CN-121979026-A - Robot foot sole, control method and device thereof, electronic equipment and storage medium

CN121979026ACN 121979026 ACN121979026 ACN 121979026ACN-121979026-A

Abstract

The application provides a robot sole, a control method, a control device, electronic equipment and a storage medium thereof, wherein the method comprises the steps of obtaining the action gesture of the robot sole; determining a control mode of the robot sole according to the action gesture, wherein the control mode comprises a ground contact buffer mode, a negative pressure adsorption mode and a pressure release mode; and generating action control parameters of the robot sole according to the control mode, and adjusting acting force of the robot sole on the ground according to the action control parameters. Based on the method, the impact force of the robot sole on the ground can be reduced, the fragile and non-impact-resistant ground such as ceramic tiles and wood floors can be protected, the ground gripping force of the robot sole on the ground can be improved, and the stability of the robot and the balance capacity of the whole robot are improved.

Inventors

HU HONGPING
Bi Zhanjia
JIAO JICHAO

Assignees

深圳市优必选科技股份有限公司

Dates

Publication Date: 20260505
Application Date: 20251229

Claims (10)

1. A method for controlling a ball of a robot, comprising: acquiring the action gesture of the sole of the robot; Determining a control mode of the robot sole according to the action gesture, wherein the control mode comprises a ground contact buffer mode, a negative pressure adsorption mode and a pressure release mode; and generating action control parameters of the robot sole according to the control mode, and adjusting acting force of the robot sole on the ground according to the action control parameters.
2. The robot ball control method according to claim 1, wherein acquiring the motion pose of the robot ball comprises: acquiring pressure data detected by a pressure sensor, wherein the pressure data is a pressure value sequence arranged in time; The method comprises the steps of carrying out data change analysis on the pressure value sequence, determining the action gesture of the robot sole according to an analysis result, wherein the action gesture of the robot sole is determined to be a ground contact buffer gesture if the analysis result is that the pressure value sequence is changed with time, the action gesture of the robot sole is determined to be a negative pressure adsorption gesture if the analysis result is that the pressure value sequence is unchanged with time, and the action gesture of the robot sole is determined to be a pressure release gesture if the analysis result is that the pressure value sequence is reduced with time.
3. The robot ball control method according to claim 1, wherein generating the motion control parameters of the robot ball according to the control pattern comprises: And if the control mode is a ground contact buffer mode, acquiring state data of the robot and state data of the sole of the robot. And inputting the state data of the robot and the state data of the foot sole of the robot into a first robot gait planning model for information analysis, and generating action control parameters of the foot sole of the robot, wherein the action control parameters comprise opening and closing degree parameters of a pilot-type electronic air valve corresponding to the air guide cavity and rigidity coefficients corresponding to the rubber ring.
4. The robot ball control method according to claim 1, wherein generating the motion control parameters of the robot ball according to the control pattern comprises: If the control mode is a negative pressure adsorption mode, the pilot electronic air valve corresponding to the air guide cavity is fully closed to generate action control parameters of the robot sole.
5. The robot ball control method according to claim 1, wherein generating the motion control parameters of the robot ball according to the control pattern comprises: if the control mode is a pressure release mode, the pilot electronic air valve corresponding to the air guide chamber is fully opened to generate action control parameters of the robot sole.
6. The robot ball control method of claim 5, further comprising: acquiring state data of the robot; predicting the starting time of updating the sole of the robot into a pressure release posture according to the state data of the robot; and determining and adjusting the time of acting force generated by the sole of the robot to the ground according to the starting time of the pressure release gesture.
7. A robot ball control device, the device comprising: The acquisition module is used for acquiring the action gesture of the sole of the robot; the determining module is used for determining a control mode of the robot sole according to the action gesture, wherein the control mode comprises a ground contact buffer mode, a negative pressure adsorption mode and a pressure release mode; And the control module is used for generating action control parameters of the robot sole according to the control mode and adjusting acting force of the robot sole on the ground according to the action control parameters.
8. A robot foot for implementing the method according to claims 1 to 6, comprising at least one electronic gas valve, at least one gas guiding chamber, at least one rubber ring and at least one pressure sensor, wherein the pressure sensor is used for detecting the stress of the robot foot, the gas guiding chamber is communicated with the external atmosphere through the electronic gas valve, and the gas guiding chamber is communicated with a negative pressure chamber formed by the rubber ring through a vent hole.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1-6 when the computer program is executed.
10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1-6.

Description

Robot foot sole, control method and device thereof, electronic equipment and storage medium Technical Field The present application relates to the field of intelligent robots, and in particular, to a robot ball, a control method and apparatus thereof, an electronic device, and a storage medium. Background Along with the development of artificial intelligence technology, humanoid robots gradually enter the production and life of people, most of the humanoid robots on the market at present are supported by metal, and the foot soles of the humanoid robots can generate larger impact force when walking, so that sensing equipment such as cameras, radars and the like on a machine body can shake to influence the normal work of the humanoid robots, noise can be generated, and fusion of man-machine environments is influenced. Moreover, the impact force is very harmful to the ground, and the problem of cracking of the ground such as ceramic tiles, boards and the like is easily caused. Disclosure of Invention In view of the above, the embodiments of the present application provide a robot ball, a control method, a control device, an electronic device, and a storage medium thereof, which aim to solve the problem of how to reduce the ground impact and lifting force of the robot ball in the prior art. A first aspect of an embodiment of the present application provides a method for controlling a sole of a robot, including: acquiring the action gesture of the sole of the robot; Determining a control mode of the robot sole according to the action gesture, wherein the control mode comprises a ground contact buffer mode, a negative pressure adsorption mode and a pressure release mode; and generating action control parameters of the robot sole according to the control mode, and adjusting acting force of the robot sole on the ground according to the action control parameters. In one possible implementation, obtaining the motion pose of the sole of the robot includes: acquiring pressure data detected by a pressure sensor, wherein the pressure data is a pressure value sequence arranged in time; The method comprises the steps of carrying out data change analysis on the pressure value sequence, determining the action gesture of the robot sole according to an analysis result, wherein the action gesture of the robot sole is determined to be a ground contact buffer gesture if the analysis result is that the pressure value sequence is changed with time, the action gesture of the robot sole is determined to be a negative pressure adsorption gesture if the analysis result is that the pressure value sequence is unchanged with time, and the action gesture of the robot sole is determined to be a pressure release gesture if the analysis result is that the pressure value sequence is reduced with time. In one possible implementation, generating the motion control parameter of the robot sole according to the control mode includes: And if the control mode is a ground contact buffer mode, acquiring state data of the robot and state data of the sole of the robot. And inputting the state data of the robot and the state data of the foot sole of the robot into a first robot gait planning model for information analysis, and generating action control parameters of the foot sole of the robot, wherein the action control parameters comprise opening and closing degree parameters of a pilot-type electronic air valve corresponding to the air guide cavity and rigidity coefficients corresponding to the rubber ring. In one possible implementation, generating the motion control parameter of the robot sole according to the control mode includes: If the control mode is a negative pressure adsorption mode, the pilot electronic air valve corresponding to the air guide cavity is fully closed to generate action control parameters of the robot sole. In one possible implementation, generating the motion control parameter of the robot sole according to the control mode includes: if the control mode is a pressure release mode, the pilot electronic air valve corresponding to the air guide chamber is fully opened to generate action control parameters of the robot sole. In one possible implementation manner, the robot ball control method further includes: acquiring state data of the robot; predicting the starting time of updating the sole of the robot into a pressure release posture according to the state data of the robot; and determining and adjusting the time of acting force generated by the sole of the robot to the ground according to the starting time of the pressure release gesture. A second aspect of an embodiment of the present application provides a robot ball control device, the device including: The acquisition module is used for acquiring the action gesture of the sole of the robot; the determining module is used for determining a control mode of the robot sole according to the action gesture, wherein the control mode comprises a ground contact buffer mode, a nega