CN117032285B - Foot type robot movement method and system - Google Patents
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Abstract
The embodiment of the application discloses a foot-type robot movement method and system. In this embodiment, the two-dimensional code is placed on the running machine, and the relative position information between the foot robot and the two-dimensional code is calculated in real time through the vision module, so as to determine the absolute position information of the foot robot, and then according to whether the absolute position information is in a preset expected movement area, the movement instruction of the foot robot is adjusted. The problem of the need reform transform the treadmill that the interactive in-process of foot formula robot and treadmill caused, lead to the input cost high to and need keep foot formula robot and the synchronous time of treadmill motion speed, need debugging personnel intervene the manpower resources who causes extravagant is solved.
Description
Technical Field
The application relates to the technical field of robot debugging, in particular to a foot-type robot movement method and system.
Background
Compared with the traditional wheeled and crawler robots, the foot robot can improve the motion flexibility of the foot robot system and the adaptability to complex terrain environment due to the fact that the foot robot is in discrete contact interaction with the ground. With the core technical problems of the foot-type robot being broken down one by one, the foot-type robot is a hot spot for research and application in the field of robots nowadays. However, the foot robot has higher requirements on the test site in the process of designing, developing and debugging, and the conventional test equipment cannot meet the special requirements on the test of the foot robot. For example, existing foot robots often require the user to control or protect on the sides during interaction with the treadmill.
More specifically, when testing indexes such as walking reliability, moving speed, endurance capacity and the like of the foot-type robot, the robot needs to be operated to continuously run for a long time and a long distance, and the indexes of the foot-type robot need to be measured and analyzed on the premise of protection. The conventional method is to place the foot type robot on the running machine and realize the test of long distance and long endurance by controlling the running of the running machine.
In the interaction process of the foot robot and the running machine, the prior technical scheme has the following problems:
1. the special running machine is needed or needs to be modified and controlled, the special running machine has large workload and different performance from the special running machine, the modification and control of the running machine need to provide an open control interface for a running machine manufacturer, the implementation difficulty is high, and the input cost is high;
2. when the foot robot and the running machine are required to be kept synchronous in the test process, debugging personnel are required to intervene, control instructions are input for the robot and are adjusted in real time, the requirement on an operator is high, the operator is required to keep concentration all the time, and waste of human resources exists.
Disclosure of Invention
For the problems, the application provides a foot robot movement method and a system, so as to solve the problems that the running machine needs to be modified in the interaction process of the existing foot robot and the running machine, the input cost is high, and human resources are wasted due to the fact that debugging personnel are needed to intervene when the foot robot and the running machine are required to keep synchronous movement speed.
The technical scheme provided by the embodiment of the application comprises the following steps:
a foot robot movement method, which is applied to a foot robot movement system, wherein the system comprises a running machine module, a robot module and a movement test module; the treadmill module comprises a treadmill and a two-dimensional code positioned on the treadmill; the robotic module includes a foot robot and a vision module located on the treadmill, the method comprising:
when the running machine and the foot-type robot are started, calculating relative position information between the foot-type robot and the two-dimensional code in real time through the vision module, and sending the relative position information to the motion test module;
determining absolute position information of the foot robot through the relative position information; and judging whether the foot robot is positioned in a preset expected movement area according to the absolute position information, and updating a movement instruction of the foot robot when the foot robot is determined not to be positioned in the expected movement area.
Optionally, the vision module in the foot robot motion system comprises a camera and a two-dimensional code identification positioning module;
calculating the relative position information between the foot robot and the two-dimensional code in real time through the vision module comprises the following steps:
the camera acquires the image information of the two-dimensional code, the two-dimensional code positioning module processes the image information, and the relative position information of the foot robot and the two-dimensional code is obtained through calculation.
Optionally, the foot robot motion system further comprises a suspension protection module, the method further comprising;
judging whether the foot robot exceeds a preset safe running area or not through the motion test module, and sending a protection instruction to the suspension protection module when the foot robot is determined to exceed the safe running area;
and when receiving the protection instruction sent by the motion test module, the suspension protection module carries out lifting protection on the foot-type robot.
The application also provides a foot robot exercise system comprising a treadmill module, a robot module, and an exercise test module; the treadmill module comprises a treadmill and a two-dimensional code positioned on the treadmill; the robot module comprises a foot robot and a vision module which are positioned on the running machine;
the vision module is used for calculating the relative position information between the foot robot and the two-dimensional code in real time when the running machine and the foot robot are started, and sending the relative position information to the motion test module;
the motion test module is used for receiving the relative position information sent by the vision module and determining the absolute position information of the foot-type robot; and judging whether the foot robot is positioned in a preset expected movement area according to the absolute position information, and updating a movement instruction of the foot robot when the foot robot is determined not to be positioned in the expected movement area.
Optionally, the vision module comprises a camera and a two-dimensional code identification positioning module;
the real-time calculation of the relative position information between the foot robot and the two-dimensional code comprises the steps that the camera acquires the image information of the two-dimensional code, the two-dimensional code positioning module processes the image information, and the relative position information of the foot robot and the two-dimensional code is obtained through calculation.
Optionally, the system further comprises a suspension protection module;
the motion test module is also used for judging whether the foot robot exceeds a preset safe running area, and sending a protection instruction to the suspension protection module when the foot robot is determined to exceed the safe running area;
and the suspension protection module is used for carrying out lifting protection on the foot-type robot when receiving the protection instruction sent by the motion test module.
According to the technical scheme, in the method, the two-dimensional code is placed on the running machine, the relative position information between the foot robot and the two-dimensional code is calculated in real time through the vision module, so that the absolute position information of the foot robot is determined, and then whether the absolute position information is in a preset expected movement area or not is determined, so that the movement instruction of the foot robot is regulated, and the movement speed of the foot robot can be synchronized with that of the running machine. The problem of the need reform transform the treadmill that the interactive in-process of foot formula robot and treadmill caused, lead to the input cost high to and need keep foot formula robot and the synchronous time of treadmill motion speed, need debugging personnel intervene the manpower resources who causes extravagant is solved.
Furthermore, the robot control system further comprises a suspension protection module, and the motion test module is used for protecting the foot robot through the suspension protection module when judging that the foot robot is not in a preset safe running area according to the absolute position information.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will briefly introduce the drawings that are required to be used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may also be obtained according to these drawings for a person having ordinary skill in the art.
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure;
FIG. 1 is a flow chart of a method provided in an embodiment of the present application;
FIG. 2 is a block diagram of the location of various modules of the present application;
FIG. 3 is a flow chart of a method for testing an execution phase according to an embodiment of the present application;
fig. 4 is a block diagram of a system module according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various devices, these information should not be limited by these terms. These terms are only used to distinguish one device from another of the same type. For example, a first device could also be termed a second device, and, similarly, a second device could also be termed a first device, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.
In order to better understand the technical solutions provided by the embodiments of the present application and make the above objects, features and advantages of the embodiments of the present application more obvious, the technical solutions in the embodiments of the present application are described in further detail below with reference to the accompanying drawings.
The application provides a foot robot movement method for solve the needs that the interactive in-process of foot robot and treadmill caused reform transform the treadmill, input cost that leads to is high, and when needs keep foot robot and treadmill movement speed synchronous, need debug personnel to intervene the extravagant problem of human resource that causes.
Referring to fig. 1, fig. 1 is a flowchart of a method provided in an embodiment of the present application. The method is applied to a foot-type robot movement system, and the system comprises a running machine module, a robot module and a movement testing module; the running machine module comprises a running machine and a two-dimensional code positioned on the running machine; the robot module comprises a foot robot and a vision module located on the treadmill.
As shown in fig. 1, the process may include the steps of:
step S101, when the running machine and the foot robot are started, calculating the relative position information between the foot robot and the two-dimensional code in real time through the vision module, and sending the relative position information to the motion test module.
In this embodiment, the running machine is a commercially available running machine, and the running machine manufacturer does not need to open a control interface, and the foot type robot can be a bipedal robot, a quadruped robot or other special multi-foot robots. The two-dimensional code can be stably installed and fixed at a proper position above the operating platform of the running machine, and the two-dimensional code is required to be in a range in which the vision module can acquire images.
In this embodiment, a coordinate system in three-dimensional space may be defined first, the foot-type robot is placed in a central position above the running area of the running machine, the moving direction of the foot-type robot is opposite to the running machine console, the current position is used as a desired position for continuous running of the foot-type robot, at this time, the geometric center projection of the foot-type robot coincides with the center of the running area of the running machine, and the coincidence point is used as the origin of coordinates. When the robot keeps the current posture standing, the right direction of the robot is taken as the positive direction of the x axis, the advancing direction of the robot is taken as the positive direction of the y axis, and the vertical ground is taken as the positive direction of the z axis, so that a right-hand coordinate system is formed.
When the running machine and the foot-type robot are started, a calibration program of the vision module is operated, relative position information data between the robot and the two-dimensional code under different distances and angles are recorded, and the vision module can output relative position information between the robot and the two-dimensional code in real time after calibration.
In this embodiment, the vision module in the foot robot motion system includes a camera and a two-dimensional code recognition positioning module;
calculating the relative position information between the foot robot and the two-dimensional code in real time through the vision module comprises the following steps:
the camera acquires the image information of the two-dimensional code, the two-dimensional code positioning module processes the image information, and the relative position information of the foot robot and the two-dimensional code is obtained through calculation.
Step S102, determining absolute position information of the foot robot through the relative position information, judging whether the foot robot is located in a preset expected movement area according to the absolute position information, and updating a movement instruction of the foot robot when the foot robot is determined not to be located in the expected movement area.
In this embodiment, the coordinate position of the two-dimensional code in the coordinate system may be determined by the three-dimensional space coordinate system defined in the above step, and the absolute position information (x, y) of the legged robot in the coordinate system may be determined by calculating the formula x=xi+xr, y=yi+yr assuming that the relative position information transmitted by the vision module is (xr, yr). When the running machine and the foot robot are started, the relative position information changes in real time along with the movement of the running machine and the foot robot, and the absolute position information also changes in real time.
In the present embodiment, the range of the desired movement region may be set in advance to be a rectangle in the above-described coordinate system xy plane, the four end points of the rectangle being (x 0, y 0) (x 0, -y 0) (-x 0, y 0) (-x 0, -y 0), respectively. The robot position is sequentially moved to 8 points (x 1, y 1) (x 1, -y 1) (-x 1, y 1) (-x 1, -y 1) and (x 0, y 0) (x 0, -y 0) (-x 0, y 0) (-x 0, -y 0), a vision module calibration program is operated, relative position information data between the robot and the two-dimensional code under different distances and angles are recorded, and then the boundary value of the expected movement area is determined according to absolute position information data determined by the relative position information data. When the subsequent robot exceeds the boundary value in the movement process, the foot robot can be determined not to be in the expected movement area, and the movement instruction of the foot robot needs to be updated to be matched with the speed of the running machine.
In another embodiment, the foot robot motion system further comprises a suspension protection module, the method further comprising;
judging whether the foot robot exceeds a preset safe running area or not through the motion test module, and sending a protection instruction to the suspension protection module when the foot robot is determined to exceed the safe running area;
and when receiving the protection instruction sent by the motion test module, the suspension protection module carries out lifting protection on the foot-type robot.
In this embodiment, the suspension protection module may include a traction protection rope, and when receiving a protection instruction, the suspension protection module pulls the traction protection rope connected to the foot robot, to provide an upward traction force for the foot robot, so as to prevent the foot robot from being damaged due to falling. And when the protection instruction is not received, the traction protection rope is kept in a loose state.
In this embodiment, the range of the safe running area needs to be greater than the above-mentioned expected running area, and the specific setting method and the method for determining whether to exceed the safe running area are the same as the method for setting the expected running area and determining whether to exceed the expected running area in step S102, and will not be described in detail herein.
The following describes the working flow of the motion method of the foot robot in detail through a specific walking test example, and the complete flow can comprise the following stages of a system integration and calibration stage, an initialization stage, a test execution stage and a test stop stage.
System integration and calibration stage: firstly, defining a coordinate system in a three-dimensional space, as shown in fig. 2, placing the foot robot at a central position above a running area of the running machine, enabling the motion direction of the foot robot to be opposite to an operation table of the running machine, taking the current position as a desired position for continuous running of the foot robot, and taking a geometric center projection of the foot robot and the running area center of the running machine as an origin of coordinates. When the robot keeps the current posture standing, the right direction of the robot is taken as the positive direction of the x axis, the advancing direction of the robot is taken as the positive direction of the y axis, and the vertical ground is taken as the positive direction of the z axis, so that a right-hand coordinate system is formed. The two-dimensional code module is reliably installed on the universal running machine, the two-dimensional code faces the running area, and the coordinate positions of the two-dimensional code in a coordinate system are measured to be (xi, yi, zi); the visible light camera is arranged at the head or higher position of the foot-type robot, so that the two-dimensional code can be completely displayed in the view angle of the camera; the running machine is defined with a safe running area and a desired movement area range, in the coordinate system, the safe running area is defined as a rectangle (2-7) in an xy plane, the length is 2y1, the width is 2x1, four endpoints of the rectangle are respectively (x 1, y 1) (x 1, -y 1) (-x 1, y 1) (-x 1, -y 1), the desired movement area range is defined as a rectangle (2-8) in the xy plane, the length is 2y0, the width is 2x0, and four endpoints of the rectangle are respectively (x 0, y 0) (x 0, -y 0) (-x 0, y 0) (-x 0, -y 0). The robot position is sequentially moved to 8 points (x 1, y 1) (x 1, -y 1) (-x 1, y 1) (-x 1, -y 1) and (x 0, y 0) (x 0, -y 0) (-x 0, y 0) (-x 0, -y 0), a vision module calibration program is operated, relative position information data between the robot and the two-dimensional code under different distances and angles are recorded, and after calibration, the vision module can output relative position information between the robot and the two-dimensional code in real time. The robot body is connected with the suspension protection system, and the length of the traction protection rope is adjusted, so that the traction protection rope is in a loosening state when the robot moves in a safe running area. The system integration and calibration stage is completed.
An initialization stage: the running machine module, the robot module, the suspension protection module and the exercise testing module are electrified, and the running machine is in a stop state and the foot-type robot is in a static state. The vision module operates and calculates the relative position information between the foot robot and the two-dimensional code in real time, marks the relative position information as (xr, yr), and sends the relative position information to the motion test module in real time; the motion test module operates to receive the relative position information (xr, yr) sent by the vision module, and obtains the absolute position (x, y) of the robot under the above defined coordinate system through operation; the initialization timing robot should be placed in the range of the expected movement area, no protection instruction is sent, the suspension protection module does not act, the movement instruction selects a speed instruction, the previous time instruction is denoted as (vx_now, vy_now), the current instruction is denoted as (vx, vy), and the initialization phase (vx, vy) = (vx_now, vy_now) = (0, 0). After the system completes connectivity detection of the data link, the initialization stage is completed.
Test execution stage: the flow chart is shown in figure 3, and the tester manually operates the buttons of the operation panel of the running machine to adjust the running machine speedThe degree gradually increases from 0 to the target speed, at this time, the relative position information (xr, yr) calculated by the vision module changes (3-1), the absolute position information of the robot in the coordinate system changes synchronously,，。
under the action of the motion test module, the robot can adjust the motion speed along with the speed change of the running machine and continuously run within the range of an expected motion area, when a robot system fails or can not maintain the motion of the corresponding speed, the robot exceeds the safe running area, and the motion test module sends a protection instruction to carry out lifting protection on the robot body. The specific implementation of the above functions is illustrated as follows:
at each moment in the test process, the motion test module sequentially judges whether (x, y) exceeds a safe running area rectangle and an expected motion area range rectangle (3-2), and when (x, y) exceeds the safe range rectangle, the motion test module sends a protection instruction (3-3), an active lifting device of the suspension protection system acts, and the lifting robot is prevented from falling down; when (x, y) does not exceed the safety range and does not exceed the range of the expected movement area, the current movement instruction is maintained unchanged (3-4) and is recorded as，/>Wherein kx and ky are speed adjustment coefficients, the response speed of the robot to the speed change of the running machine is affected, the speed can be adjusted according to actual conditions, and when the speed adjustment coefficient is larger, the response speed is faster.
Stopping the test phase: after the test is completed, the operation panel button of the running machine is manually adjusted to adjust the speed to 0, and the movement test module gradually adjusts the movement instruction under the action of the control logic, so that the robot body can be decelerated along with the speed reduction of the running machine until the running machine is stopped. On the premise of ensuring the safety of the robot body, all the systems are powered off, and then all the testing work is completed.
Thus, the flow shown in fig. 1 is completed.
In this embodiment, the two-dimensional code is placed on the running machine, and the relative position information between the foot robot and the two-dimensional code is calculated in real time through the vision module, so as to determine the absolute position information of the foot robot, and then according to whether the absolute position information is in a preset expected movement area, the movement instruction of the foot robot is adjusted, so that the foot robot can be synchronized with the movement speed of the running machine. The problem of the need reform transform the treadmill that the interactive in-process of foot formula robot and treadmill caused, lead to the input cost high to and need keep foot formula robot and the synchronous time of treadmill motion speed, need debugging personnel intervene the manpower resources who causes extravagant is solved.
Furthermore, the embodiment further comprises a suspension protection module, and the motion test module is used for protecting the foot robot through the suspension protection module when judging that the foot robot is not in a preset safe running area according to the absolute position information, so that debugging personnel are not required to be protected aside, and waste of human resources is avoided.
Corresponding to the above method embodiments, the present application further provides a foot robot exercise system, as shown in fig. 4, comprising a treadmill module, a robot module, and an exercise test module; the treadmill module comprises a treadmill and a two-dimensional code positioned on the treadmill; the robot module comprises a foot robot and a vision module which are positioned on the running machine;
the vision module is used for calculating the relative position information between the foot robot and the two-dimensional code in real time when the running machine and the foot robot are started, and sending the relative position information to the motion test module;
the motion test module is used for receiving the relative position information sent by the vision module, determining the absolute position information of the foot robot, judging whether the foot robot is located in a preset expected motion area according to the absolute position information, and updating a motion instruction of the foot robot when the foot robot is determined not to be located in the expected motion area.
Optionally, the vision module comprises a camera and a two-dimensional code identification positioning module;
the real-time calculation of the relative position information between the foot robot and the two-dimensional code comprises the steps that the camera acquires the image information of the two-dimensional code, the two-dimensional code positioning module processes the image information, and the relative position information of the foot robot and the two-dimensional code is obtained through calculation.
Optionally, the system further comprises a suspension protection module;
the motion test module is also used for judging whether the foot robot exceeds a preset safe running area, and sending a protection instruction to the suspension protection module when the foot robot is determined to exceed the safe running area;
and the suspension protection module is used for carrying out lifting protection on the foot-type robot when receiving the protection instruction sent by the motion test module.
From the above description of embodiments, it will be apparent to those skilled in the art that the present application may be implemented in software plus a necessary general purpose hardware platform. Based on such understanding, the technical solutions of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in the embodiments or some parts of the embodiments of the present application.
The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. A typical implementation device is a computer, which may be in the form of a personal computer, laptop computer, cellular telephone, camera phone, smart phone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present application.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Moreover, these computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (6)
1. A foot robot movement method, which is applied to a foot robot movement system, wherein the system comprises a running machine module, a robot module and a movement test module; the treadmill module comprises a treadmill and a two-dimensional code positioned on the treadmill; the robot module comprises a foot robot and a vision module positioned on the treadmill, wherein the method comprises:
when the running machine and the foot-type robot are started, calculating relative position information between the foot-type robot and the two-dimensional code in real time through the vision module, and sending the relative position information to the motion test module;
determining absolute position information of the foot robot through the relative position information, judging whether the foot robot is located in a preset expected movement area according to the absolute position information, and updating a movement instruction of the foot robot when the foot robot is determined not to be located in the expected movement area.
2. The method of claim 1, wherein the vision module in the foot robot motion system comprises a camera and a two-dimensional code recognition positioning module;
calculating the relative position information between the foot robot and the two-dimensional code in real time through the vision module comprises the following steps:
the camera acquires the image information of the two-dimensional code, the two-dimensional code positioning module processes the image information, and the relative position information of the foot robot and the two-dimensional code is obtained through calculation.
3. The method of claim 1, wherein the foot robot motion system further comprises a suspension protection module, the method further comprising;
judging whether the foot robot exceeds a preset safe running area or not through the motion test module, and sending a protection instruction to the suspension protection module when the foot robot is determined to exceed the safe running area;
and when receiving the protection instruction sent by the motion test module, the suspension protection module carries out lifting protection on the foot-type robot.
4. A foot robot exercise system, comprising a treadmill module, a robot module, and an exercise test module; the treadmill module comprises a treadmill and a two-dimensional code positioned on the treadmill; the robot module comprises a foot robot and a vision module which are positioned on the running machine;
the vision module is used for calculating the relative position information between the foot robot and the two-dimensional code in real time when the running machine and the foot robot are started, and sending the relative position information to the motion test module;
the motion test module is used for receiving the relative position information sent by the vision module, determining the absolute position information of the foot robot, judging whether the foot robot is located in a preset expected motion area according to the absolute position information, and updating a motion instruction of the foot robot when the foot robot is determined not to be located in the expected motion area.
5. The system of claim 4, wherein the vision module comprises a camera and a two-dimensional code identification positioning module;
the real-time calculation of the relative position information between the foot robot and the two-dimensional code comprises the steps that the camera acquires the image information of the two-dimensional code, the two-dimensional code positioning module processes the image information, and the relative position information of the foot robot and the two-dimensional code is obtained through calculation.
6. The system of claim 4, further comprising a suspension protection module;
the motion test module is also used for judging whether the foot robot exceeds a preset safe running area, and sending a protection instruction to the suspension protection module when the foot robot is determined to exceed the safe running area;
and the suspension protection module is used for carrying out lifting protection on the foot-type robot when receiving the protection instruction sent by the motion test module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311041501.XA CN117032285B (en) | 2023-08-18 | 2023-08-18 | Foot type robot movement method and system |
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