Motion control method and system, storage medium, electronic equipment and program product

Abstract

The invention provides a motion control method and system, a storage medium, electronic equipment and a program product, and relates to the technical field of robot control. The method comprises the steps that at least one behavior action corresponding to a target task and the execution sequence of the at least one behavior action are determined, each behavior action comprises at least one execution unit, and the at least one execution unit is used for achieving specific operation of the behavior action; determining an execution sequence of at least one execution unit included in each behavior action; and controlling the robot to move based on the execution sequence of the at least one behavior action and the execution sequence of the at least one execution unit included in each behavior action. By defining the behavior actions corresponding to the target task and the execution sequence of the behavior actions and the execution sequence of the execution units in each behavior action, an ordered motion control process is provided for the robot, and the accuracy and efficiency of the robot during task execution are improved.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to a motion control method and system, a storage medium, an electronic device and a program product. Background Art

[0002] With the widespread application of robots (such as robots) in industries such as industry and services, they face increasing challenges in performing complex tasks, especially when multiple complex actions need to be completed in a single task. However, existing control methods lack the flexible management of these behavioral actions during execution, making it difficult to meet the diverse control needs of robots in different scenarios. Summary of the invention

[0003] In view of this, embodiments of the present application provide a motion control method and system, a storage medium, an electronic device, and a program product.

[0004] In a first aspect, an embodiment of the present application provides a motion control method, comprising: determining at least one behavioral action corresponding to a target task and the execution order of at least one behavioral action, each behavioral action comprising at least one execution unit, and at least one execution unit being used to implement a specific operation of the behavioral action; determining the execution order of at least one execution unit included in each behavioral action; and controlling the movement of the robot based on the execution order of at least one behavioral action and the execution order of at least one execution unit included in each behavioral action.

[0005] In combination with the first aspect, in certain implementations of the first aspect, the movement of the robot is controlled based on the execution order of at least one behavioral action and the execution order of at least one execution unit included in each behavioral action, including: in response to an action switching instruction, determining whether the current behavioral action being executed by the robot and the target behavioral action to be executed meet the switching condition; if the switching condition is not met, determining the intermediate behavioral action; controlling the robot to switch from the current behavioral action to the intermediate behavioral action, and then from the intermediate behavioral action to the target behavioral action, and during the switching process, running according to the execution order of at least one execution unit included in the current behavioral action, the intermediate behavioral action, and the target behavioral action.

[0006] In combination with the first aspect, in certain implementations of the first aspect, determining an intermediate behavior action includes: determining the shortest switching path between a current behavior action and a target behavior action; and determining other behavior actions in the shortest switching path except the current behavior action and the target behavior action as intermediate behavior actions.

[0007] In combination with the first aspect, in certain implementations of the first aspect, determining the shortest switching path between a current behavior action and a target behavior action includes: obtaining the shortest switching path between multiple behavior actions in a pre-calculated robot; and determining the shortest switching path between the current behavior action and the target behavior action from the shortest switching paths between the multiple behavior actions.

[0008] In combination with the first aspect, in certain implementations of the first aspect, the method also includes: obtaining switching rules for each of the multiple behavioral actions, the switching rules including the next behavioral action allowed to be switched by the behavioral action; based on the switching rules for each of the multiple behavioral actions, pre-calculating the shortest switching path between the multiple behavioral actions.

[0009] In combination with the first aspect, in certain implementations of the first aspect, the method also includes: determining a current control mode of the robot, the current control mode being one of an automatic control mode, a manual control mode, and a passive control mode; and determining behavioral actions included in the current control mode as multiple behavioral actions in the robot.

[0010] In combination with the first aspect, in certain implementations of the first aspect, the robot is controlled to switch from a current behavior action to an intermediate behavior action, and then from the intermediate behavior action to a target behavior action, including: when switching from the current behavior action to the intermediate behavior action, the robot is controlled to exit the execution unit that meets the exit condition contained in the current behavior action, and start the execution unit that meets the start condition contained in the intermediate behavior action; when switching from the intermediate behavior action to the target behavior action, the robot is controlled to exit the execution unit that meets the exit condition contained in the intermediate behavior action, and start the execution unit that meets the start condition contained in the target behavior action.

[0011] In combination with the first aspect, in certain implementations of the first aspect, the execution units that meet the exit conditions include other execution units in the executed behavior actions except the general execution units, and the general execution units represent the same execution units contained in the executed behavior actions and the behavior actions to be executed; the execution units that meet the start conditions include other execution units in the behavior actions to be executed except the general execution units.

[0012] In combination with the first aspect, in certain implementations of the first aspect, determining whether the current behavior action being executed by the robot and the target behavior action to be executed meet the switching condition includes: obtaining the switching rule corresponding to the current behavior action, the switching rule including the next behavior action allowed to be switched by the behavior action; based on the switching rule corresponding to the current behavior action, determining whether the current behavior action and the target behavior action meet the switching condition.

[0013] In combination with the first aspect, in certain implementations of the first aspect, determining the execution order of at least one execution unit included in each behavioral action includes: obtaining configuration information corresponding to each execution unit, the configuration information including parameters guiding the operating rules of the execution unit; based on the configuration information corresponding to each execution unit, determining the execution order of at least one execution unit included in each behavioral action; preferably, the configuration information can be adjusted based on control requirements.

[0014] In combination with the first aspect, in certain implementations of the first aspect, the execution order of at least one behavioral action and the execution order of at least one execution unit included in each behavioral action include serial and / or parallel.

[0015] In the second aspect, an embodiment of the present application provides a motion control system, including: a behavior action interface layer, used to implement standardized calls to behavior actions; a control module, used to call the required behavior actions through the behavior action interface layer when executing the motion control method described in the first aspect.

[0016] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is used to execute the motion control method described in the first aspect.

[0017] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising: a processor; a memory for storing instructions executable by the processor; and the processor is used to execute the motion control method described in the first aspect.

[0018] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes instructions, and when the instructions are executed on an electronic device, the electronic device implements the motion control method described in the first aspect.

[0019] In this application, the execution unit is a component of the behavior action, which is the specific calculation or control operation required to perform the behavior action. Through the hierarchical design method of behavior actions and execution units, the modularity and scalability of the motion control algorithm are improved, so that different behavior actions and execution units can be independently developed and scheduled, reducing the coupling between behavior actions and execution units. Then, by defining the behavior actions corresponding to the target task and their execution order, as well as the execution order of the execution units in each behavior action, an orderly motion control process is provided for the robot, which improves the accuracy and efficiency of the robot when performing tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0021] Figure 1 The figure is a flow chart of a motion control method provided in one embodiment of the present application.

[0022] Figure 2 The figure is a schematic diagram of a flow chart of controlling the movement of a robot provided in one embodiment of the present application.

[0023] Figure 3 The figure is a schematic diagram of a flow chart of determining an intermediate state behavior action provided by an embodiment of the present application.

[0024] Figure 4a The figure is a schematic diagram of a process of determining the shortest switching path between a current behavior action and a target behavior action provided by an embodiment of the present application.

[0025] Figure 4b The above is a schematic diagram of the corresponding figures for picking up, transporting and unloading provided in one embodiment of the present application.

[0026] Figure 5 The figure shows a hierarchical design diagram of the control mode, behavior action and execution unit provided in one embodiment of the present application.

[0027] Figure 6 The figure is a flow chart of controlling a robot to switch from a current behavior action to an intermediate behavior action, and then switching from the intermediate behavior action to a target behavior action, provided by an embodiment of the present application.

[0028] Figure 7 The figure shows an overall flow chart of motion control of a robot provided by an embodiment of the present application.

[0029] Figure 8 The figure is a flowchart of determining the execution order of at least one execution unit included in each behavior action provided by an embodiment of the present application.

[0030] Fig. 9 Shown is a schematic structural diagram of a motion control system provided in one embodiment of the present application.

[0031] Fig.10 Shown is a schematic structural diagram of a motion control system provided in another embodiment of the present application.

[0032] Fig.11Shown is a schematic structural diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] Figure 1 FIG. 2 is a flow chart of a motion control method provided by an embodiment of the present application. Figure 1 As shown, the method includes the following steps.

[0035] Step S110: determining at least one behavior action corresponding to the target task and the execution order of the at least one behavior action.

[0036] Specifically, the target task contains a sequence of specific actions that the robot needs to complete, and these actions are arranged together to achieve a specific work goal. Therefore, by obtaining the target task, it is possible to determine at least one action that the robot needs to perform and the execution order of at least one action.

[0037] Behavior actions define specific operations that the robot needs to perform in a certain state, such as walking and standing. Optionally, behavioral actions are divided into resident behavioral actions and switchable behavioral actions. Among them, resident behavioral actions are behavioral actions that the robot always maintains, and are mainly used to maintain the basic state and posture of the robot, such as basic data management and monitoring. This type of behavioral action continues to run throughout the entire motion control cycle of the robot and will not exit to ensure the stability of the robot. Switchable behavioral actions are behavioral actions that can be dynamically loaded or unloaded according to the needs of the target task. For example, the robot can switch from executing the "walking" behavior action to executing the "grasping" behavior action.

[0038] Each action includes at least one execution unit, which is used to implement the specific operation of the action. Specifically, the execution unit encapsulates a specific algorithm or instruction set, which can be regarded as a functional module or function running on the robot, responsible for executing a specific basic operation in the action.

[0039] Step S120: determining the execution order of at least one execution unit included in each behavior action.

[0040] Optionally, the execution order of at least one execution unit contained in the behavior action is determined based on the execution process and rules pre-defined in the behavior action. For example, in a scenario of an automated assembly line, the robot needs to perform "assembly", and this behavior action includes three execution units: "pick up the component", "move to the assembly position", and "place the component". In order to ensure that the components can be assembled correctly, the order of the execution units must be "pick up the component" first, then "move to the assembly position", and finally "place the component".

[0041] Step S130, controlling the movement of the robot based on the execution order of at least one behavior action and the execution order of at least one execution unit included in each behavior action.

[0042] Specifically, after determining the execution order of each action and the execution units it contains, the movement of the robot is specifically controlled according to these execution orders. That is, according to the established process, the corresponding actions and execution units are triggered and executed in sequence, thereby driving the robot to perform the expected movement.

[0043] In this embodiment, the execution unit is a component of the behavior action, which is the specific calculation or control operation required to execute the behavior action. Through the hierarchical design method of behavior actions and execution units, the modularity and scalability of the motion control algorithm are improved, so that different behavior actions and execution units can be independently developed and scheduled, reducing the coupling between behavior actions and execution units. Then, by defining the behavior actions corresponding to the target task and their execution order, as well as the execution order of the execution units in each behavior action, an orderly motion control process is provided for the robot, which improves the accuracy and efficiency of the robot in performing tasks.

[0044] In order to ensure that the robot can efficiently and accurately perform the target task, it is necessary to plan the execution order of the robot's actions and their execution units in a more detailed manner. Specifically, in some embodiments, the execution order of at least one action and the execution order of at least one execution unit included in each action include serial and / or parallel.

[0045] First, the serial and / or parallel execution scheme of the action allows multiple actions to be run simultaneously when specific conditions are met to complete complex task requirements, while improving the execution efficiency of the target task and achieving better resource allocation and time management in a multi-tasking environment. In addition, at least one execution unit included in each action can be assigned to an independent thread for operation, that is, in the same action, multiple execution units can also work in parallel or serially, thereby meeting the demand for real-time control of the robot and improving the robot's response speed and task processing capabilities. On the whole, through the method in this embodiment, the robot can plan and execute the target task more intelligently, whether in a simple single task or in a complex multi-tasking scenario.

[0046] Figure 2 The figure shows a schematic diagram of a flow chart of controlling the movement of a robot provided by an embodiment of the present application. Figure 1 Based on the embodiment shown, Figure 2 The embodiment shown is described below in detail. Figure 2 The embodiment shown and Figure 1 The differences and similarities of the illustrated embodiments are not described in detail.

[0047] like Figure 2 As shown, in this embodiment, based on the execution order of at least one behavioral action and the execution order of at least one execution unit included in each behavioral action, controlling the movement of the robot includes the following steps.

[0048] Step S210, in response to the action switching instruction, determining whether the current behavior action being executed by the robot and the target behavior action to be executed meet the switching condition.

[0049] Specifically, the switching condition refers to the prerequisite that must be met when the robot switches from one behavior action (such as the current behavior action) to another behavior action (such as the target behavior action) to ensure the safety, feasibility and logic of the switching.

[0050] For example, an industrial robot is currently performing the action of "welding" a part of a car body. During the welding process, the robot needs to maintain a stable posture, and the welding tool head needs to be kept within a specific temperature range to ensure welding quality. Now, the robot receives an action switching instruction to switch from "welding" to "carrying". At this time, the robot needs to check whether the switching conditions from "welding" to "carrying" are met. For example, if the tool head is cooled and the part is fixed, it is determined that the switching conditions are met.

[0051] In an actual application scenario, if the switching condition is not met, step S220 is executed to determine an intermediate state behavior action.

[0052] Intermediate behaviors refer to behaviors that are temporarily performed by the robot to ensure a safe and smooth transition during the process of switching from one behavior (such as the current behavior) to another behavior (such as the target behavior). These intermediate behaviors act as a bridge to ensure the safety and effectiveness of the robot throughout the switching process.

[0053] Step S230, control the robot to switch from the current behavior action to the intermediate behavior action, and then switch from the intermediate behavior action to the target behavior action, and during the switching process, operate in the execution order of at least one execution unit contained in the current behavior action, the intermediate behavior action, and the target behavior action.

[0054] That is to say, first the robot needs to be controlled to smoothly transition from the current behavior to the intermediate behavior, and then switch from the intermediate behavior to the final target behavior.

[0055] For example, a service robot, whose current behavior is "standing", needs to switch to the target behavior of "walking". However, because the robot needs to adjust its center of gravity and posture first to ensure the stability of walking, it needs to perform an intermediate behavior of "adjusting the center of gravity". Therefore, the robot will be controlled to transition from "standing" to "adjusting the center of gravity", and after the center of gravity adjustment is completed, it will switch from "adjusting the center of gravity" to "walking". In this process, the execution units contained in each behavior (such as sensor data reading, motor control instructions, etc.) will be activated and executed in a predetermined order to ensure the smoothness of the entire switching process and the stability of the service robot.

[0056] Optionally, before controlling the robot to switch from the current behavior action to the intermediate behavior action, check the status information of the current behavior state and the intermediate behavior action; if the status information of the current behavior state indicates that the current behavior state has been completed, and the status information of the intermediate behavior action indicates that the intermediate behavior action has not started, then control the robot to switch from the current behavior action to the intermediate behavior action;

[0057] Optionally, before controlling the robot to switch from the intermediate state behavior action to the target behavior action, check the status information of the intermediate state behavior action and the target behavior action; if the status information of the intermediate state behavior action indicates that the intermediate state behavior action has been completed, and the status information of the target behavior action indicates that the target behavior action has not started, then control the robot to switch from the intermediate state behavior action to the target behavior action.

[0058] Optionally, the status information of the action includes "not started", "running", "completed", "failed", etc. The life cycle of each action is managed through the status information to ensure that each action can be started and stopped in sequence.

[0059] In this embodiment, when the current action and the target action do not meet the switching conditions, the intermediate action is determined to avoid the risks and problems that may be caused by direct switching, ensuring that the robot can switch between different actions safely and orderly, improving the adaptability and flexibility of the robot, and enhancing the accuracy and reliability of task execution. In addition, by accurately controlling the order of the execution units, resource allocation is optimized, and the overall efficiency and performance of the robot are improved.

[0060] exist Figure 2 In step S210, it is mentioned that when responding to the action switching instruction, it is necessary to determine whether the robot meets the switching condition for switching from the current action to the target action. Next, we will further explore how this process is implemented. Specifically, first obtain the switching rule corresponding to the current action; based on the switching rule corresponding to the current action, determine whether the current action and the target action meet the switching condition.

[0061] In this embodiment, the switching rule includes the next behavior action that the behavior action is allowed to switch to. Optionally, the switching rule is implemented by a graph structure, where the nodes in the graph represent various behaviors that the robot can perform, and the directed edges between the nodes represent the conditions for allowing switching from one behavior action to another. This graph structure can represent the relationship and conversion logic between different behaviors in an intuitive way.

[0062] Optionally, the next behavior action that the behavior action allows to switch is configured based on the switching safety. For example, the robot is performing "patrol". At this time, it receives an action switching instruction to instruct to switch to the "tracking" behavior action. In this case, the switching rule of the "patrol" behavior action will be checked first. Assuming that this switching rule stipulates that "patrol" can be switched to "tracking", "alert" or "standby" and other behavior actions, that is, the "tracking" behavior action is included in the allowed switching list of "patrol", it is determined that "patrol" to "tracking" is a conditional switch, and the robot can execute the switch. On the contrary, if "tracking" is not in the allowed switching list, for example, only switching to "alert" or "standby" is allowed, then the switching condition from "patrol" to "tracking" is not met, and at this time, the robot will not be controlled to execute this switching instruction.

[0063] In this embodiment, the switching rules are used to determine whether the current behavior and the target behavior meet the switching conditions, which can ensure that the robot's behavior conversion is orderly and controllable, avoiding confusion or errors caused by random switching. Secondly, the switching rules can be configured based on the standard of switching safety, ensuring that the robot will not put itself in danger when performing the switching of behavior. In addition, the switching rules that clearly define the next behavior that the behavior is allowed to switch to help optimize the robot's behavior logic, allowing the robot to perform the target task more efficiently.

[0064] Figure 3 FIG. 1 is a flow chart of determining an intermediate state behavior action provided by an embodiment of the present application. Figure 2 Based on the embodiment shown, Figure 3 The embodiment shown is described below in detail. Figure 3 The embodiment shown and Figure 2 The differences and similarities of the illustrated embodiments are not described in detail.

[0065] like Figure 3 As shown, in this embodiment, determining the intermediate state behavior action includes the following steps.

[0066] Step S310: determine the shortest switching path between the current behavior action and the target behavior action.

[0067] Specifically, the shortest switching path refers to the path with the least number of transitions from the current action to the target action. For example, the current action of the robot is A, and the target action is B. The switching paths between these two actions include A-A1-A2-B, A-A3-B, and A-A1-A3-A4-B. In this example, the switching path A-A3-B has fewer transitions than the other two switching paths. Therefore, A-A3-B is the shortest switching path from the current action A to the target action B.

[0068] Step S320: determine other behavior actions in the shortest switching path except the current behavior action and the target behavior action as intermediate behavior actions.

[0069] According to the example in step S310, the intermediate behavior action between the current behavior action A and the target behavior action B is A3.

[0070] In this embodiment, by determining the shortest switching path, it is ensured that the robot can transition from the current behavior to the target behavior with the least steps and time, thereby improving operational efficiency and reducing resource consumption. Next, the intermediate behavior in this path is determined by the shortest switching path, thereby enhancing the stability and reliability of the movement of the self-moving device. The methods in step S310 and step S320 jointly achieve efficient, orderly and safe conversion of the robot's behavior, thereby improving the overall performance of the robot.

[0071] Figure 4a The figure shows a flow chart of determining the shortest switching path between the current action and the target action provided by an embodiment of the present application. Figure 3 Based on the embodiment shown, Figure 4a The embodiment shown is described below in detail. Figure 4a The embodiment shown and Figure 3 The differences and similarities of the illustrated embodiments are not described in detail.

[0072] like Figure 4a As shown, in this embodiment, determining the shortest switching path between the current behavior action and the target behavior action includes the following steps.

[0073] Step S410, obtaining the shortest switching path between multiple behavior actions in the robot that are pre-calculated.

[0074] Pre-calculation means that when the motion control method of this embodiment is started, the shortest path between multiple action nodes is determined by a specific algorithm, and the shortest switching path between multiple action nodes is stored in the target path for fast retrieval and use during runtime. Exemplarily, the target path is cached.

[0075] Multiple actions refer to all the different actions that the robot can perform during operation. These actions are considered as nodes in the graph, and the allowed switching conditions between nodes are considered as directed edges in the graph. Optionally, each directed edge contains a weight, which represents the cost of switching from one action to another.

[0076] It should be noted that the graph here refers to the graph in graph theory, which is composed of nodes and edges and can represent a certain relationship between objects. For example, Figure 4b The above is a schematic diagram of the corresponding diagrams of picking up, transporting and unloading provided in an embodiment of the present application. Figure 4bAs shown, the behavior actions of picking up, transporting, and unloading each correspond to a node in the graph. Among them, the switching condition of picking up → transporting is that the robot needs to transport the goods to the unloading area after picking up; the switching condition of transporting → unloading is that the robot needs to unload the goods after arriving at the unloading area; the switching condition of unloading → picking up is that the robot needs to return to the shelf to pick up the next batch of goods after unloading. Exemplarily, the weight of the directed edge of picking up → transporting represents the time or distance required to transport the goods to the unloading area after picking up; the weight of the directed edge of transporting → unloading represents the time required to unload the goods after arriving at the unloading area; the weight of the directed edge of unloading → picking up represents the time or distance required to return to the shelf to pick up the goods after unloading.

[0077] In step S410, the shortest switching paths between multiple behavioral actions are calculated in advance to optimize the switching of behavioral actions. When it is necessary to switch from one behavioral action to another, the required shortest switching path can be directly retrieved from the shortest switching paths between multiple behavioral actions calculated in advance.

[0078] In some embodiments, pre-calculating the shortest switching paths between multiple behavioral actions includes: obtaining switching rules of each of the multiple behavioral actions; and pre-calculating the shortest switching paths between the multiple behavioral actions based on the switching rules of each of the multiple behavioral actions.

[0079] As mentioned above, the switching rule includes the next action that the action is allowed to switch to. That is, each action has a clear list of allowed switches, which lists all other actions that can be directly and safely switched from this action. In other embodiments, if the switching rule of a certain action contains multiple next actions that are allowed to switch, the switching rule also defines the switching priorities of the multiple next actions that are allowed to switch.

[0080] Exemplarily, a graph search algorithm is used, starting from behavior action A, to record at least one path to each of the remaining switchable behavior actions. In addition, during the search process, the switching priority of the next multiple behavior actions allowed to switch defined in the switching rules is also considered, that is, those behavior actions with high switching priority are given priority. The algorithm continues to explore until it is determined that there are no other feasible paths. In this process, the length of the path is updated to ensure that each new path found is shorter than the previously recorded path. Finally, the shortest path from behavior action A to a specific behavior action is obtained.

[0081] This approach allows for quick and accurate determination of safe and efficient transitions from one behavior to another when a behavior switch is actually needed. By pre-calculating and storing these shortest switching paths, it is possible to quickly respond to behavior switching requests when controlling the robot's motion, improving the robot's response speed and operating efficiency.

[0082] In some embodiments, the method for determining multiple behavioral actions in a robot includes: determining a current control mode of the robot; and determining the behavioral actions included in the current control mode as multiple behavioral actions in the robot. Optionally, the current control mode is one of an automatic control mode, a manual control mode, and a passive control mode.

[0083] In automatic control mode, the robot mainly relies on built-in algorithms and preset programs to perform tasks. In this mode, the robot can independently perceive the environment, make decisions and perform corresponding behaviors without direct intervention from the operator. Manual control mode requires the operator to directly control the robot's behavior. In this mode, the operator guides the robot through a remote control, control panel or other input device. This mode is suitable for situations that require delicate operations or immediate response to environmental changes, such as precise positioning and operation in complex or unpredictable environments. Passive control mode is a control method between automatic control mode and manual control mode. In passive control mode, the robot will respond to external commands, but the operator does not need to control it continuously. That is, the robot will automatically perform certain behaviors according to preset conditions, and the operator will intervene when necessary.

[0084] Each of the above control modes has its own specific application scenarios and advantages. The automatic control mode is suitable for high-efficiency, repetitive tasks; the manual control mode is suitable for tasks that require high flexibility and immediate response; and the passive control mode is suitable for scenarios that require a balance between automation and human control.

[0085] Figure 5 FIG. 1 is a schematic diagram of a hierarchical design of a control mode, a behavior action, and an execution unit provided in an embodiment of the present application. Figure 5 As shown, each control mode includes a corresponding behavior action (ACTION), and each behavior action also includes a corresponding execution unit (Runner) to achieve complex motion control of the robot.

[0086] For example, in the automatic control mode, ACTION 1 to ACTION n are set, and each ACTION consists of a group of Runners, which are executed in specific threads. For example, ACTION 1 includes Runner 1, Runner 2, and Runner 3, where Runner 1 and Runner 2 are executed in thread 1, and Runner 3 is executed in thread 2. In the manual control mode, ACTION 3 to ACTION x are set, and each ACTION is also executed by different Runners (such as ACTION 3 is executed by Runner 4 and Runner 5) in different threads.

[0087] The passive control mode only involves one ACTION 8 and the corresponding Runner 8 of ACTION 8. The resident behavior action part sets ACTION 9 and ACTION 10, which are executed by Runner 9 to Runner 13 respectively, and these Runners are distributed in Thread 3 and Thread 4. This design allows different behavior actions to be flexibly called and executed in different control modes, while maintaining the scalability and modularity of the operation and control algorithm.

[0088] By determining the current control mode of the robot and determining the behavioral actions contained in the current control mode as multiple behavioral actions in the robot, a hierarchical and modular motion control method is implemented. Specifically, the behavioral actions and execution units are managed in a hierarchical manner, which not only enhances the flexibility and efficiency of multi-control mode and multi-task robot motion control, but also reduces the coupling between the behavioral actions and the execution unit algorithm modules. In addition, the present application allows the robot to flexibly switch between automatic control mode, manual control mode and passive control mode, and select the most appropriate behavioral actions according to the current task requirements and environmental conditions, thereby optimizing the performance and response speed of the robot.

[0089] Step S420: determine the shortest switching path between the current behavior action and the target behavior action from the shortest switching paths between the multiple behavior actions.

[0090] That is, the shortest switching paths from each behavioral action to other switchable behavioral actions have been calculated, and then, from these shortest switching paths, the shortest switching path starting from the current behavioral action and ending at the target behavioral action can be determined.

[0091] In this embodiment, when it is necessary to switch from the current action to the target action, the shortest switching path can be directly selected from the shortest switching paths between multiple pre-calculated actions without the need for real-time complex path calculations, which can reduce the consumption of computing resources and speed up the decision-making process. This pre-calculation method is particularly suitable for robots with a limited number of actions and relatively fixed switching rules, because it allows all possible switching situations to be considered in the design stage and the optimal and shortest switching path to be planned for each situation. In addition, since the need for online calculations is reduced, this solution also reduces the complexity of the algorithm when it is running.

[0092] Figure 6 The figure shows a flow chart of controlling a robot to switch from a current behavior to an intermediate behavior, and then switch from the intermediate behavior to a target behavior, provided by an embodiment of the present application. Figure 2 Based on the embodiment shown, Figure 6 The embodiment shown is described below in detail. Figure 6 The embodiment shown and Figure 2 The differences and similarities of the illustrated embodiments are not described in detail.

[0093] like Figure 6 As shown, in this embodiment, controlling the robot to switch from the current behavior action to the intermediate behavior action, and then switching from the intermediate behavior action to the target behavior action includes the following steps.

[0094] Step S610, when switching from the current behavior action to the intermediate behavior action, the robot is controlled to exit the execution unit that meets the exit condition contained in the current behavior action, and to start the execution unit that meets the start condition contained in the intermediate behavior action.

[0095] Specifically, the execution units that need to be exited in the current action are first identified. These execution units that need to be exited must meet specific exit conditions, such as completing a given task, reaching a predetermined state, or receiving a specific exit instruction. At the same time, the execution units that need to be started in the intermediate action are also identified. These execution units that need to be started must meet the start conditions.

[0096] In this way, it is ensured that the robot can smoothly transition from the current action to the next intermediate action according to the predetermined logic and sequence, while maintaining the stability and efficiency of the robot. In addition, this control method helps to reduce the errors that may occur in the process of switching between actions, and improves the robot's operating performance and reliability.

[0097] Step S620, when switching from the intermediate state behavior action to the target behavior action, the robot is controlled to exit the execution unit that meets the exit condition contained in the intermediate state behavior action, and to start the execution unit that meets the start condition contained in the target behavior action.

[0098] Specifically, the execution units that need to exit in the intermediate behavior actions also need to be identified and evaluated. These execution units that need to exit also need to meet specific exit conditions, such as task completion or receipt of an exit signal. Only when the exit conditions are met will the corresponding execution unit exit to ensure that the intermediate behavior actions can be completed safely and orderly. Then, activate the execution units in the target behavior actions that meet the start conditions to ensure that they can be started according to the predetermined procedure and sequence.

[0099] In this embodiment, only the execution units that meet the exit conditions are exited and the execution units that meet the start conditions are started. This strategy allows the robot to reduce unnecessary restarts when switching between behavior actions, thereby reducing energy consumption and startup time. In addition, in this way, the robot can respond to new behavior action instructions more quickly, improving the overall operating efficiency and response speed.

[0100] In some embodiments, the execution units that meet the exit conditions include other execution units in the executed behavior actions except the general execution unit; the execution units that meet the start conditions include other execution units in the to-be-executed behavior actions except the general execution unit.

[0101] Specifically, the universal execution unit indicates that the executed action and the action to be executed contain the same execution unit. Correspondingly, the non-universal execution unit indicates that the executed action and the action to be executed contain different execution units. It should be noted that when switching from the current behavior to the intermediate behavior action, the executed behavior action is the current behavior action, and the action to be executed is the intermediate behavior action; when switching from the intermediate behavior action to the target behavior action, the executed behavior action is the intermediate behavior action, and the action to be executed is the target behavior action.

[0102] In some other embodiments, the exit condition also includes passing the exit security check; the start condition also includes that the status information of the execution unit indicates that the execution unit has completed initialization.

[0103] That is to say, after determining that the object that can be exited is a non-general-purpose execution unit, a security check is required for the non-general-purpose execution unit. If no unsafe conditions or potential risks are detected, the exit mechanism will be triggered. The status information of the execution unit indicates that the execution unit has completed initialization, which helps to avoid starting operations when it is not fully ready, thereby reducing the risk of errors and failures. At the same time, it can ensure that once started, these execution units can work together, which helps to improve overall efficiency and performance.

[0104] Optionally, the status information of the execution unit includes "initialization", "running", "exit", etc., so as to dynamically manage the execution unit according to the requirements of the behavior action.

[0105] In this embodiment, by distinguishing between general execution units and non-general execution units, efficient and orderly switching of the robot between different behavioral actions is achieved. Specifically, when switching from one behavioral action to another, only those execution units that exist in the behavioral action being executed but not in the behavioral action to be executed need to be exited, and those execution units that exist in the behavioral action to be executed but not in the behavioral action being executed need to be started. In this way, those general execution units that play a role in both the behavioral action being executed and the behavioral action to be executed can keep running without restarting, thereby maintaining the continuity of the task and the stability of the control, while reducing energy consumption and startup time. In this way, the robot can flexibly switch between different behavioral actions while ensuring the flexibility and reliability of motion control.

[0106] Figure 7 The figure shows the overall flow chart of the motion control of the robot provided by one embodiment of the present application. Figure 7 As shown in the figure, after the robot is started, it enters the "passive ACTION" by default. At this time, it does not execute any motion instructions and only maintains the monitoring state waiting for external instructions.

[0107] When receiving the action switching instruction to switch to "Standing ACTION", it will check whether Runner 1 of "Passive ACTION" can be exited according to the method in the above embodiment, and check whether Runner 2 and Runner 3 of "Standing ACTION" can be run. When both conditions are met, the robot will switch, exit Runner 1, and load Runner 2 and Runner 3 of "Standing ACTION" to make the robot stand and maintain a stable posture.

[0108] After standing firm, if the task module issues an action switching instruction to switch to "walking ACTION", it will determine whether it can be switched directly or needs to be switched through the "intermediate state ACTION". Assuming that direct switching is not supported, the method in the aforementioned embodiment will be used to determine the "intermediate state ACTION". "Intermediate state ACTION" and "walking ACTION" contain the general execution unit Runner 2, so only check whether the non-general execution unit Runner 3 can be exited, and whether the non-general execution unit Runner 4 in the "intermediate state ACTION" can be run. When both conditions are met, exit Runner 3 and load Runner 4. At this time, under the "intermediate state ACTION", Runner 2 and Runner 4 are running. In addition, when determining the execution unit to be exited and loaded, the exit safety check can be further performed on the execution unit of the exit pair, and the status information of the loaded execution unit can be identified. Exemplarily, Runner 2 is a leg motion control Runner and a posture balance Runner that can determine the gait and posture coordination of the robot under "standing ACTION" and "intermediate state ACTION".

[0109] Switch from "intermediate state ACTION" to "walking ACTION" to determine whether Runner 5 is loaded. If yes, run Runner 2, Runner 4, and Runner 5 after switching to "walking ACTION".

[0110] If a navigation instruction is received, the navigation module processes the instruction and sends a walking instruction to the Runner in the "walking ACTION" to control the robot to start walking. In addition, the leg movement control Runner and posture balance Runner included in Runner 2 work in parallel to ensure that the robot walks according to the navigation instruction and maintains balance. If the navigation module continues to send navigation instructions, the robot will continue to adjust the path and posture to follow the navigation instructions until it reaches the target position.

[0111] When the task module issues a switching instruction to switch to the "grab ACTION", the switching path is determined according to the method in the above embodiment, and the unnecessary Runners are unloaded and the required Runners are loaded. For example, check whether Runner 4 and Runner 5 can exit, and whether Runner 6 and Runner 7 can run. If the conditions are met, the robot is controlled to run Runner 2, Runner 6, and Runner 7 under the "grab ACTION". Exemplarily, Runner 6 and Runner 7 are upper limb control Runners and lower limb control Runners, respectively.

[0112] Figure 8 FIG. 1 is a flow chart of determining the execution order of at least one execution unit included in each behavior action provided by an embodiment of the present application. Figure 1 Based on the embodiment shown, Figure 8 The embodiment shown is described below in detail. Figure 8 The embodiment shown and Figure 1 The differences and similarities of the illustrated embodiments are not described in detail.

[0113] like Figure 8 As shown, in this embodiment, determining the execution order of at least one execution unit included in each behavior action includes the following steps.

[0114] Step S810, obtaining configuration information corresponding to each execution unit.

[0115] The configuration information includes parameters for guiding the operation rules of the execution unit to ensure that the execution unit is executed in a predetermined manner and order. Exemplarily, the parameters of the operation rules include the identification of the execution unit, the execution conditions, the priority of the execution unit, the dependency of the execution unit, the operation parameters of the execution unit, and the scheduling mode of the execution unit (such as sequential execution, parallel execution), etc.

[0116] Optionally, the configuration information can be adjusted based on control requirements to add or modify the behavior of execution units, such as changing the execution order, adjusting execution conditions, modifying dependencies, or updating scheduling policies. These adjustments can be made by modifying the configuration information without going deep into the code level, which improves the configurability and adaptability of the motion control algorithm.

[0117] Step S820: determining the execution order of at least one execution unit included in each behavior action based on the configuration information corresponding to each execution unit.

[0118] Specifically, the configuration data of each execution unit is read, and then, based on this configuration information, such as which execution units need to run before other execution units, or which execution units can be executed in parallel, the execution order of at least one execution unit included in each behavior action is constructed. This execution order takes into account the dependencies and priorities of all execution units to ensure that each unit is started at the right time and under the right conditions. Then, in the process of controlling the robot's movement, this execution order is used to schedule the execution units to ensure that they are activated in the predetermined order.

[0119] In this embodiment, by obtaining the configuration information corresponding to each execution unit and determining the execution order of at least one execution unit in the behavior action based on this information, it is possible to ensure that the execution units are executed in the correct order and conditions, thereby improving the accuracy and efficiency of task execution. In addition, this execution order management based on configuration information also simplifies the maintenance and upgrade process of the motion control algorithm, because the integration of new execution units or the optimization of the behavior of existing execution units can be achieved by modifying the configuration information rather than the code itself.

[0120] Fig. 9 FIG. 1 is a schematic diagram of the structure of a motion control system provided by an embodiment of the present application. Fig. 9 As shown, the motion control system 90 includes:

[0121] The behavior action interface layer 910 is used to implement standardized calls to behavior actions;

[0122] The control module 920 is used to call the required behavior action through the behavior action interface layer 910 when executing the motion control method in this embodiment.

[0123] Standardized calling refers to the process of executing the call according to a predefined, unified standard or protocol. Specifically, the behavior action interface layer 910 acts as a bridge between the motion control system and the specific behavior action, providing a unified management interface that allows the motion control system to call the behavior action in a standardized manner, and also allows the external module to switch and query the behavior action in a standardized manner.

[0124] The control module 920 is responsible for calling the required behavior actions through the behavior action interface layer 810 when executing the motion control method. This not only improves the scalability of the motion control system, but also, because different behavior actions can be called through a unified interface, the motion control system has higher flexibility and compatibility, and can adapt to changing control requirements and environmental conditions.

[0125] Fig.10 FIG. 2 is a schematic diagram of the structure of a motion control system provided by another embodiment of the present application. Fig.10 As shown, the motion control system 90 further includes N execution units, and the control module 920 further includes a behavior action rule manager, a behavior action rule scheduler, and an execution unit manager.

[0126] Specifically, the action rule manager is responsible for the management of switching rules and switching conditions between actions, ensuring that the corresponding safety and logic conditions are met when switching between different actions. The action rule manager can predefine the switching paths between different actions and calculate the optimal switching path from the current action to the target action.

[0127] The action scheduler is responsible for the life cycle management and scheduling control of the action, ensuring that the corresponding actions are started or stopped in sequence during the switching process. It also supports the parallel scheduling of multiple actions, allowing the motion control system to run multiple actions simultaneously when conditions are met to complete complex task requirements.

[0128] The execution unit manager is responsible for managing the loading, initialization, scheduling, and unloading of the execution units in each behavior action to meet the different requirements of different behavior actions for the execution units and improve the resource utilization of the motion control system. Specifically, when the behavior action is started, the execution unit manager first initializes the execution units required by the behavior action, and then executes the exit operation after the behavior action ends.

[0129] The motion control system uses the behavior rule manager to achieve dynamic switching management between different behaviors and actions, and ensures the continuity and safety of tasks by defining intermediate behaviors and actions. This flexible switching mechanism is particularly suitable for task scenarios that require frequent action conversions, greatly improving the practicality and task response efficiency of the motion control system.

[0130] The motion control system uses the behavior action rule manager to define multi-level switching rules for behavior actions, which not only supports direct switching, but also supports gradual switching through intermediate behavior actions. This multi-level scheduling rule management allows the motion control system to flexibly adapt to different task requirements while ensuring the safety of task switching.

[0131] The motion control system manages the loading, initialization, scheduling and unloading of the execution unit in each behavior action through the execution unit manager to adapt to the different requirements of different behavior actions for the execution unit and improve the resource utilization of the motion control system.

[0132] It should be understood that the description of the motion control method embodiment corresponds to the description of the motion control system embodiment, and therefore, parts of the motion control system that are not described in detail can refer to the previous method embodiment.

[0133] Below, reference Fig.11 To describe an electronic device according to an embodiment of the present application. Fig.11 Shown is a schematic structural diagram of an electronic device provided by an exemplary embodiment of the present application.

[0134] like Fig.11 As shown, the electronic device 110 includes one or more processors 1101 and a memory 1102 .

[0135] The processor 1101 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 110 to perform desired functions.

[0136] The memory 1102 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may, for example, include read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 1101 may run the program instructions to implement the motion control method of each embodiment of the present application described above and / or other desired functions. Various contents such as the execution order of at least one behavior action and the execution order of at least one execution unit included in each behavior action may also be stored in the computer-readable storage medium.

[0137] In one example, the electronic device 110 may further include: an input device 1103 and an output device 1104 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0138] The input device 1103 may include, for example, a keyboard, a mouse, etc.

[0139] The output device 1104 can output various information to the outside, including the execution order of at least one action and the execution order of at least one execution unit included in each action, etc. The output device 1104 can include, for example, a display, a speaker, a printer, a communication network and its connected remote output device, etc.

[0140] Of course, to simplify, Fig.11 Only some of the components related to the present application in the electronic device 110 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 110 may also include any other appropriate components.

[0141] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the motion control method according to various embodiments of the present application described above in this specification.

[0142] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user computing device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0143] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the motion control method according to various embodiments of the present application described above in this specification.

[0144] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0145] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0146] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0147] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0148] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0149] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A motion control method, characterized in that: include: Determine at least one behavior action corresponding to the target task and the execution order of the at least one behavior action, each of the behavior actions includes at least one execution unit, and the at least one execution unit is used to implement a specific operation of the behavior action; Determining the execution order of at least one execution unit included in each of the behavioral actions; The movement of the robot is controlled based on the execution order of the at least one behavior action and the execution order of the at least one execution unit included in each behavior action.

2. The motion control method according to claim 1, characterized in that: The controlling the robot movement based on the execution order of the at least one behavior action and the execution order of at least one execution unit included in each behavior action comprises: In response to the action switching instruction, determining whether the current behavior action being executed by the robot and the target behavior action to be executed meet the switching condition; If the switching condition is not met, determining the intermediate state behavior action; The robot is controlled to switch from the current behavior action to the intermediate behavior action, and then from the intermediate behavior action to the target behavior action. During the switching process, the robot is operated in the execution order of at least one execution unit contained in each of the current behavior action, the intermediate behavior action, and the target behavior action.

3. The motion control method according to claim 2, characterized in that: The determining of the intermediate state behavior action includes: Determine the shortest switching path between the current behavior action and the target behavior action; Other behavior actions except the current behavior action and the target behavior action in the shortest switching path are determined as the intermediate behavior actions.

4. The motion control method according to claim 3, characterized in that: The determining the shortest switching path between the current behavior action and the target behavior action includes: Obtaining the pre-calculated shortest switching paths between multiple behavioral actions in the robot; The shortest switching path between the current behavior action and the target behavior action is determined from the shortest switching paths between the multiple behavior actions.

5. The motion control method according to claim 4, characterized in that: Also includes: Acquire a switching rule for each of the plurality of behavior actions, wherein the switching rule includes a next behavior action to which the behavior action is allowed to switch; Based on the switching rules of the plurality of behavior actions, the shortest switching paths between the plurality of behavior actions are calculated in advance.

6. The motion control method according to claim 4, characterized in that: Also includes: Determine a current control mode of the robot, wherein the current control mode is one of an automatic control mode, a manual control mode, and a passive control mode; The behavior actions included in the current control mode are determined as multiple behavior actions in the robot.

7. The motion control method according to any one of claims 2 to 6, characterized in that: The controlling the robot to switch from the current behavior to the intermediate behavior, and then switching from the intermediate behavior to the target behavior, comprises: When switching from the current behavior action to the intermediate behavior action, controlling the robot to exit the execution unit that meets the exit condition contained in the current behavior action, and to start the execution unit that meets the start condition contained in the intermediate behavior action; When switching from the intermediate state behavior action to the target behavior action, the robot is controlled to exit the execution unit that meets the exit condition contained in the intermediate state behavior action, and to start the execution unit that meets the start condition contained in the target behavior action.

8. The motion control method according to claim 7, characterized in that: The execution units satisfying the exit condition include other execution units in the executed behavior action except the general execution unit, and the general execution unit means the same execution unit included in the executed behavior action and the behavior action to be executed; The execution units that meet the start condition include other execution units in the behavior action to be executed except the general execution unit.

9. The motion control method according to any one of claims 2 to 6, characterized in that: The determining whether the current behavior action being executed by the robot and the target behavior action to be executed meet the switching condition includes: Obtaining a switching rule corresponding to the current behavior action, wherein the switching rule includes a next behavior action to which the behavior action is allowed to switch; Based on the switching rule corresponding to the current behavior action, it is determined whether the current behavior action and the target behavior action satisfy the switching condition.

10. The motion control method according to any one of claims 1 to 6, characterized in that: The determining of the execution order of at least one execution unit included in each of the behavior actions includes: Obtaining configuration information corresponding to each execution unit, wherein the configuration information includes parameters guiding the operation rules of the execution unit; Determining, based on the configuration information corresponding to each execution unit, an execution order of at least one execution unit included in each of the behavior actions; Preferably, the configuration information can be adjusted based on control requirements.

11. The motion control method according to any one of claims 1 to 6, characterized in that: The execution order of the at least one behavior action and the execution order of the at least one execution unit included in each behavior action include serial and / or parallel.

12. A motion control system, characterized in that: include: The behavior action interface layer is used to implement standardized calls to behavior actions; A control module is used to call the required behavior action through the behavior action interface layer when executing the motion control method described in any one of claims 1 to 11.

13. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the motion control method according to any one of claims 1 to 11.

14. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is used to execute the motion control method described in any one of claims 1 to 11.

15. A computer program product, characterized in that The computer program product comprises instructions, which, when executed on an electronic device, enable the electronic device to implement the motion control method according to any one of claims 1 to 11.

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