the robot in complex environments, and thereby improving the working efficiency and movement efficiency of the robot.

[0181] The following describes the robot control method provided by an embodiment of the present application. As previously described, the robot control method of the embodiment of the present application is implemented by an electronic device, which can be a terminal device or a server. The robot can be controlled internally or externally. For example, the robot is internally provided with an electronic device, which enables autonomous control by the robot; or the robot is externally controlled by a server or terminal device. When the external communication connection with the robot fails, the robot switches to autonomous control mode. Therefore, the execution entity of each step will not be repeated below.

[0182] It should be noted that in the examples below, the robot is the robot provided in the embodiment of the present application. Those skilled in the art can apply the control method of the robot provided in the embodiment of the present application to the processing of other robots including the first mechanical leg based on their understanding of the following.

[0183] Refer to Figure 3, which is a flow chart of the robot control method provided in an embodiment of the present application. The electronic device is used as the execution body and the steps shown in Figure 3 will be explained.

[0184] In step 301, environmental information of the current environment of the robot is obtained.

[0185] The robot is equipped with various functional modules, including but not limited to photoelectric sensors, cameras, microphones, infrared sensors, and thermal imaging sensors. These modules enable the robot to collect environmental information about its surroundings. For example, a microphone can collect sound signals from the surrounding environment; photoelectric sensors and cameras can collect the distance between various parts of the robot and obstacles in the surrounding environment; and thermal imaging sensors can determine the presence of people or animals in the surrounding environment.

[0186] The robot also includes a network communication module, which is used to reach other electronic devices via one or more (wired or wireless) network interfaces, so that the robot can communicate with the terminal device or the server.

[0187] When the electronic device is the terminal device 400 shown in Figures 1A and 1B , the robot transmits environmental information to the terminal device 400 via the communication module. The robot and the terminal device 400 may be connected directly via a data cable, Bluetooth, or a network connection. The terminal device 400 may be a user's mobile phone, tablet computer, laptop computer, or remote control.

[0188] The communication between the terminal device 400 and the robot 100 can be wired or wireless. For example, a remote control controls the robot via a wired connection, and the user manipulates the remote control to cause the robot to perform certain operations. Alternatively, if the robot and the user's phone are connected to the same Wi-Fi network, the user can wirelessly connect the phone to the robot and control the robot to perform certain operations via the phone.

[0189] When the electronic device is an electronic device carried by the robot itself, the robot can achieve autonomous control.

[0190] In some embodiments, the robot supports simultaneous control by a terminal device or by its own electronic device. When the robot is not in communication with a terminal device, it is controlled by its own electronic device by default. When the robot is in communication with a terminal device, the terminal device controls the robot. If the communication connection between the robot and the terminal device fails (for example, the wireless network is disconnected, the wired connection is disconnected, etc.), the robot switches from terminal control to control by its own electronic device.

[0191] In some embodiments, the terminal device can be set inside the robot head in the main body, or a component for fixing the terminal device is provided on the robot, for example: the terminal device is set on one side of the connecting rod of the robot serving as the torso, and a clamping component is provided on the second connecting rod for fixing the terminal device on the connecting rod of the robot.

[0192] Referring to FIG4E , which is a second schematic structural diagram of the robot body provided in an embodiment of the present application, in some cases, a terminal device is provided in the head 519 of the robot body 51, or a fixing component 518 is provided on the side of the second connecting rod 513 of the robot farther from the base. The fixing component 518 is used to fix the terminal device 400. Assuming that the robot is in an anthropomorphic or animal-like form, the fixing component 518 can be provided on the back of the robot, that is, on the side opposite to the forward direction, to prevent the robot from falling forward during movement and causing damage to the terminal device used to control the robot.

[0193] In step 302, in response to environmental information of the environment in which the robot is located satisfying a first contact condition, a first rotation axis of a first mechanical leg of the robot is controlled to rotate a support chassis to form a first relative position.

[0194] For example, the first contact condition includes the following: the smoothness of the supporting surface in the robot's environment is sufficient to support the rotation of the passive wheel; there are no obstacles within the robot's surroundings that would prevent the robot from switching from the second surface to the first surface; the robot's current center of gravity is within a safe range and the robot is not in the first relative position. The safe range refers to the range within which the robot will not fall.

[0195] For example, the terminal device may invoke a neural network model to perform classification based on the environmental information, where the classification result includes: whether the environmental information satisfies the first contact condition, or whether the environmental information does not satisfy the first contact condition. The neural network model used for classification is trained based on rotation records of the robot's first rotation axis, where the rotation records include: the rotation angle of the first rotation axis and sample environmental information corresponding to the rotation angle.

[0196] In step 303, in response to the environmental information not satisfying the first contact condition, the first rotation axis of the first mechanical leg of the robot is controlled to rotate the support chassis to form a second relative position.

[0197] For example, if the environmental information does not meet the first contact condition, for example, the robot is in a scene of going up and down stairs, the current center of gravity of the robot may be in an unsafe range.

[0198] In some embodiments, based on the environmental information of the surrounding environment collected by the robot in the embodiments of the present application, a machine learning model is called to classify and process the environmental information to obtain the type of movement mode of the robot suitable for the current environment type, and the current movement mode of the robot is switched to a movement mode suitable for the current environment type.

[0199] The following explains the machine learning models used to control robots. Types of machine learning models include linear regression models, decision tree models, support vector machine models, and deep learning models.

[0200] Refer to Figure 8, which is a schematic diagram of the structure of a machine learning model provided in an embodiment of the present application. In this embodiment of the present application, the robot learning model is the deep learning model 800 in Figure 8 as an example for illustration. The machine learning model can be a deep learning model 800 comprising a feature extraction layer 801, a feature classification layer 802, and a fully connected layer 803. The feature extraction layer 801 can be a convolutional neural network composed of multiple convolutional layers, which is used to extract features from the environmental information collected by the robot's sensors and obtain environmental features. The feature classification layer 802 can be a recurrent neural network, which is used to classify the environmental features and obtain the corresponding environment type. The fully connected layer can perform a mapping from the feature space to the sample label space, that is, mapping the learned feature representation to the label of a specific sample. In this embodiment of the present application, the fully connected layer 803 is used to map different environment types to different types of robot motion data. The different types of robot motion data respectively represent different motion states of the robot. The motion data includes the position of each robot component, the angle information between components, the movement speed, and the motor drive power.

[0201] In some embodiments, a deep learning model for controlling a robot can be trained in the following manner: obtaining training data, the training data including: sample motion data, sample environment information, and a mapping relationship between the sample environment information and the sample motion data; calling the initialized deep learning model for prediction processing based on the sample environment information to obtain the predicted motion data of the robot in the environment corresponding to the sample environment information; determining the cross-entropy loss of the deep learning model based on the difference between the type of the predicted motion data and the type of the sample motion data, and performing backpropagation processing on the initialized deep learning model based on the cross-entropy loss to obtain a trained deep learning model.

[0202] In some embodiments, in response to environmental information of the environment where the robot is located satisfying a second contact condition, the first part and the second part of the first mechanical leg of the robot are controlled to form a fourth relative position, wherein the angle formed between the second part and the first part in the fourth relative position is an acute angle, and the first moving wheel or the second surface of the supporting chassis is not in contact with the supporting surface.

[0203] For example, the second contact condition includes: the robot has finished working or there is an obstacle in the current environment. The fourth relative position, i.e., the first mechanical leg is in a folded state, can reduce the robot's footprint by controlling the first mechanical leg to be in a folded state when the current environment meets the second contact condition. When the robot finishes working, the first mechanical leg folds to facilitate storage of the robot. If there are obstacles in the robot's environment, the folding of the first mechanical leg can improve the robot's adaptability in complex environments and prevent the robot's mechanical leg from colliding with obstacles and causing the robot to fall.

[0204] In some embodiments, in response to the robot finishing work or there being an obstacle in the current environment, the fourth portion of the second robotic leg is slid or folded.

[0205] In the embodiment of the present application, the robot's mechanical legs are folded to reduce the space occupied by the robot, making it easier to store the robot and move it in a small environment.

[0206] In an embodiment of the present application, by switching the support mode of the robot's first mechanical leg according to the current environment in which the robot is located, the robot's adaptability in complex environments is improved, and the robot can maintain balance in complex environments, so that the robot can adapt to different working environments, thereby improving the robot's work efficiency and versatility.

[0207] Below, an exemplary application of the robot control method of an embodiment of the present application in a practical application scenario will be described.

[0208] With the continuous development of robotics, robotic mobility has attracted considerable attention. Most robots in this field utilize either foot-based or wheeled locomotion. Foot-based robots offer strong adaptability to terrain, while wheeled robots boast high stability. However, the field lacks a fusion of wheel-based and foot-based locomotion, resulting in relatively few integrated wheel-based and foot-based robots. Existing wheel-based and foot-based hybrid mobile robots mostly utilize active wheels at the ends of their legs, while others utilize wheels at the knee joints.

[0209] Most existing wheeled-legged robots are quadrupeds, with wheels mounted on the soles of their feet, knees, or legs, creating a hybrid wheeled-legged robot. Some dual-wheeled robots also have wheels that serve as both feet and wheels. When a robot's upper body is equipped with a robotic arm, the arm is used to perform operational functions in the corresponding application scenario. If the robot relies solely on wheels for support, the robot's center of gravity is unstable, resulting in poor operational stability.

[0210] To address the aforementioned issues in related technologies, the present invention proposes a robot that utilizes a wheel-and-leg hybrid mechanism. This robot combines the characteristics of both wheeled and legged mobile robots. Wheeled locomotion improves the robot's mobility and efficiency, while legged locomotion enhances its terrain adaptability and provides a stable platform for robot operation.

[0211] The robot provided in the embodiment of the present application includes a robot body, a base, and a leg assembly consisting of multiple mechanical legs.

[0212] The robot provided in the embodiment of the present application is explained below in conjunction with the accompanying drawings. Referring to Figure 5A, Figure 5A is a structural schematic diagram of the base and mechanical legs of the robot provided in the embodiment of the present application; Figure 5A is a simplified structural diagram of the base and leg components in Figure 4A.

[0213] The base 53 is connected to the first mechanical leg 521 through the second connecting member 532 , and the base 53 is connected to the second mechanical leg 522 through the second connecting member 533 . FIG. 5A is an example in which the second connecting member is a revolute pair.

[0214] In the embodiment of the present application, a robot including three mechanical legs is used as an example for description. The robot includes two second mechanical legs and one first mechanical leg. The first mechanical leg includes a first portion 5211, a second portion 5212, a support chassis 524, and a first movable wheel 525. The first portion 5211 and the second portion 5212 are connected by a second rotating shaft 5213, and the second portion 5212 is connected to the first surface of the support chassis 524 by the first rotating shaft 523. The second surface of the support chassis 524 is flat, and the first surface of the support chassis is also provided with a first movable wheel 525.

[0215] In the embodiment of the present application, the example of two first movable wheels 525 is used for illustration. In a specific implementation, the number of first movable wheels 525 can be multiple. The first movable wheel 525 can be a passive universal wheel, or a driving wheel. In the embodiment of the present application, FIG5A uses the direction in which the first mechanical leg is facing the rear of the robot as an example for illustration. The first movable wheel 525 is arranged in front of the first mechanical leg. If the first mechanical leg is the front leg of the robot and is facing the front of the robot, the first movable wheel 525 is arranged in the rear of the first mechanical leg.

[0216] For example, the first robotic leg 521 can bend based on the second rotation axis 5213, and the first robotic leg 521 is closer to the axis of the base 53 than the second robotic leg. When the first robotic leg and the second robotic leg are in the same plane, the two second robotic legs are located on both sides of the first robotic leg. The first robotic leg 521 can be called the inner leg, and the second robotic leg can be called the outer leg.

[0217] In the embodiment of the present application, the structures of the two second mechanical legs are the same, and the second mechanical legs are installed on both sides of the base 53. The second mechanical leg 522 includes a second moving wheel 526, a third part 5221, a fourth part 5222, and a third connecting member 5223. The third part 5221 and the fourth part 5222 are connected by the third connecting member 5223. The second moving wheel 526 is an active wheel and is driven by the robot's driving motor to move.

[0218] For example, Figure 5A illustrates the third connecting member as a linear pair. When the third connecting member is a linear pair, the second mechanical leg 522 in Figure 5A is a linear drive leg. The fourth portion 5222 slides parallel to the third portion 5221 based on the linear pair. The linear pair is a component such as a sliding track.

[0219] For example, the first portion 5211 , the second portion 5212 , the third portion 5221 , and the fourth portion 5222 may be connecting rods.

[0220] In some embodiments, referring to FIG. 5B , the third connection member 5223 may be a revolute pair.

[0221] In some embodiments, the robot body can be connected to the base of the robot based on a first connecting member, and the first connecting member can rotate; the connection method between the robot body and the base can also be fixed to the base through a connecting rod.

[0222] Referring to Figure 6, Figure 6 is a second schematic structural diagram of the robot body of the robot provided in an embodiment of the present application. Figure 6 is a simplified structural diagram of the robot body 51 in Figure 4A.

[0223] The robot body includes a first link 512, a second link 513, a third link 516, and multiple robotic arms 511. In this embodiment, two robotic arms 511 are used as an example for illustration. Depending on the specific application scenario, the structures of the two robotic arms can be different or the same. The two robotic arms are arranged on opposite sides of the first link 512. The robotic arms 511 are connected to the end of the second link 513 away from the robot base via a fifth connector 515. The second link 513 is connected to the first link 512 via a fourth rotation axis 514. The end of the first link 512 closer to the robot base is connected to the base via a first connector 531. The fifth connector 515 can be a ball joint. The first connector 531 can be a ball joint. The robotic arms 511 can be equipped with structures such as revolute joints and manipulators to facilitate the robot's performance of various operations.

[0224] For example, let's use point A in Figure 6 as the target point and point B, the center of first connector 531, as the reference point. Assuming the robot is an anthropomorphic robot, point A is like the center of the robot's shoulder. For the shoulder, expanding its range of motion is crucial. The first link 512, second link 513, and third link 516, as well as the revolute and ball joints between them, enable a wide range of motion for point A relative to point B. Combined with the two robotic arms mounted on the shoulders, this significantly expands the robot's operational range of motion.

[0225] For ease of understanding, reference is made to Figures 4A to 4C, which are schematic diagrams of the structure of the robot provided in the embodiments of the present application. Figures 4A to 4C are modeling diagrams of the robot corresponding to Figures 5A, 5B, and 6 above.

[0226] Figure 4A shows the second moving wheel 526 of the second robotic leg 522 and the second surface of the support chassis 524 of the first robotic leg 521 in contact with a supporting surface (e.g., the ground). This is suitable for scenarios where the robot is standing still while the robotic arm performs related operations. For example, if the ground is rough or the robot is on stairs, the support chassis 524 in contact with the ground can prevent the robot from losing balance.

[0227] FIG4B shows the second moving wheel 526 of the second robotic leg 522 and the first moving wheel 525 of the first robotic leg 521 contacting a support surface (e.g., the ground), which is suitable for wheeled motion scenarios, such as when the ground is smooth.

[0228] In some embodiments, when the first moving wheel touches the ground, the supporting chassis and the first mechanical leg may be non-parallel, and the driving motor of the rotating pair is continuously driven to fix the rotating pair at a certain angle; when the first moving wheel touches the ground, the supporting chassis and the first mechanical leg may be parallel, and when the first surface of the supporting chassis flips to the first part of the first mechanical leg, due to the forward movement of the robot, the supporting chassis is in limited contact with the first mechanical leg under the action of force.

[0229] Figure 4C shows a dual-wheeled motion scenario, with the first mechanical leg 521 folded and stowed via the second rotation axis 5213, and the robot supported by the second mechanical leg. This configuration is suitable for the following scenarios: 1. Smooth ground, suitable for dual-wheeled motion; 2. When the robot stops working, the first mechanical leg folds, reducing the robot's total footprint and facilitating storage.

[0230] In some embodiments, in addition to the folding operation shown in FIG4C , which is performed in a forward direction of the robot (i.e., after the folding operation is performed, the second surface of the supporting chassis of the first mechanical leg faces the forward direction of the robot), the first mechanical leg may also be folded backward (i.e., after the folding operation is performed, the second surface of the supporting chassis of the first mechanical leg faces the opposite direction of the forward direction of the robot). The forward or backward direction mainly depends on whether the environment in which the robot is located in the actual scenario allows the robot to perform folding. For example, if there are no obstacles that hinder the robot's movement within a certain range centered on the robot, the robot's first mechanical leg can fold forward or backward. If there is an obstacle in front of the robot that prevents the robot from performing the folding operation, the robot's first mechanical leg folds backward.

[0231] In some embodiments, contrary to Figure 4C, the second surface of the supporting chassis may contact the supporting surface, and the entire robot may be supported only by the first mechanical leg. The second mechanical leg may slide based on the linear pair to shorten the total length of the second mechanical leg and the second moving wheel may be suspended in the air.

[0232] In the embodiment of the present application, by providing the robot with a first mechanical leg, and the first mechanical leg has the function of switching between wheels and a flat chassis as support, the robot's movement mode is enriched. It can move with two wheels and can also be supported by landing on the ground with multiple fulcrums at the same time, making the robot have more stable movement characteristics.

[0233] The following continues to describe an exemplary structure of the robot control device 455 provided in an embodiment of the present application implemented as a software module. In some embodiments, as shown in Figure 2A, the software modules in the robot control device 455 stored in the memory 450 may include: an acquisition module 4551, configured to acquire environmental information of the current environment in which the robot is located; a switching module 4552, configured to control the first rotation axis of the first mechanical leg of the robot to rotate the support chassis to form a first relative position in response to the current environment in which the robot is located satisfying a first contact condition; the switching module 4552 is also used to control the first rotation axis of the first mechanical leg of the robot to rotate the support chassis to form a second relative position in response to the current environment not satisfying the first contact condition.

[0234] An embodiment of the present application provides a computer program product, which includes a computer program or computer-executable instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer program or computer-executable instructions from the computer-readable storage medium and executes the computer program or computer-executable instructions, causing the electronic device to perform the robot control method described in the embodiment of the present application.

[0235] An embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions, which stores computer-executable instructions or computer programs. When the computer-executable instructions or computer programs are executed by a processor, the processor will execute the robot control method provided by an embodiment of the present application, for example, the robot control method shown in Figure 3.

[0236] 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.

[0237] 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.

[0238] 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).

[0239] As an example, executable instructions may be deployed to be executed on one electronic device, or on multiple electronic devices located at one site, or on multiple electronic devices distributed across multiple sites and interconnected by a communication network.

[0240] In summary, by connecting the main body and mechanical legs of the robot through the substrate in the embodiment of the present application, the mechanical legs of the robot are relatively independent from the main body, thereby increasing the flexibility of the robot. Multiple mechanical legs support the main body on the basis of the base. By providing the robot with multiple mechanical legs, the balance and stability of the robot are enhanced. The ends of the multiple mechanical legs are in contact with the support surface, meeting the needs of more environments with different terrains, making it easier for the robot to adapt to different environments. By providing a first mechanical leg among the multiple mechanical legs, and the first mechanical leg including a support chassis and moving wheels, the support mode of the robot can be switched. When the plane of the supporting floor contacts the support surface, the stability of the robot can be improved. When the moving wheels contact the support surface, the moving speed of the robot on the support surface can be increased. The switched support mode improves the versatility of the robot in complex environments, thereby improving the working efficiency and mobility of the robot.

[0241] 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, the robot comprising: Base, robot body and leg components; One end of the robot body is connected to the base through a first connecting member; The leg components include a plurality of mechanical legs, and one end of each mechanical leg is connected to the base through a different second connecting member; A first rotating shaft is provided on the first mechanical leg among the plurality of mechanical legs, and the first rotating shaft is used to connect a support chassis. The support chassis includes a first surface and a second surface. A first moving wheel is provided on the first surface of the support chassis. The first rotating shaft rotates to enable the support chassis to form a first relative position and a second relative position relative to the first mechanical leg; Wherein, in the first relative position, the first moving wheel is used to contact the support surface; In the second relative position, the second surface of the support chassis is used to contact the support surface.

2. The robot according to claim 1, wherein, The first mechanical leg includes a first part and a second part. The first part is connected to the base through the second connecting member, and the first rotating shaft is provided at one end of the second part away from the robot body; The first part and the second part are connected by a second rotating shaft, and the second rotating shaft is used to rotate to form a third relative position and a fourth relative position between the first part and the second part; wherein, In the third relative position, the second part is used to support the first part; In the fourth relative position, the angle formed between the second part and the first part is an acute angle, and the first moving wheel or the second surface of the support chassis does not contact the support surface.

3. The robot according to claim 1 or 2, wherein, The second mechanical leg among the plurality of mechanical legs includes a third part and a fourth part. One end of the third part is connected to the base through the second connecting member corresponding to the second mechanical leg, and the other end of the third part is connected to the fourth part through a third connecting member.

4. The robot according to claim 3, wherein, A second moving wheel is provided at one end of the fourth part away from the robot body, and the second moving wheel is used to contact the support surface.

5. The robot according to claim 3, wherein, A crawler is provided at one end of the fourth part away from the robot body, and the crawler is used to contact the support surface.

6. The robot according to any one of claims 3 to 5, wherein, The third connecting member is a sliding track; the fourth part is used to slide in a manner parallel to the third part based on the sliding track.

7. The robot according to any one of claims 3 to 5, wherein, The third connecting member is a third rotating shaft; the fourth part is used to rotate around one end of the third part away from the robot body based on the third rotating shaft.

8. The robot according to any one of claims 3 to 7, wherein, The third connecting member is used to rotate or slide to enable the fourth part to form a fifth relative position relative to the first mechanical leg; In the fifth relative position, the second surface of the support chassis of the first mechanical leg is used to contact the support surface, and the second moving wheel of the fourth part does not contact the support surface.

9. The robot according to claim 3, wherein, When the number of the second mechanical legs is multiple, the multiple second mechanical legs and the first mechanical leg are dispersedly arranged on the base.

10. The robot according to claim 9, wherein, When the number of the second mechanical legs is even, the second connecting members of the multiple second mechanical legs are arranged around the second connecting member of the first mechanical leg on the base.

11. The robot according to claim 8, wherein, The second connectors respectively corresponding to the multiple second robotic legs are arranged in the sliding tracks on the base, and when any one of the second connectors corresponding to the second robotic legs moves in the sliding tracks, the distance between the second robotic leg and the adjacent second robotic leg is changed.

12. The robot according to any one of claims 3 to 11, wherein, When the second robotic leg includes a second moving wheel, the combination modes between the first moving wheel of the first robotic leg and the second moving wheel of the second robotic leg include the following types: The first moving wheel is a passive wheel, and the second moving wheel is an active wheel; The first moving wheel is an active wheel, and the second moving wheel is an active wheel.

13. The robot according to any one of claims 1 to 12, wherein, The robot body includes a torso and at least one robotic arm, and one end of each robotic arm is connected to the torso through different fifth connectors.

14. The robot according to claim 13, wherein, The torso includes at least one connecting rod; When the number of the connecting rods is multiple, each connecting rod is connected in sequence, and two adjacent connecting rods are connected through a fourth rotating shaft. The number of the fourth rotating shafts is less than the number of the connecting rods, and one end of the connecting rod closest to the base among the multiple connecting rods is connected to the base through the first connector.

15. The robot according to claim 14, wherein, When the number of the connecting rods is multiple and the number of the robotic arms is multiple, the connection relationship between the connecting rod and the robotic arm is any one of the following situations: The connecting rod is connected to multiple robotic arms through different fifth connectors; The connecting rod is not connected to any robotic arm; The connecting rod is connected to one robotic arm through the fifth connector.

16. The robot according to any one of claims 1 to 15, wherein, The second surface of the support chassis is used to contact the support surface, and any one of the following structures is arranged on the second surface of the support chassis: The second surface is provided with a detachable anti-slip member; The second surface is dispersedly provided with a plurality of groove members; The second surface is dispersedly provided with a plurality of protruding members.

17. A control method for a robot, the method is executed by an electronic device, the method is used to control the robot according to any one of claims 1 to 16, and the method includes: Obtaining environmental information of the current environment where the robot is located; In response to the environmental information of the environment where the robot is located satisfying the first contact condition, controlling the first rotating shaft of the first robotic leg of the robot to rotate the support chassis to form a first relative position; In response to the environmental information not satisfying the first contact condition, controlling the first rotating shaft of the first robotic leg of the robot to rotate the support chassis to form a second relative position.

18. The method according to claim 17, wherein, The method further includes: In response to the environmental information of the environment where the robot is located satisfying the second contact condition, controlling a fourth relative position to be formed between the first part and the second part of the first robotic leg of the robot, wherein, in the fourth relative position, the angle formed between the second part and the first part is an acute angle, and the first moving wheel or the second surface of the support chassis does not contact the support surface.

19. A control device for a robot, the device is used to control the robot according to any one of claims 1 to 16, and the device includes: An obtaining module, configured to obtain environmental information of the current environment where the robot is located; A switching module, configured to control a first rotating shaft of the first mechanical leg of the robot to rotate the support chassis to form a first relative position in response to environmental information of the environment where the robot is located satisfying a first contact condition; The switching module is further configured to control the first rotating shaft of the first mechanical leg of the robot to rotate the support chassis to form a second relative position in response to the environmental information not satisfying the first contact condition.

20. An electronic device, the electronic device comprising: A memory for storing computer-executable instructions or a computer program; A processor, configured to implement the control method of the robot according to claim 17 or 18 when executing the computer-executable instructions or the computer program stored in the memory.

21. A computer-readable storage medium storing computer-executable instructions or a computer program, the computer-executable instructions or the computer program implementing the control method of the robot according to claim 17 or 18 when executed by a processor.

22. A computer program product comprising computer-executable instructions or a computer program, the computer-executable instructions or the computer program implementing the control method of the robot according to claim 17 or 18 when executed by a processor.

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