CN109693237B - Robot, bounce control method and device thereof, and computer-readable storage medium - Google Patents
Robot, bounce control method and device thereof, and computer-readable storage medium Download PDFInfo
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- CN109693237B CN109693237B CN201710991783.8A CN201710991783A CN109693237B CN 109693237 B CN109693237 B CN 109693237B CN 201710991783 A CN201710991783 A CN 201710991783A CN 109693237 B CN109693237 B CN 109693237B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention relates to the technical field of robot control, and discloses a robot, a bounce control method and device thereof, and a computer readable storage medium. According to the embodiment of the invention, a first supporting force borne by the foot of the robot at the current moment is obtained, and a second supporting force borne by the foot of the robot at the last moment is obtained; acquiring a first movement speed of the robot at the current moment and acquiring a second movement speed of the robot at the previous moment; the last moment and the current moment are two adjacent moments; determining the current motion state of the robot according to the first supporting force, the second supporting force, the first motion speed and the second motion speed; and performing bounce control on the robot according to the motion control strategy corresponding to the motion state, so that the robot can be accurately bounced, and the robot can realize continuous bounce motion.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a robot, a bounce control method and a bounce control device of the robot, and a computer readable storage medium.
Background
The motion of the robot in the outdoor complex environment is always a research hotspot, and the robot with the bouncing function has stronger capability of crossing obstacles compared with the robot without the bouncing function. The existing robot bounce control method generally performs bounce control on a robot according to a pre-planned time, that is, the time required by the robot in each different motion phase in the bounce process is pre-planned according to a preset bounce control scheme, and different motion control is performed on the robot in time periods corresponding to the different motion phases, so as to realize the bounce control on the robot.
However, in the actual bouncing process of the robot, due to the complexity of the motion environment, an error exists between the actual time spent by the robot in each motion phase and the pre-planned time, so that the bouncing control of the robot is inaccurate, and the robot cannot realize continuous bouncing motion.
Disclosure of Invention
The embodiment of the invention provides a robot, a bounce control method and device thereof and a computer readable storage medium, and aims to solve the problem that the robot cannot realize continuous bounce motion due to inaccurate bounce control on the robot in the existing robot bounce control method based on time planning.
In a first aspect, an embodiment of the present invention provides a bounce control method for a robot, where the bounce control method includes:
acquiring a first supporting force borne by the foot of the robot at the current moment and acquiring a second supporting force borne by the foot of the robot at the last moment;
acquiring a first movement speed of the robot at the current moment and acquiring a second movement speed of the robot at the previous moment; the last moment and the current moment are two adjacent moments;
determining the current motion state of the robot according to the first supporting force, the second supporting force, the first motion speed and the second motion speed;
and performing bounce control on the robot according to a motion control strategy corresponding to the motion state.
In a second aspect, an embodiment of the present invention provides a bounce control device for a robot, including:
the first obtaining unit is used for obtaining a first supporting force borne by the foot of the robot at the current moment and obtaining a second supporting force borne by the foot of the robot at the last moment;
the second acquisition unit is used for acquiring a first movement speed of the robot at the current moment and acquiring a second movement speed of the robot at the previous moment; the last moment and the current moment are two adjacent moments;
the motion state determining unit is used for determining the current motion state of the robot according to the first supporting force, the second supporting force, the first motion speed and the second motion speed;
and the first control unit is used for carrying out bounce control on the robot according to a motion control strategy corresponding to the motion state.
In a third aspect, an embodiment of the present invention provides a bounce control device for a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method according to the first aspect when executing the computer program.
In a fourth aspect, the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the method according to the first aspect.
In a fifth aspect, embodiments of the present invention provide a robot including a bounce control device as described in the second aspect above.
According to the embodiment of the invention, a first supporting force borne by the foot of the robot at the current moment is obtained, and a second supporting force borne by the foot of the robot at the last moment is obtained; acquiring a first movement speed of the robot at the current moment and acquiring a second movement speed of the robot at the previous moment; the last moment and the current moment are two adjacent moments; determining the current motion state of the robot according to the first supporting force, the second supporting force, the first motion speed and the second motion speed; and performing bounce control on the robot according to a motion control strategy corresponding to the motion state. Because the feet of the robot are subjected to different supporting forces and different movement speeds when the robot is in different movement states in the bouncing movement process, the current movement state of the robot can be accurately determined according to the supporting forces applied to the feet of the robot at adjacent moments and the movement speeds of the robot at adjacent moments, so that the robot can be accurately bounced according to a control strategy corresponding to the current movement state of the robot, and the robot can realize continuous bouncing movement.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a flowchart of a bounce control method of a robot according to an embodiment of the present invention;
fig. 2 is a flowchart of a bounce control method of a robot according to another embodiment of the present invention;
fig. 3 is a structural diagram of a bounce control device of a robot according to an embodiment of the invention;
fig. 4 is a structural diagram of a bounce control device of a robot according to another embodiment of the invention;
fig. 5 is a structural diagram of a bounce control device of a robot according to still another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Before the technical solution of the present invention is explained in detail by using specific embodiments, for convenience of understanding, a bouncing process of the robot is first explained:
in the bouncing process of the robot, the robot can sequentially go through the following three motion stages every time the robot bounces: a ground supporting takeoff phase, a flight phase and a ground supporting falling phase. The ground-supported takeoff stage refers to the stage that the feet of the robot touch the ground and the robot is preparing to take off and jump from the ground to the air; the flying stage refers to the stage that the feet of the robot leave the ground and the robot flies in the air; the step of supporting the ground and falling refers to the step that the feet of the robot touch the ground and the robot falls to the ground from the air after jumping.
Correspondingly, the motion state of the robot at a certain moment in the bouncing process may include the following situations: the landing state, landing takeoff state, flying state, landing state, and landing state.
When the robot is in a ground-supported takeoff state or a ground-supported falling state, the supporting force borne by the feet of the robot is greater than zero, specifically, the direction of the supporting force borne by the feet of the robot is opposite to the direction of gravity; when the robot is in a flying state, the supporting force borne by the feet of the robot is zero. When the robot is in a ground-supported takeoff state, the direction of the movement speed of the robot is opposite to the direction of gravity; when the robot is in a ground-supported falling state, the direction of the moving speed of the robot is the same as the direction of gravity.
Referring to fig. 1, fig. 1 is a schematic flow chart of a bounce control method of a robot according to an embodiment of the present invention. The execution subject of the bounce control method of the robot in this embodiment is a bounce control device of the robot. The bounce control method of the robot shown in fig. 1 may include the steps of:
s101: the method comprises the steps of obtaining a first supporting force borne by the foot of the robot at the current moment and obtaining a second supporting force borne by the foot of the robot at the last moment.
In this embodiment, the previous time and the current time are two adjacent times, and a first preset time interval is provided between the two adjacent times. The first preset time period may be determined according to the accuracy requirement in practical application, and is not limited herein. For example, the first preset time period may be 1 millisecond, 5 milliseconds, or the like. When the first preset duration is 1 millisecond, if the timing time corresponding to the current time is 6 milliseconds, the timing time corresponding to the previous time is 5 milliseconds. When the first preset duration is 5 milliseconds, if the timing time corresponding to the current time is 6 milliseconds, the timing time corresponding to the previous time is 1 millisecond.
In this embodiment, the bounce control device may obtain, in real time, a first supporting force applied to the foot of the robot at a current moment and a second supporting force applied to the foot of the robot at a previous moment.
The bounce control device can also acquire the first supporting force applied to the foot of the robot at the current moment and the second supporting force applied to the foot of the robot at the previous moment every second preset time. The second preset time period may be determined according to actual requirements, and is not limited herein. For example, the second preset time period may be 5 seconds, that is, the bounce control device obtains the first supporting force applied to the foot of the robot at the current moment and the second supporting force applied to the foot of the robot at the previous moment every 5 seconds.
S102: the method comprises the steps of obtaining a first movement speed of the robot at the current moment, and obtaining a second movement speed of the robot at the previous moment.
In this embodiment, the bounce control device may obtain the first movement speed of the robot at the current moment and the second movement speed of the robot at the previous moment in real time.
The bounce control device can also acquire the first movement speed of the robot at the current moment and the second movement speed of the robot at the previous moment every second preset time. For example, in combination with S101, if the second preset time period may be 5 seconds, the bounce control device obtains the first movement speed of the robot at the current time and the second movement speed of the robot at the previous time every 5 seconds.
The acquisition timing of the first supporting force and the acquisition timing of the first movement speed are the same timing. Namely, the bounce control device acquires a first supporting force borne by the foot of the robot at the current moment and a first movement speed of the robot at the current moment at the same moment, and acquires a second supporting force borne by the foot of the robot at the previous moment and a second movement speed of the robot at the previous moment.
S103: and determining the current motion state of the robot according to the first supporting force, the second supporting force, the first motion speed and the second motion speed.
Because the support force borne by the feet of the robot is different and/or the movement speed of the robot is different when the robot is in different movement states in the bouncing process, the bouncing control device can determine the current movement state of the robot according to the support force borne by the feet of the robot and the movement speed of the robot.
Specifically, after acquiring a first supporting force applied to the foot of the robot at the current moment, a second supporting force applied to the foot of the robot at the previous moment, a first movement speed of the robot at the current moment and a second movement speed of the robot at the previous moment, the bounce control device determines the current movement state of the robot according to the first supporting force, the second supporting force, the first movement speed and the second movement speed.
It should be noted that when the robot is in different motion states during the bouncing process, the corresponding motion control strategies are different. Specifically, if the robot is currently in a motion state that enters the second motion state from the first motion state, the motion control strategy corresponding to the motion state may be that the motion information of the robot after entering the second motion state is determined according to a preset bounce control strategy. If the robot is currently in the second motion state, the motion control strategy corresponding to the motion state may be to perform bounce control on the robot according to the motion information of the robot after entering the second motion state, which is determined when the robot enters the second motion state.
The first motion state can be any motion state in the bouncing process of the robot, and the second motion state can also be any motion state in the bouncing process of the robot. That is, the first motion state may be a landing takeoff state, a flight state or a landing state, and correspondingly, the second motion state may be a flight state, a landing state or a landing takeoff state.
The preset bounce control strategy is used for describing the motion information of the robot in each motion phase in the bounce process. The motion information includes, but is not limited to, values of motion parameters such as a motion speed, a motion acceleration, and a motion time of the robot. The preset bounce control strategy may be determined according to actual requirements, and is not limited herein.
S104: and performing bounce control on the robot according to a motion control strategy corresponding to the motion state.
And after determining the current motion state of the robot, the bounce control device performs bounce control on the robot according to a motion control strategy corresponding to the current motion state.
For example, if the bounce control device determines that the robot currently enters the second motion state from the first motion state (i.e., the robot currently enters the second motion state), the motion information of the robot after entering the second motion state is determined according to a preset bounce control strategy. And if the bounce control device determines that the robot is currently in the second motion state (namely the robot currently enters the second motion state), the robot is controlled to move according to the motion information of the robot after entering the second motion state, which is determined when the robot enters the second motion state. The specific step of controlling the motion of the robot according to the motion information of the robot after the robot enters the second motion state is to adjust the motion parameters of the robot according to values of the motion parameters contained in the motion information of the robot after the robot enters the second motion state, so that the robot moves according to a preset motion track when the robot is in the second motion state.
As can be seen from the above, in the bounce control method of the robot provided in this embodiment, the first supporting force applied to the foot of the robot at the current moment is obtained, and the second supporting force applied to the foot of the robot at the previous moment is obtained; acquiring a first movement speed of the robot at the current moment and acquiring a second movement speed of the robot at the previous moment; the last moment and the current moment are two adjacent moments; determining the current motion state of the robot according to the first supporting force, the second supporting force, the first motion speed and the second motion speed; and performing bounce control on the robot according to a motion control strategy corresponding to the motion state. Because the feet of the robot are subjected to different supporting forces and different movement speeds when the robot is in different movement states in the bouncing movement process, the current movement state of the robot can be accurately determined according to the supporting forces applied to the feet of the robot at adjacent moments and the movement speeds of the robot at adjacent moments, so that the robot can be accurately bounced according to a control strategy corresponding to the current movement state of the robot, and the robot can realize continuous bouncing movement.
Referring to fig. 2, fig. 2 is a schematic flowchart of a bounce control method of a robot according to another embodiment of the present invention. The execution subject of the bounce control method of the robot in this embodiment is a bounce control device of the robot. The bounce control method of the robot as shown in fig. 2 may include the steps of:
s201: the method comprises the steps of obtaining a first supporting force borne by the foot of the robot at the current moment and obtaining a second supporting force borne by the foot of the robot at the last moment.
It should be noted that S201 in this embodiment is the same as S101 in the first embodiment, and specific reference is made to the detailed description of S101 in the first embodiment, which is not repeated herein.
S202: the method comprises the steps of obtaining a first movement speed of the robot at the current moment, and obtaining a second movement speed of the robot at the previous moment.
It should be noted that S202 in this embodiment is the same as S102 in the first embodiment, and please refer to the detailed description of S102 in the first embodiment, which is not repeated herein.
S203: and determining the current motion state of the robot according to the first supporting force, the second supporting force, the first motion speed and the second motion speed.
Because the support force borne by the feet of the robot is different and/or the movement speed of the robot is different when the robot is in different movement states in the bouncing process, the bouncing control device can determine the current movement state of the robot according to the support force borne by the feet of the robot and the movement speed of the robot.
Specifically, after acquiring a first supporting force applied to the foot of the robot at the current moment, a second supporting force applied to the foot of the robot at the previous moment, a first movement speed of the robot at the current moment and a second movement speed of the robot at the previous moment, the bounce control device determines the current movement state of the robot according to the first supporting force, the second supporting force, the first movement speed and the second movement speed.
It should be noted that when the robot is in different motion states during the bouncing process, the corresponding motion control strategies are different. Specifically, if the robot is currently in a motion state that enters the second motion state from the first motion state, the motion control strategy corresponding to the motion state may be that the motion information of the robot after entering the second motion state is determined according to a preset bounce control strategy. If the robot is currently in the second motion state, the motion control strategy corresponding to the motion state may be to perform bounce control on the robot according to the motion information of the robot after entering the second motion state, which is determined when the robot enters the second motion state.
The first motion state can be any motion state in the bouncing process of the robot, and the second motion state can also be any motion state in the bouncing process of the robot. That is, the first motion state may be a landing takeoff state, a flight state or a landing state, and correspondingly, the second motion state may be a flight state, a landing state or a landing takeoff state.
The preset bounce control strategy is used for describing the motion information of the robot in each motion phase in the bounce process. The motion information includes, but is not limited to, values of motion parameters such as a motion speed, a motion acceleration, and a motion time of the robot. The preset bounce control strategy may be determined according to actual requirements, and is not limited herein.
Further, S203 may include S2031.
S2031: and if the first supporting force is larger than zero and the second supporting force is zero, determining that the robot enters a supporting ground falling state from a flying state at present.
If the bounce control device detects that the first supporting force is greater than zero and the second supporting force is zero, it is determined that the robot is currently entering the ground supporting and falling state from the flying state, and at this time, the bounce control device executes S2041.
Further, S203 may include S2032.
S2032: and if the first supporting force and the second supporting force are both larger than zero, and the direction of the first movement speed is the same as the gravity direction, determining that the robot is currently in a supported falling state.
If the bounce control device detects that the first supporting force and the second supporting force are both greater than zero and that the direction of the first movement speed is the same as the gravity direction, it is determined that the robot is currently in a ground-supported falling state, and at this time, the bounce control device executes S2042.
Further, S203 may include S2033.
S2033: and if the first supporting force is zero and the second supporting force is greater than zero, determining that the robot enters a flight state from a ground-supported takeoff state at present.
If the bounce control device detects that the first supporting force is zero and the second supporting force is greater than zero, it is determined that the robot is currently in a flying state from a ground-supported takeoff state, and at this time, the bounce control device executes S2043.
Further, S203 may include S2034.
S2034: and if the first supporting force and the second supporting force are both zero, determining that the robot is in a flying state at present.
If the bounce control device detects that the first supporting force and the second supporting force are both zero, it is determined that the robot is currently in a flying state, and at this time, the bounce control device executes S2044.
Further, S203 may include S2035.
S2035: and if the first supporting force and the second supporting force are both larger than zero, the direction of the first movement speed is opposite to the gravity direction, and the direction of the second movement speed is the same as the gravity direction, determining that the robot enters a ground supporting takeoff state from a ground supporting falling state at present.
If the bounce control device detects that the first supporting force and the second supporting force are both greater than zero, and detects that the direction of the first movement speed is opposite to the gravity direction, and the direction of the second movement speed is the same as the gravity direction, it is determined that the robot is currently falling from the support ground state to enter the support ground take-off state, and at this time, the bounce control device executes S2045.
Further, S203 may include S2036.
S2036: and if the first supporting force and the second supporting force are both larger than zero, and the direction of the first running speed and the direction of the second moving speed are both opposite to the gravity direction, determining that the robot is in a ground-supported takeoff state currently.
If the bounce control device detects that the first supporting force and the second supporting force are both larger than zero and that the direction of the first running speed and the direction of the second running speed are both opposite to the gravity direction, it is determined that the robot is currently in a ground-supported takeoff state, and at this time, the bounce control device executes S2036.
S2031, S2033, S2034, S2035, and S2036 are parallel steps, and the bound control device executes only one of S2031, S2033, S2034, S2035, and S2036 at a time.
S204: and performing bounce control on the robot according to a motion control strategy corresponding to the motion state.
And after determining the current motion state of the robot, the bounce control device performs bounce control on the robot according to a motion control strategy corresponding to the current motion state.
For example, if the bounce control device determines that the robot currently enters the second motion state from the first motion state (i.e., the robot currently enters the second motion state), the motion information of the robot after entering the second motion state is determined according to a preset bounce control strategy. And if the bounce control device determines that the robot is currently in the second motion state (namely the robot currently enters the second motion state), the robot is controlled to move according to the motion information of the robot after entering the second motion state, which is determined when the robot enters the second motion state.
Specifically, if the bounce control device determines that the robot is currently entering the supported falling state from the flight state, S204 may include S2041: and determining first motion information of the robot after entering the ground supporting falling state according to a preset bouncing control strategy.
In this embodiment, if it is determined that the robot is currently entering the ground supporting and falling state from the flight state, the bounce control device determines first motion information of the robot after entering the ground supporting and falling state according to a preset bounce control strategy, so that the bounce control device performs motion control on the robot according to the first motion information after the robot enters the ground supporting and falling state.
If the bounce control device determines that the robot is currently in the supported falling state, S04 may include S2042: and controlling the motion of the robot according to predetermined first motion information of the robot after the robot enters the ground supporting falling state.
In this embodiment, when the bounce control device determines that the robot is currently in the supported falling state, the bounce control device performs the bounce control on the robot based on the first motion information after the determined robot enters the supported falling state when the robot enters the supported falling state.
Specifically, the bouncing control of the robot according to the first motion information means that each motion parameter of the robot in the ground supporting falling state is adjusted according to the value of each motion parameter contained in the first motion information, so that the robot moves according to a preset motion track in the ground supporting falling stage.
If the bounce control device determines that the robot is currently entering the flight state from the take-off state from the landing, S204 may include S2043: and determining second motion information of the robot after the robot enters the flight state according to a preset bounce control strategy.
In this embodiment, if it is determined that the robot is currently entering the flight state from the ground-supported takeoff state, the bounce control device determines second motion information of the robot after entering the flight state according to a preset bounce control strategy, so that the bounce control device performs motion control on the robot according to the second motion information after the robot enters the flight state.
If the bounce control device determines that the robot is currently in the flying state, S204 may include S2044: and controlling the robot to move according to the predetermined second movement information after the robot enters the flight state.
In this embodiment, if the bounce control device determines that the robot is currently in the flight state, the bounce control device controls the motion of the robot according to the second motion information after the robot enters the flight state, which is determined when the robot enters the flight state.
Specifically, the bouncing control of the robot according to the second motion information means that each motion parameter of the robot in the flying state is adjusted according to the value of each motion parameter included in the second motion information, so that the robot moves according to a predetermined motion trajectory in the flying stage.
If the bounce control device determines that the robot is currently entering the landing takeoff state from the landing falling state, S204 may include S2045: and determining third motion information of the robot after entering the ground supporting takeoff state according to a preset bounce control strategy.
In this embodiment, if it is determined that the robot is currently entering the landing-takeoff state from the landing-descent state, the bounce control device determines third motion information of the robot after entering the landing-takeoff state according to a preset bounce control strategy, so that the bounce control device performs motion control on the robot according to the third motion information after the robot enters the landing-takeoff state.
If the bounce control device determines that the robot is currently in the ground-supported takeoff state, S204 may include S2046: and controlling the motion of the robot according to the predetermined third motion information of the robot after the robot enters the take-off state of the shoring area.
In this embodiment, if the bounce control device determines that the robot is currently in the landing takeoff state, the bounce control device performs motion control on the robot according to the third motion information after the robot enters the landing takeoff state, which is determined when the robot enters the landing takeoff state.
Specifically, the bouncing control of the robot according to the third motion information means that each motion parameter of the robot in the ground-supported takeoff state is adjusted according to the value of each motion parameter contained in the third motion information, so that the robot moves according to a predetermined motion track in the ground-supported takeoff state.
It should be noted that S2041, S2043, S2044, S2045, and S2046 are parallel steps, and the bounce control device only executes one of S2041, S2043, S2044, S2045, and S2046 at a time.
As can be seen from the above, in the bounce control method of the robot provided in this embodiment, the first supporting force applied to the foot of the robot at the current moment is obtained, and the second supporting force applied to the foot of the robot at the previous moment is obtained; acquiring a first movement speed of the robot at the current moment and acquiring a second movement speed of the robot at the previous moment; the last moment and the current moment are two adjacent moments; determining the current motion state of the robot according to the first supporting force, the second supporting force, the first motion speed and the second motion speed; and performing bounce control on the robot according to a motion control strategy corresponding to the motion state. Because the feet of the robot are subjected to different supporting forces and different movement speeds when the robot is in different movement states in the bouncing movement process, the current movement state of the robot can be accurately determined according to the supporting forces applied to the feet of the robot at adjacent moments and the movement speeds of the robot at adjacent moments, so that the robot can be accurately bounced according to a control strategy corresponding to the current movement state of the robot, and the robot can realize continuous bouncing movement.
When the robot enters a certain motion state, the motion information of the robot after entering the motion state is determined according to the preset bounce control strategy, so that after the robot enters the certain motion state, the motion of the robot in the motion stage can be controlled according to the predetermined motion information, the robot can move according to a pre-planned motion track after entering the motion stage, and the accuracy of the bounce control of the robot is further improved.
Referring to fig. 3, fig. 3 is a structural diagram of a bounce control device of a robot according to an embodiment of the present invention. The bounce control device 300 of the robot of the present embodiment includes units for performing the steps in the embodiment corresponding to fig. 1, and please refer to fig. 1 and the related description in the embodiment corresponding to fig. 1, which are not repeated herein. The bounce control device 300 of the robot of the present embodiment includes a first acquiring unit 301, a second acquiring unit 302, a motion state determining unit 303, and a first control unit 304.
The first obtaining unit 301 is configured to obtain a first supporting force applied to the foot of the robot at a current moment and obtain a second supporting force applied to the foot of the robot at a previous moment.
The second obtaining unit 302 is configured to obtain a first movement speed of the robot at a current time and obtain a second movement speed of the robot at a previous time; and the previous moment and the current moment are two adjacent moments.
The motion state determination unit 303 is configured to determine a current motion state of the robot according to the first supporting force, the second supporting force, the first motion speed, and the second motion speed.
The first control unit 304 is configured to perform bounce control on the robot according to a motion control strategy corresponding to the motion state.
As can be seen from the above, the bounce control device of the robot provided in this embodiment obtains the first supporting force applied to the foot of the robot at the current moment and obtains the second supporting force applied to the foot of the robot at the previous moment; acquiring a first movement speed of the robot at the current moment and acquiring a second movement speed of the robot at the previous moment; the last moment and the current moment are two adjacent moments; determining the current motion state of the robot according to the first supporting force, the second supporting force, the first motion speed and the second motion speed; and performing bounce control on the robot according to a motion control strategy corresponding to the motion state. Because the feet of the robot are subjected to different supporting forces and different movement speeds when the robot is in different movement states in the bouncing movement process, the current movement state of the robot can be accurately determined according to the supporting forces applied to the feet of the robot at adjacent moments and the movement speeds of the robot at adjacent moments, so that the robot can be accurately bounced according to a control strategy corresponding to the current movement state of the robot, and the robot can realize continuous bouncing movement.
Referring to fig. 4, fig. 4 is a structural diagram of a bounce control device of a robot according to an embodiment of the present invention. The bounce control device 400 of the robot of the present embodiment includes units for performing the steps in the embodiment corresponding to fig. 2, and please refer to fig. 2 and the related description in the embodiment corresponding to fig. 2, which are not repeated herein. The bounce control device 400 of the robot of the present embodiment includes a first acquisition unit 401, a second acquisition unit 402, a motion state determination unit 403, and a first control unit 404.
The first obtaining unit 401 is configured to obtain a first supporting force applied to the foot of the robot at a current moment and obtain a second supporting force applied to the foot of the robot at a previous moment.
The second obtaining unit 402 is configured to obtain a first movement speed of the robot at a current time, and obtain a second movement speed of the robot at a previous time; and the previous moment and the current moment are two adjacent moments.
The motion state determination unit 403 is configured to determine a current motion state of the robot according to the first supporting force, the second supporting force, the first motion speed, and the second motion speed.
The first control unit 404 is configured to perform bounce control on the robot according to a motion control strategy corresponding to the motion state.
Further, the first control unit 404 may include a first motion information determination unit 4041, a first motion control unit 4042, a second motion information determination unit 4043, a second motion control unit 4044, a third motion information determination unit 4045, and a third motion control unit 4046.
The motion state determination unit 403 is specifically configured to determine that the robot enters a ground supporting and dropping state from a flight state if the first supporting force is greater than zero and the second supporting force is zero.
The first motion information determining unit 4041 is configured to determine, according to a preset bounce control strategy, first motion information of the robot after entering the ground supporting falling state.
Further, the motion state determination unit 403 is specifically configured to determine that the robot is currently in a supported falling state if the first supporting force and the second supporting force are both greater than zero, and the direction of the first motion speed is the same as the gravity direction.
The first motion control unit 4042 is configured to perform motion control on the robot according to predetermined first motion information after the robot enters the ground supporting and dropping state.
Further, the motion state determination unit 403 is specifically configured to determine that the robot enters a flight state from a ground-supported takeoff state currently if the first supporting force is zero and the second supporting force is greater than zero.
The second motion information determining unit 4043 is configured to determine, according to a preset bounce control strategy, second motion information after the robot enters the flight state.
Further, the motion state determination unit 403 is specifically configured to determine that the robot is currently in a flight state if the first supporting force and the second supporting force are both zero.
The second motion control unit 4044 is configured to perform motion control on the robot according to predetermined second motion information after the robot enters the flight state.
Further, the motion state determination unit 403 is specifically configured to determine that the robot enters the ground supporting takeoff state from the ground supporting falling state currently if the first supporting force and the second supporting force are both greater than zero, the direction of the first motion speed is opposite to the direction of gravity, and the direction of the second motion speed is the same as the direction of gravity.
The third motion information determination unit 4045 is configured to determine, according to a preset bounce control policy, third motion information after the robot enters the landing takeoff state.
Further, the motion state determination unit 403 is specifically configured to determine that the robot is currently in a ground-supported takeoff state if the first supporting force and the second supporting force are both greater than zero, and the direction of the first operating speed and the direction of the second moving speed are both opposite to the direction of gravity.
The third motion control unit 4046 is configured to perform motion control on the robot according to predetermined third motion information after the robot enters the landing takeoff state.
As can be seen from the above, the bounce control device of the robot provided in this embodiment obtains the first supporting force applied to the foot of the robot at the current moment and obtains the second supporting force applied to the foot of the robot at the previous moment; acquiring a first movement speed of the robot at the current moment and acquiring a second movement speed of the robot at the previous moment; the last moment and the current moment are two adjacent moments; determining the current motion state of the robot according to the first supporting force, the second supporting force, the first motion speed and the second motion speed; and performing bounce control on the robot according to a motion control strategy corresponding to the motion state. Because the feet of the robot are subjected to different supporting forces and different movement speeds when the robot is in different movement states in the bouncing movement process, the current movement state of the robot can be accurately determined according to the supporting forces applied to the feet of the robot at adjacent moments and the movement speeds of the robot at adjacent moments, so that the robot can be accurately bounced according to a control strategy corresponding to the current movement state of the robot, and the robot can realize continuous bouncing movement.
When the robot enters a certain motion state, the motion information of the robot after entering the motion state is determined according to the preset bounce control strategy, so that after the robot enters the certain motion state, the motion of the robot in the motion stage can be controlled according to the predetermined motion information, the robot can move according to a pre-planned motion track after entering the motion stage, and the accuracy of the bounce control of the robot is further improved.
Referring to fig. 5, fig. 5 is a schematic view of a bounce control device of a robot according to still another embodiment of the present invention. The bounce control device 500 of the robot in the present embodiment as shown in fig. 5 may include: a processor 501, a memory 502, and a computer program 503 stored in the memory 502 and operable on the processor 501. The processor 501 implements the steps in the embodiments of the bounce control method of each robot described above when executing the computer program 503. Such as S101 to S104 shown in fig. 1. Alternatively, the processor 501, when executing the computer program 503, implements the functions of the units in the above-described device embodiments, such as the units 301 to 304 described in fig. 3.
Illustratively, the computer program 503 may be divided into one or more units, which are stored in the memory 502 and executed by the processor 501 to accomplish the present invention. The one or more units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program 503 in the robot's bounce control device 500. For example, the computer program 503 may be divided into a first acquiring unit, a second acquiring unit, a motion state determining unit and a first control unit, and each unit has the following specific functions:
the first obtaining unit is used for obtaining a first supporting force borne by the foot of the robot at the current moment and obtaining a second supporting force borne by the foot of the robot at the last moment.
The second acquisition unit is used for acquiring a first movement speed of the robot at the current moment and acquiring a second movement speed of the robot at the previous moment; and the previous moment and the current moment are two adjacent moments.
The motion state determination unit is used for determining the current motion state of the robot according to the first supporting force, the second supporting force, the first motion speed and the second motion speed.
And the first control unit is used for carrying out bounce control on the robot according to a motion control strategy corresponding to the motion state.
Further, the first control unit may be divided into a first motion information determination unit, a first motion control unit, a second motion information determination unit, a second motion control unit, a third motion information determination unit, and a third motion control unit.
The motion state determination unit is specifically configured to determine that the robot enters a supported ground falling state from a flight state at present if the first supporting force is greater than zero and the second supporting force is zero.
The first motion information determining unit is used for determining first motion information of the robot after the robot enters the ground supporting falling state according to a preset bounce control strategy.
Further, the motion state determination unit is specifically configured to determine that the robot is currently in a supported falling state if the first supporting force and the second supporting force are both greater than zero, and the direction of the first motion speed is the same as the direction of gravity.
And the first motion control unit controls the motion of the robot according to predetermined first motion information after the robot enters the ground supporting falling state.
Further, the motion state determination unit is specifically configured to determine that the robot enters a flight state from a ground support takeoff state currently if the first support force is zero and the second support force is greater than zero.
The second motion information determining unit is used for determining second motion information of the robot after the robot enters the flight state according to a preset bounce control strategy.
Further, the motion state determination unit is specifically configured to determine that the robot is currently in a flight state if the first supporting force and the second supporting force are both zero.
And the second motion control unit is used for controlling the motion of the robot according to predetermined second motion information after the robot enters the flight state.
Further, the motion state determination unit is specifically configured to determine that the robot enters the ground-supported takeoff state from the ground-supported falling state at present if the first supporting force and the second supporting force are both greater than zero, the direction of the first motion speed is opposite to the direction of gravity, and the direction of the second motion speed is the same as the direction of gravity.
The third motion information determining unit is used for determining third motion information of the robot after entering the take-off state of the landing according to a preset bounce control strategy.
Further, the motion state determination unit is specifically configured to determine that the robot is currently in a ground-supported takeoff state if the first supporting force and the second supporting force are both greater than zero, and the direction of the first running speed and the direction of the second running speed are both opposite to the direction of gravity.
And the third motion control unit is used for controlling the motion of the robot according to predetermined third motion information after the robot enters the ground-supported takeoff state.
The bouncing control device of the robot can be computing equipment such as a desktop computer, a notebook computer, a palm computer and a cloud server. The bounce control device of the robot can include, but is not limited to, a processor 501 and a memory 502. It will be understood by those skilled in the art that fig. 5 is merely an example of the bounce control apparatus 500 of the robot, and does not constitute a limitation on the bounce control apparatus 500 of the robot, and may include more or less components than those shown, or combine certain components, or different components, for example, the apparatus for adjusting a closed work environment may further include an input-output device, a network access device, a bus, etc.
The Processor 501 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 502 may be an internal storage unit of the bounce control device 500 of the robot, such as a hard disk or a memory of the bounce control device 500 of the robot. The memory 502 may also be an external storage device of the bounce control apparatus 500 of the robot, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), and the like, which are provided on the bounce control apparatus 500 of the robot. Further, the memory 502 may also comprise both an internal memory unit and an external memory device of the bouncing control apparatus 500 of the robot. The memory 502 is used for storing the computer programs and other programs and data required by the means for regulating the closed work environment. The memory 502 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the above-mentioned device may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
Embodiments of the present invention further provide a robot, which includes the bounce control device 300 in the embodiment corresponding to fig. 3 or the bounce control device 400 in the embodiment corresponding to fig. 4.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A robot bounce control method is characterized by comprising the following steps:
acquiring a first supporting force borne by the foot of the robot at the current moment and acquiring a second supporting force borne by the foot of the robot at the last moment;
acquiring a first movement speed of the robot at the current moment and acquiring a second movement speed of the robot at the previous moment; the last moment and the current moment are two adjacent moments;
determining the current motion state of the robot according to the first supporting force, the second supporting force, the first motion speed and the second motion speed;
performing bounce control on the robot according to a motion control strategy corresponding to the motion state; if the robot is currently in a motion state which enters a second motion state from a first motion state, determining motion information of the robot after entering the second motion state according to a preset bounce control strategy, wherein the motion control strategy corresponding to the motion state is; and if the robot is currently in the second motion state, the motion control strategy corresponding to the motion state is to perform bounce control on the robot according to the motion information of the robot after entering the second motion state, which is determined when the robot enters the second motion state.
2. The method of claim 1,
the determining the current motion state of the robot according to the first supporting force, the second supporting force, the first motion speed and the second motion speed includes:
if the first supporting force is larger than zero and the second supporting force is zero, determining that the robot enters a supporting ground falling state from a flight state at present;
the bouncing control of the robot according to the motion control strategy corresponding to the motion state comprises the following steps:
and determining first motion information of the robot after entering the ground supporting falling state according to a preset bouncing control strategy.
3. The method of claim 1,
the determining the current motion state of the robot according to the first supporting force, the second supporting force, the first motion speed and the second motion speed includes:
if the first supporting force and the second supporting force are both larger than zero, and the direction of the first movement speed is the same as the gravity direction, determining that the robot is currently in a ground supporting falling state;
the bouncing control of the robot according to the motion control strategy corresponding to the motion state comprises the following steps:
and controlling the motion of the robot according to predetermined first motion information of the robot after the robot enters the ground supporting falling state.
4. The method of claim 1,
the determining the current motion state of the robot according to the first supporting force, the second supporting force, the first motion speed and the second motion speed includes:
if the first supporting force is zero and the second supporting force is greater than zero, determining that the robot enters a flight state from a ground-supported takeoff state at present;
the bouncing control of the robot according to the motion control strategy corresponding to the motion state comprises the following steps:
and determining second motion information of the robot after the robot enters the flight state according to a preset bounce control strategy.
5. The method of claim 1,
the determining the current motion state of the robot according to the first supporting force, the second supporting force, the first motion speed and the second motion speed includes:
if the first supporting force and the second supporting force are both zero, determining that the robot is in a flying state currently;
the bouncing control of the robot according to the motion control strategy corresponding to the motion state comprises the following steps:
and controlling the robot to move according to the predetermined second movement information after the robot enters the flight state.
6. A robot bounce control device, comprising:
the first obtaining unit is used for obtaining a first supporting force borne by the foot of the robot at the current moment and obtaining a second supporting force borne by the foot of the robot at the last moment;
the second acquisition unit is used for acquiring a first movement speed of the robot at the current moment and acquiring a second movement speed of the robot at the previous moment; the last moment and the current moment are two adjacent moments;
the motion state determining unit is used for determining the current motion state of the robot according to the first supporting force, the second supporting force, the first motion speed and the second motion speed;
the first control unit is used for carrying out bounce control on the robot according to a motion control strategy corresponding to the motion state; if the robot is currently in a motion state which enters a second motion state from a first motion state, determining motion information of the robot after entering the second motion state according to a preset bounce control strategy, wherein the motion control strategy corresponding to the motion state is; and if the robot is currently in the second motion state, the motion control strategy corresponding to the motion state is to perform bounce control on the robot according to the motion information of the robot after entering the second motion state, which is determined when the robot enters the second motion state.
7. The bounce control device of claim 6,
the motion state determination unit is specifically configured to:
if the first supporting force is larger than zero and the second supporting force is zero, determining that the robot enters a supporting ground falling state from a flight state at present;
the first control unit includes:
and the first motion information determining unit is used for determining first motion information of the robot after entering the ground supporting falling state according to a preset bounce control strategy.
8. A bouncing control apparatus for a robot, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the steps of the method as claimed in any one of claims 1 to 5 when executing the computer program.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
10. A robot characterized in that it comprises a bouncing control apparatus according to claim 6 or 7.
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