阅读说明：本技术 一种多移动结构的智能机器人及其控制方法 (Intelligent robot with multiple mobile structures and control method thereof ) 是由 刘佳纯 姜新桥 于 2021-10-27 设计创作，主要内容包括：本发明公开了一种多移动结构的智能机器人及其控制方法,所述智能机器人包括：一组以上的移动结构,每一组移动可伸缩地设置于智能机器人机身两侧和/或机体底部,用于实现智能机器人在不同区域内采用不同过的移动结构移动；一组以上的升降控制装置,每一组升降控制装置与一组移动结构对应连接,每一组升降控制装置用于控制与其连接的一组移动结构的升降高度。本发明通过设置多组移动结构和对应多组升降控制装置,使得智能机器人在面对复杂多变的地形时,能够通过在不同地形区域内针对性采用不同移动结构的方式,使得智能机器人在多变的复杂地形中能够保持较优且较适配的移动能力,解决了目前智能机器人受限于复杂多变地形的问题。(The invention discloses an intelligent robot with a multi-mobile structure and a control method thereof, wherein the intelligent robot comprises: more than one group of moving structures, each group of moving structures is telescopically arranged at two sides of the intelligent robot body and/or the bottom of the robot body and is used for realizing that the intelligent robot adopts different moving structures to move in different areas; each group of lifting control devices is correspondingly connected with one group of moving structures, and each group of lifting control devices is used for controlling the lifting height of the group of moving structures connected with the group of lifting control devices. According to the intelligent robot, the plurality of groups of moving structures and the corresponding plurality of groups of lifting control devices are arranged, so that when the intelligent robot faces complicated and changeable terrains, the intelligent robot can keep better and more adaptive moving capability in the changeable and complicated terrains by adopting different moving structures in different terrain areas, and the problem that the existing intelligent robot is limited by the complicated and changeable terrains is solved.)

1. An intelligent robot with a multi-mobile structure, the intelligent robot comprising: more than one group of moving structures, wherein each group of moving structures is telescopically arranged on two sides of the intelligent robot body and/or the bottom of the robot body and is used for realizing that the intelligent robot moves in different areas by adopting different moving structures; each group of lifting control devices is correspondingly connected with one group of moving structures, and each group of lifting control devices is used for controlling the lifting height of the group of moving structures connected with the group of lifting control devices.

2. The intelligent robot of claim 1, wherein each set of mobile structures comprises: at least one driving wheel for providing driving force for the movement of the intelligent robot; and the at least one universal wheel is used for realizing the movement steering of the intelligent robot.

3. The intelligent robot of claim 2, wherein the driving wheel comprises: the hub motor is used for realizing the driving and braking of the driving wheel; the tire covers the wheel hub motor surface for the protection wheel hub motor.

4. The intelligent robot with multiple moving structures as claimed in claim 3, wherein the driving wheels and the universal wheels in each moving structure are made of tires with the same material, the same width and the same texture on the surface; different sets of moving structures use tires of different materials, different widths, or different textures on the surface.

5. The intelligent robot with multiple moving structures as claimed in claim 2, wherein the lifting control means maintains the centers of all driving wheels and the centers of all universal wheels in a group of moving structures on the same horizontal line during the control of the lifting height of the corresponding group of moving structures.

6. The intelligent robot with multiple moving structures of claim 1, wherein each set of lifting control devices comprises: the telescopic rods are respectively connected with the servo motors and the corresponding group of moving structures and are used for realizing the control of the lifting height of the moving structures by changing the self telescopic amount; and the servo motor is connected with the telescopic rod and used for providing power for changing the self telescopic amount of the telescopic rod.

7. The intelligent robot with multiple moving structures of claim 6, wherein each set of lift control devices further comprises: and the locking structure is respectively connected with the telescopic rod and the servo motor and used for controlling the telescopic rod to keep the self telescopic amount equal to the target telescopic amount when the telescopic rod changes the self telescopic amount to the target telescopic amount.

8. The intelligent robot of multi-moving structure according to claim 1, further comprising: a support device; the supporting device is arranged at the bottom of the intelligent robot body in a liftable mode and used for supporting the intelligent robot to be suspended when the intelligent robot switches different groups of moving structures.

9. A multi-mobile structure intelligent robot according to claim 1, wherein the intelligent robot supports movement using one or more mobile structures simultaneously.

10. The intelligent robot of multi-moving structure according to claim 1, further comprising: the device comprises an image acquisition device and an image processing device; the image acquisition device is used for acquiring an image of the current environment of the intelligent robot and transmitting the image to the image processing device; the image processing device is used for identifying the current region of the intelligent robot according to the current environment image of the intelligent robot.

11. A control method of an intelligent robot with a multi-mobile structure, wherein the intelligent robot is the intelligent robot described in any one of claims 1 to 10, and the intelligent robot control method specifically comprises:

an image acquisition device of the intelligent robot acquires an image of the current environment of the intelligent robot and transmits the image to an image processing device of the intelligent robot;

the image processing device identifies the current area of the intelligent robot according to the current environment image of the intelligent robot;

judging whether one or more groups of moving structures currently adopted by the intelligent robot meet the moving structure requirements corresponding to the current region where the intelligent robot is located;

if so, controlling the intelligent robot to keep adopting a current group or more than one group of moving structures for moving;

if not, controlling the intelligent robot to switch the currently adopted one or more groups of moving structures into one or more groups of moving structures meeting the moving structure requirements corresponding to the current region of the intelligent robot to move.

12. The method according to claim 11, wherein there is a one-to-one correspondence of the mobile structure requirement for each area where the intelligent robot is located; wherein the mobile structure is required to define the mobile structure adopted by the intelligent robot in the area.

Technical Field

The invention relates to the field of intelligent robots, in particular to an intelligent robot with multiple mobile structures and a control method thereof.

Background

With the rapid development of science and technology, the robot technology is becoming more mature, wherein intelligent robots are widely used in various fields. The intelligent robot is a robot capable of independent self-control. The intelligent robot comprises a robot with an automatic moving function, the intelligent robot with the automatic moving function needs to face different complex terrains in the actual application process, the existing intelligent robot is mainly an intelligent robot with a single moving structure, and the intelligent robot with the single moving mechanism is limited by the complex and changeable terrains.

Disclosure of Invention

In order to solve the problems, the invention provides an intelligent robot with multiple moving structures and a control method thereof, and when the intelligent robot faces complicated and changeable terrains, the intelligent robot can flexibly move by adopting different moving structures in different terrain areas by setting multiple groups of moving structures. The specific technical scheme of the invention is as follows:

an intelligent robot of a multi-mobile structure, the intelligent robot comprising: more than one group of moving structures, wherein each group of moving structures is telescopically arranged on two sides of the intelligent robot body and/or the bottom of the robot body and is used for realizing that the intelligent robot moves in different areas by adopting different moving structures; each group of lifting control devices is correspondingly connected with one group of moving structures, and each group of lifting control devices is used for controlling the lifting height of the group of moving structures connected with the group of lifting control devices.

Further, each set of moving structures includes: at least one driving wheel for providing driving force for the movement of the intelligent robot; and the at least one universal wheel is used for realizing the movement steering of the intelligent robot.

Further, the driving wheel includes: the hub motor is used for realizing the driving and braking of the driving wheel; the tire covers the wheel hub motor surface for the protection wheel hub motor.

Furthermore, the driving wheel and the universal wheel in each group of moving structures adopt tires with the same material, the same width and the same surface texture; different sets of moving structures use tires of different materials, different widths, or different textures on the surface.

Further, the lifting control device controls the lifting height of the corresponding group of moving structures, and the centers of all driving wheels and the centers of all universal wheels in the group of moving structures are kept on the same horizontal line.

Further, each group of lifting control devices comprises: the telescopic rod is connected with the corresponding group of moving structures and used for realizing the control of the lifting height of the moving structures by changing the self telescopic amount; and the servo motor is connected with the telescopic rod and used for providing power for changing the self telescopic amount of the telescopic rod.

Further, each group of lifting control devices further comprises: and the locking structure is respectively connected with the telescopic rod and the servo motor and used for controlling the telescopic rod to keep the self telescopic amount equal to the target telescopic amount when the telescopic rod changes the self telescopic amount to the target telescopic amount.

Further, the intelligent robot further comprises: a support device; the supporting device is arranged at the bottom of the intelligent robot body in a liftable mode and used for supporting the intelligent robot to be suspended when the intelligent robot switches different groups of moving structures.

Further, the intelligent robot supports the simultaneous movement by adopting one or more groups of moving structures.

Further, the intelligent robot further comprises: the device comprises an image acquisition device and an image processing device; the image acquisition device is used for acquiring an image of the current environment of the intelligent robot and transmitting the image to the image processing device; the image processing device is used for identifying the current region of the intelligent robot according to the current environment image of the intelligent robot.

The invention also discloses a control method of the intelligent robot with the multi-mobile structure, the intelligent robot is the intelligent robot, and the control method of the intelligent robot specifically comprises the following steps: an image acquisition device of the intelligent robot acquires an image of the current environment of the intelligent robot and transmits the image to an image processing device of the intelligent robot; the image processing device identifies the current area of the intelligent robot according to the current environment image of the intelligent robot; judging whether one or more groups of moving structures currently adopted by the intelligent robot meet the moving structure requirements corresponding to the current region where the intelligent robot is located; if so, controlling the intelligent robot to keep adopting a current group or more than one group of moving structures for moving; if not, controlling the intelligent robot to switch the currently adopted one or more groups of moving structures into one or more groups of moving structures meeting the moving structure requirements corresponding to the current region of the intelligent robot to move.

Furthermore, each area where the intelligent robot is located has a one-to-one corresponding moving structure requirement; wherein the mobile structure is required to define the mobile structure adopted by the intelligent robot in the area.

The invention has the beneficial effects that: set up multiunit removal structure on intelligent robot organism, realize the switching between the removal structure of different groups through lift control structure and bearing structure, simultaneously, make through parts, size, the tire texture of change different removal structures and so on to make and to adapt to different environment regions between the different removal structures, solved present intelligent robot and be subject to the problem of complicated changeable topography easily.

Drawings

Fig. 1 is a bottom view of an intelligent robot with a multi-movement structure according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a lift control device according to an embodiment of the present invention.

Fig. 3 is a side view of the lifting device coupled to the moving structure according to an embodiment of the present invention.

Fig. 4 is a side view of the supporting device supporting the intelligent robot according to an embodiment of the present invention.

Fig. 5 is a flowchart illustrating a control method of an intelligent robot with multiple moving structures according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the following specific examples are illustrative only and are not intended to limit the invention. Moreover, it should be understood that the technical disclosure of the present invention may be modified by those skilled in the art by a conventional method, and it should not be understood that the technical disclosure of the present invention is not limited thereto.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. Reference to the words "a," "an," "the," and "the" in this application are not to be construed as limiting in number, and may mean singular or plural. The use of the terms "including," "comprising," "having," and any variations thereof herein, is intended to cover non-exclusive inclusions, such as: a process, method, system product or apparatus that comprises a list of steps or modules is not limited to the listed steps or elements but may include additional steps or elements not listed or inherent to such process, method, product or apparatus.

As a preferred embodiment, a first embodiment of the present invention discloses an intelligent robot with a multi-mobile structure, including: more than one group of moving structures, each group of moving structures is telescopically arranged on two sides of the intelligent robot body and/or the bottom of the robot body and is used for realizing that the intelligent robot moves by adopting different moving structures in different areas; each group of lifting control devices is correspondingly connected with one group of moving structures, and each group of lifting control devices is used for controlling the lifting height of the group of moving structures connected with the group of lifting control devices.

Specifically, as shown in fig. 1, the at least one group of moving structures are disposed on two sides of the intelligent robot body and/or at the bottom of the body. The one or more sets of moving structures may be structures having a moving function, such as the same or different wheel-type moving structures, leg-type moving structures, and/or wheel-leg-type moving structures; each group of moving structures is provided with a group of lifting control devices in one-to-one correspondence so as to realize that each group of moving structures is provided with an independent lifting control device, so that each group of moving structures can realize independent lifting of the moving structures without being influenced by lifting of other groups of moving structures; the lifting height of each group of moving structures refers to the height from the lowest point position of the group of moving structures to the ground, when the distance from the lowest point position of the moving structures to the ground is short and long, the moving structures are controlled to lift by the lifting control device, and conversely, when the distance from the lowest point position of the moving structures to the ground is short, the moving structures are controlled to fall by the lifting control device. Although the smart robot illustrated in fig. 1 includes only three sets of moving structures, the number of moving structures included in the smart robot in an actual design and production process may be, but is not limited to, two, three, or more sets. Although only three sets are shown, the present invention is not limited to the number of sets of moving structures included in the intelligent robot. It should be noted that, the intelligent robot adopts one group of moving structures, and the lifting control device controls the moving structures to fall to a distance equal to zero from the ground, and controls the other groups of moving structures to leave the ground.

In this embodiment, a set of more than one moving structure and a lifting control device corresponding to the moving structures one to one are arranged on the intelligent robot, and the intelligent robot controls the lifting of different sets of moving structures through the lifting control device so as to realize the switching and the adoption of different sets of moving structures, so that the moving adaptability of the intelligent robot in complex terrains is improved, the intelligent robot can flexibly move in different complex terrains, and is not limited by terrains.

Based on the above embodiment, as a preferred embodiment of the present invention, in the multi-mobile structure intelligent robot provided in the second embodiment of the present invention, the at least one group of mobile structures all adopt a wheel type structure, and each group of mobile structures includes: at least one driving wheel for providing driving force for the movement of the intelligent robot; the universal wheel is used for realizing the moving steering of the intelligent robot; the driving wheels are forward driven by ground friction force and provide driving force for the intelligent robot to move; the universal wheel is a wheel with a structure allowing 360-degree rotation; the combination of the driving wheels and the universal wheels enables the intelligent robot to achieve flexible steering and free movement. In this embodiment, more than one group of moving structures are set as wheel-type structures, and the wheel-type structures are used as common moving structures of the intelligent robot, and have the advantage of high moving speed, but the wheel-type structures have the problem of weak terrain adaptability.

Based on the above embodiment, as a preferred embodiment of the present invention, the driving wheel in the intelligent robot with multiple moving structures provided in the third embodiment of the present invention includes: the hub motor is used for realizing the driving and braking of the driving wheel; the tire covers the wheel hub motor surface for the protection wheel hub motor. Specifically, the in-wheel motor is arranged inside the driving wheel, the in-wheel motor is a motor which combines the power, transmission and braking functions of the driving wheel, and the driving wheel can realize flexible control of movement and braking of the intelligent robot based on the in-wheel motor; the tire set up in wheel hub motor surface for intelligent robot can cushion external impact at the removal in-process, guarantees intelligent robot and the normal removal of complicated ground environment contact in-process intelligent robot. It should be noted that, by using different types of tires, the driving wheel of the intelligent robot has the advantages of wear resistance, impact resistance and/or strong ground holding capacity. The driving power source design with the drive wheel in this embodiment is wheel hub motor, and wheel hub motor has the integration degree height, and the advantage that the driving force is strong adopts wheel hub motor's drive wheel can realize intelligent robot's quick nimble removal.

Based on the above embodiment, as a preferred embodiment of the present invention, the driving wheels and the universal wheels in each group of moving structures in the intelligent robot with multiple moving structures provided in the fourth embodiment of the present invention use tires with the same material, the same width, and the same texture on the surface; different sets of moving structures use tires of different materials, different widths, or different textures on the surface. It should be noted that, there is a positive correlation between the tire width and the movement stability within a certain range, the tire texture is closely related to the grip performance of the tire, and the tire material is closely related to the wear resistance and impact resistance of the tire. Specifically, the depth, density and the like of the tire texture are related to the grip performance of the tire, and when the intelligent robot walks in an area with a large inclination angle, the tire with strong grip performance needs to be adopted.

Based on the above embodiment, as a preferred embodiment of the present invention, in the multi-mobile-structure intelligent robot provided in the fifth embodiment of the present invention, in the process of controlling the lifting height of the corresponding group of mobile structures, the centers of all driving wheels and the centers of all universal wheels in the group of mobile structures are maintained on the same horizontal line. This embodiment is through injecing drive wheel and universal wheel at same water flat line at the lift in-process to ensure that intelligent robot's balance can not be influenced because of the horizontal height nonconformity of moving structure lift in-process universal wheel and drive wheel.

Based on the above embodiment, as a preferred embodiment of the present invention, as shown in fig. 2, each group of lifting control devices in the intelligent robot with multiple moving structures provided in the sixth embodiment of the present invention includes a telescopic rod and a servo motor;

specifically, the telescopic rods are respectively connected with the servo motor and the corresponding group of moving structures and are used for realizing the control of the lifting height of the moving structures by changing the self telescopic amount; specifically, the bottom end of the telescopic rod is connected with a corresponding group of moving structures, and the top end of the telescopic rod is connected with a servo motor; the servo motor is connected with the telescopic rod and used for providing power for the telescopic rod to change the self telescopic amount. Specifically, the telescopic link with servo motor is connected, works as the telescopic link increases its self elongation, then the telescopic link corresponds the height of the moving structure who connects apart from ground and shortens, corresponds the moving structure descending of connecting, otherwise works as the telescopic link reduces its self elongation, then the telescopic link corresponds the height increase of the moving structure who connects apart from ground, corresponds the moving structure who connects and risees.

Preferably, as shown in fig. 2, each set of lift control devices further includes: and the locking structure is respectively connected with the telescopic rod and the servo motor and used for controlling the telescopic rod to keep the self telescopic amount equal to the target telescopic amount when the telescopic rod changes the self telescopic amount to the target telescopic amount. Specifically, when the telescopic rod changes its own elongation, the locking mechanism is unlocked, so that the telescopic rod can freely adjust its own elongation based on the power provided by the servo motor, and when the telescopic rod adjusts its own elongation to its target elongation, the locking mechanism is locked, so that the telescopic rod keeps its own elongation equal to its target elongation. The locking structure is arranged at the top end of the telescopic rod, and the bottom end of the telescopic rod is connected with the corresponding moving structure. Preferably, the servo motor is further used for providing power for the locking and unlocking of the telescopic rod by the locking structure.

Specifically, the connection between the lifting control device and the moving structure means that the bottom end of a telescopic rod of the lifting control device is connected with a wheel shaft of a wheel in the moving structure, the telescopic rod is of a hollow structure, and a motor of a hub motor of the driving wheel is connected with a servo motor of the telescopic rod in a parallel mode through a hollow area of the telescopic rod to be connected to a power supply of the intelligent robot, so that the power supply of the intelligent robot provides electric power for the motor of the hub motor and the servo motor. It should be noted that the length of a connecting wire between the motor of the hub motor of the driving wheel and the servo motor through the hollow area of the telescopic rod is greater than the longest elongation of the telescopic rod, so that the lifting height adjustment of the driving wheel is not affected by the connecting wire between the hub motor of the east canal and the servo motor, and the flexible lifting of the driving wheel is realized.

Based on the above embodiment, as a preferred embodiment of the present invention, the intelligent robot in the seventh embodiment of the present invention further includes: a support device; the supporting device is arranged at the bottom of the intelligent robot body in a liftable mode and used for supporting the intelligent robot to be suspended when the intelligent robot switches different groups of moving structures. As shown in fig. 4, when the supporting device is supported, the intelligent robot and the moving structure thereof are suspended, so that the intelligent robot can switch the moving structure in a suspended state. It should be noted that, although the supporting devices are shown as a double-rod structure in fig. 4, the number and the shape of the supporting devices are not limited in the actual design and production process, and only the supporting devices are required to stably support the intelligent robot to the suspended state. This embodiment is used for intelligent robot to support intelligent robot to unsettled when switching different moving structure through setting up bearing structure, avoids under special situation, and the original moving structure that adopts of intelligent robot can not be in ground simultaneously with the moving structure that intelligent robot will adopt at present.

Based on the above embodiments, as a preferred embodiment of the present invention, the intelligent robot in the eighth embodiment of the present invention supports to move by using one or more groups of moving structures at the same time. In this embodiment, the intelligent robot supports to adopt the multiunit to remove the structure simultaneously, it should be explained that, the prerequisite that the intelligent robot supports to adopt the multiunit to remove the structure simultaneously is that, the adoption can keep intelligent robot's balance when the multiunit removes the structure, and removes through adopting the multiunit to remove the structure simultaneously, when intelligent robot is in complicated topography, is favorable to improving the stationarity that intelligent robot removed.

Based on the above embodiment, as a preferred embodiment of the present invention, the intelligent robot in the ninth embodiment of the present invention further includes: the device comprises an image acquisition device and an image processing device; the image acquisition device is used for acquiring an image of the current environment of the intelligent robot and transmitting the image to the image processing device; the image processing device is used for identifying the current region of the intelligent robot according to the current environment image of the intelligent robot. Specifically, the image capturing device may be, but is not limited to, a device with an image capturing function, such as a monocular camera, a binocular camera, or a depth camera; the method for the image processing device to recognize the current environment image of the intelligent robot may be, but is not limited to, recognizing color features, texture features, shape features, local feature points, and the like in the image, and the specific recognition method is set according to the actual application environment of the intelligent robot.

In this embodiment, through setting up image acquisition device and image processing apparatus and making intelligent robot can realize the discernment to the region that is located at present, and then combine multiunit mobile structure, realize carrying out the pertinence to the different topography in different regions and remove the structure switching, improve intelligent robot's removal function by a wide margin, break away the limited unable trouble that removes of intelligent robot because of part complicated topography.

Based on the foregoing embodiments, as a preferred embodiment of the present invention, a tenth embodiment of the present invention provides a method for controlling an intelligent robot with multiple moving structures, where the intelligent robot adopts the intelligent robot described in any of the foregoing embodiments, and as shown in fig. 5, the method for controlling an intelligent robot specifically includes: an image acquisition device of the intelligent robot acquires an image of the current environment of the intelligent robot and transmits the image to an image processing device of the intelligent robot; the image processing device identifies the current area of the intelligent robot according to the current environment image of the intelligent robot; judging whether one or more groups of moving structures currently adopted by the intelligent robot meet the moving structure requirements corresponding to the current region where the intelligent robot is located; if so, controlling the intelligent robot to keep adopting a current group or more than one group of moving structures for moving; if not, controlling the intelligent robot to switch the currently adopted one or more groups of moving structures into one or more groups of moving structures meeting the moving structure requirements corresponding to the current region of the intelligent robot to move. This embodiment is through discerning the current region of locating of intelligent robot to whether carry out current mobile structure according to the recognition result and satisfy the mobile structure requirement that this region corresponds, carry out corresponding mobile structure adjustment, ensure that intelligent robot can adopt corresponding mobile structure to remove in corresponding mobile region, so that intelligent robot is smooth and easy in the removal of complicated topography.

It should be noted that each area where the intelligent robot is located has a one-to-one correspondence moving structure requirement; wherein the mobile structure is required to define the mobile structure adopted by the intelligent robot in the area. Specifically, if the intelligent robot includes a plurality of groups of moving structures, and the groups of moving structures are named as a first moving structure, a second moving structure, a third moving structure, and the like, respectively, the moving structure requirements may be, but are not limited to, requiring the intelligent robot to adopt the first moving structure in a first area, adopt the second moving structure and the third moving structure in a second area, and the like, and the moving structure requirements define the moving structure adopted by the intelligent robot in each area.

Preferably, the mobile structure requirement may be preset by a user according to an area to which the intelligent robot is to be applied, or may be set according to a situation of an area where the intelligent robot is actually located after the difference and the corresponding advantages and disadvantages of the respective sets of mobile components are known, for example, if the area where the intelligent robot is actually located is a slope, the mobile structure requirement is set to be a mobile structure with strong grip, and if the area where the intelligent robot is actually located is a sand ground, the mobile structure requirement is set to be a mobile structure with a deep tire texture.

Preferably, the controlling the intelligent robot switches one or more groups of moving structures currently used to one or more groups of moving structures meeting the moving structure requirement corresponding to the area where the intelligent robot is currently located, and the specifically includes: the supporting device stretches out to support the intelligent robot to be suspended, one or more groups of moving structures currently adopted by the intelligent robot are controlled to rise to a preset rising height through the corresponding lifting control devices, and meanwhile, one or more groups of moving structures meeting the requirements of the moving structures corresponding to the area where the intelligent robot is located are lowered to a preset lowering height through the corresponding lifting control devices. It should be noted that the preset lifting height is a height which is set according to the size of each group of moving structures and is used for controlling the moving structures to lift to a position where the moving structures do not affect the movement of the intelligent robot, and the preset lifting height is set according to the size of each group of moving structures and the preset lifting height corresponding to each group of moving structures and is used for controlling the moving structures to fall to a height where the intelligent robot can normally move when the height is lowered.

Preferably, the method for controlling the lifting of the group or more than one group of moving structures currently adopted by the intelligent robot to the preset lifting height through the corresponding lifting control device specifically includes: locking structure among the lift control device is right the telescopic link unblock, telescopic link among the lift control device makes through shortening its self elongation the removal structure that corresponds risees to predetermineeing the rising height, works as when the removal structure that corresponds risees to predetermineeing the rising height, locking structure among the lift control device is right the telescopic link locking is so that the telescopic link keeps current self elongation, promptly: so that the corresponding moving structure is maintained at a preset elevated height.

Preferably, the method for controlling and lowering the currently-used group or more than one group of moving structures of the intelligent robot to the preset lowering height through the corresponding lifting control device specifically includes: locking structure among the lift control device is right the telescopic link unblock, telescopic link among the lift control device makes through increasing its self elongation the removal structure that corresponds reduces to predetermineeing the reduction height, works as when the removal structure that corresponds risees to predetermineeing when reducing the height, locking structure among the lift control device is right the telescopic link locking is so that the telescopic link keeps current self elongation, promptly: so that the corresponding moving structure is maintained at a preset lowered height.

It should be noted that each set of moving structures has a one-to-one correspondence between preset raising heights and preset lowering heights. When the number of the mobile structures currently adopted by the intelligent robot is more than one group, the lifting control device controls the mobile structures to lift, and the lifting of the mobile structures can be carried out by the multiple groups of mobile structures simultaneously.

According to the embodiment, the requirements of the mobile structures corresponding to different areas one to one are set, so that the intelligent robot can replace different mobile structures in a targeted and strategic manner in a complex terrain, the mobile function of the intelligent robot is not limited by the complex terrain, and the mobile flexibility and the adaptability of the intelligent robot are improved.

Obviously, the above-mentioned embodiments are only a part of embodiments of the present invention, not all embodiments, and the technical solutions of the embodiments may be combined with each other. Furthermore, if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., appear in the embodiments, their indicated orientations or positional relationships are based on those shown in the drawings only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation or be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. If the terms "first", "second", "third", etc. appear in the embodiments, they are for convenience of distinguishing between related features, and they are not to be construed as indicating or implying any relative importance, order or number of features.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents, which are to be considered as merely preferred embodiments of the invention, and not intended to be limiting of the invention, and that various changes and modifications may be effected therein by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.