Mobile control method, device, robot and storage medium of a robot

Abstract

An embodiment of the present application discloses a mobile control method, device, robot, and storage medium for a robot. The robot includes at least two wireless receiving modules; a wireless transmitter is provided on a following target of the robot. The method includes: determining real-time relative position data between one or more of the at least two wireless receiving modules and the wireless transmitter respectively according to ultra-wideband signals received by the at least two wireless receiving modules; if the robot performs a first movement operation between two different measurement periods, determining a trunk angle change amount of the robot's trunk according to the real-time relative position data respectively corresponding to the two measurement periods of the wireless receiving module; and controlling the robot to perform a second movement operation according to the trunk angle change amount. Implementing the embodiments of the present application can control the robot to accurately achieve automatic following while reducing the amount of calculation.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and specifically relates to a method and device for controlling the movement of a robot, a robot, and a storage medium. Background Art

[0002] With the development of robot technology, robots in various forms such as wheeled robots and legged robots are widely used in a variety of different scenarios. In some scenarios, it is necessary for a robot to move following a specific target, that is, to implement an automatic following function. Currently, a robot can achieve automatic following based on vision. However, the automatic following solution based on vision requires processing of image data, and the amount of image data is large, which requires high processing performance and high processing power consumption for the robot. Summary of the Invention

[0003] Embodiments of the present application disclose a method and device for controlling the movement of a robot, a robot, and a storage medium, which can control the robot to accurately achieve automatic following while reducing the amount of calculation.

[0004] Embodiments of the present application disclose a method for controlling the movement of a robot. The robot includes at least two wireless receiving modules; a wireless transmitter is provided on a following target of the robot. The method includes: determining real-time relative position data between one or more of the at least two wireless receiving modules and the wireless transmitter respectively according to ultra-wideband signals respectively received by the at least two wireless receiving modules; if the robot performs a first movement operation between two different measurement periods, determining a change amount of the torso angle of the robot torso according to the real-time relative position data respectively corresponding to the wireless receiving modules in the two measurement periods; and controlling the robot to perform a second movement operation according to the change amount of the torso angle.

[0005] Embodiments of the present application disclose a device for controlling the movement of a robot. The robot includes at least two wireless receiving modules respectively disposed at two ends of the robot torso; a wireless transmitter is provided on a following target of the robot. The device includes: a first determination module, configured to determine real-time relative position data between one or more of the at least two wireless receiving modules and the wireless transmitter respectively according to ultra-wideband signals respectively received by the at least two wireless receiving modules; a second determination module, configured to determine a change amount of the torso angle of the robot torso according to the real-time relative position data respectively corresponding to the wireless receiving modules in two different measurement periods when the robot performs a first movement operation between the two different measurement periods; and a control module, configured to control the robot to perform a second movement operation according to the change amount of the torso angle.

[0006] An embodiment of the present application discloses a robot, including a memory and a processor. A computer program is stored in the memory. When the computer program is executed by the processor, the processor implements any one of the robot movement control methods disclosed in the embodiments of the present application.

[0007] An embodiment of the present application discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements any one of the robot movement control methods disclosed in the embodiments of the present application.

[0008] Compared with the related art, the embodiments of the present application have the following beneficial effects:

[0009] The robot can determine real-time relative position data between one or more wireless receiving modules and a wireless transmitter respectively through the ultra-wideband signals received by each wireless receiving module. And, after the robot executes a first movement operation, according to the real-time relative position data corresponding to the wireless receiving module in two measurement cycles respectively, the torso angle change amount of the robot torso is determined, and the robot is controlled to execute a second movement operation according to the torso angle change amount. Compared with image data, the amount of data of UWB signals is less. Based on UWB signals for target following, the calculation amount of the robot can be reduced. At the same time, the robot can perform movement control according to the torso angle change amount of the robot torso between two measurement cycles, which can improve the accuracy of target following while reducing the calculation amount. Description of the Drawings

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings.

[0011] Figure 1 It is an application scenario example diagram of a robot movement control method disclosed in an embodiment;

[0012] Figure 2 It is an example diagram of real-time relative position data between each wireless receiving module and a wireless transmitter disclosed in an embodiment;

[0013] Figure 3 It is a method flow schematic diagram of a robot movement control method disclosed in an embodiment;

[0014] Figure 4 It is an example diagram of the relative position relationship between a robot torso and a wireless transmitter disclosed in an embodiment;

[0015] Figure 5It is a schematic flowchart of another method for controlling the movement of a robot disclosed in an embodiment;

[0016] Figure 6 It is a schematic flowchart of another method for controlling the movement of a robot disclosed in an embodiment;

[0017] Figure 7 It is a schematic flowchart of another method for controlling the movement of a robot disclosed in an embodiment;

[0018] Figure 8 It is a schematic flowchart of another method for controlling the movement of a robot disclosed in an embodiment;

[0019] Figure 9 It is a schematic flowchart of another method for controlling the movement of a robot disclosed in an embodiment;

[0020] Figure 10 It is a schematic structural diagram of a mobile control device for a robot disclosed in an embodiment;

[0021] Figure 11 It is a schematic structural diagram of a robot disclosed in an embodiment. Detailed implementation manners

[0022] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0023] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0024] The embodiments of the present application disclose a method for controlling the movement of a robot, which can control the robot to accurately achieve automatic following while reducing the amount of calculation. The following will be described in detail respectively.

[0025] Please refer to Figure 1 , Figure 1 It is an application scenario example diagram of a method for controlling the movement of a robot disclosed in an embodiment. As Figure 1 shown, the robot 10 follows the target 20 to move.

[0026] Among them, the robot 10 can be a legged robot, a wheeled robot, a tracked robot, etc., and is not specifically limited. Figure 1 The shown robot 10 is a legged robot, and the multi-legged structure of the legged robot has very prominent advantages in complex terrains such as mountain slopes, high walls, and cliffs.

[0027] The following target 20 can be any kind of electronic device. For example Figure 1 As shown, the following target 20 can be the user's smart phone. During the process of the user moving while carrying the smart phone, the robot 10 follows the smart phone to move, so as to achieve the following effect that the robot 10 follows the user to move.

[0028] The robot 10 can include at least two wireless receiving modules. Exemplarily, as Figure 1 shown, the robot 10 can include a first wireless receiving module 110, a second wireless receiving module 120, and a third wireless receiving module 130. Among them, the first wireless receiving module 110 and the second wireless receiving module 120 can be respectively arranged at the first end and the second end of the robot torso. The first end can be the end close to the forward direction of the robot, and the second end can be the end far from the forward direction of the robot. The first wireless receiving module 110 and the third wireless receiving module 130 can be arranged at the same end of the robot torso, both arranged at the first end. As Figure 1 shown, the third wireless receiving module 130 can be arranged on the left side of the first wireless receiving module 110. In some other possible embodiments, the third wireless receiving module 130 can also be arranged on the right side of the first wireless receiving module 110, and is not specifically limited.

[0029] It should be noted that, in some possible embodiments, the robot 10 can only include the first wireless receiving module 110 and the second wireless receiving module 120. In some other possible embodiments, the robot 10 can also only include the first wireless receiving module 110 and the third wireless receiving module 130, and is not specifically limited.

[0030] A wireless transmitter 210 can be arranged on the target 20, which can be used to transmit Ultra Wide Band (UWB) signals. The UWB signals transmitted by the wireless transmitter 210 can be received by each wireless receiving module arranged on the robot 10. Among them, the wireless transmitter 210 can transmit UWB signals periodically, and each wireless receiving module arranged on the robot 10 can also receive UWB signals periodically. The period of receiving UWB signals can be determined according to the clock of the wireless receiving module.

[0031] UWB technology is a wireless carrier communication technology that uses a frequency bandwidth above 1 GHz. Instead of using a sinusoidal carrier, UWB uses non-sinusoidal narrow pulses in the nanosecond range to transmit data. The impulse pulses have a very high positioning accuracy. UWB signals can be used for both positioning and data transmission, enabling the integration of positioning and communication. In addition, UWB signals have extremely strong penetration ability and can perform precise positioning indoors and underground. Based on UWB signals, the robot 10 can move more precisely following the target 20.

[0032] In some embodiments, considering factors such as cost and clock error, at the same moment, only one set of wireless receiving modules on the robot 10 may receive the UWB signals transmitted by the wireless transmitter 210. Each of the wireless receiving modules included on the robot 10 alternately receives UWB signals. The duration required for all wireless receiving modules to complete one reception of UWB signals can be defined as a measurement period.

[0033] In addition to the wireless receiving modules, the robot 10 may also include processors such as UWB chips. The processor can calculate the real-time relative position data between each wireless receiving module and the wireless transmitter 210 based on the UWB signals received by each wireless receiving module. The real-time relative position data includes data that can be used to represent the relative position relationship between the wireless receiving module and the wireless transmitter 210, such as relative distance, relative azimuth, etc., and is not specifically limited. Among them, the relative azimuth can be represented by the included angle between the connecting lines of each wireless receiving module and the wireless transmitter 210 respectively, and the connecting lines between each wireless receiving module.

[0034] Exemplarily, please refer to Figure 2 , Figure 2 is an exemplary diagram of the real-time relative position data between each wireless receiving module and the wireless transmitter disclosed in an embodiment. As Figure 2 shown,

[0035] If the robot performs UWB signal transmission through the first wireless receiving module 110 and the second wireless receiving module 120, the real-time relative position data between the first wireless receiving module 110 and the wireless transmitter 210 may include: the first distance D1 and the first included angle α. The first included angle α is the included angle between the third connecting line of the first wireless receiving module 110 and the wireless transmitter 210, and the second connecting line of the first wireless receiving module 110 and the second wireless receiving module 120. The first distance D1 is the length of the third connecting line.

[0036] The real-time relative position data between the second wireless receiving module 120 and the wireless transmitter 210 may include: the second distance D2 and the second included angle β. The second included angle β is the included angle between the fourth connecting line of the second wireless receiving module 120 and the wireless transmitter 210 and the aforementioned second connecting line. The second distance D2 is the length of the fourth connecting line.

[0037] If the robot performs UWB signal transmission through the first wireless receiving module 110 and the third wireless receiving module 130, the real-time relative position data between the third wireless receiving module 130 and the wireless transmitter 20 may include: the third distance D3 and the third included angle The third included angle is the included angle between the fifth connection line of the third wireless receiving module 130 and the wireless transmitter 210, and the sixth connection line of the first wireless receiving module 110 and the third wireless receiving module 130. The third distance D3 is the length of the fifth connection line.

[0038] The real-time relative position data between the first wireless receiving module 130 and the wireless transmitter 20 may include: the first distance D1 and the fourth included angle γ( Figure 2 not shown in the figure). The fourth included angle γ is the included angle between the third connection line of the first wireless receiving module 110 and the wireless transmitter 210, and the sixth connection line of the first wireless receiving module 110 and the third wireless receiving module 130.

[0039] After each wireless receiving module of the robot 10 receives the UWB signal transmitted by the wireless transmitter 20, it can determine the real-time relative position data between each wireless receiving module and the wireless transmitter through UWB-based ranging and positioning methods such as Time Of Flight (TOF), Time Difference of Arrival (TDOA), Phase Difference of Arrival (PDOA), and Angle of Arrival (AOA).

[0040] Exemplarily, the aforementioned first distance D1, first included angle α, second distance D2, second included angle β, third distance D3, and third included angle etc. can all be directly calculated using the PDOA method; alternatively, the PDOA method can also be used to first calculate any two of the first distance D1, second distance D2, and third distance D3, and then combine the first distance D1, second distance D1, and third distance D3 and the geometric relationship between each wireless receiving module to calculate the first included angle α, second included angle β, and third included angle There is no specific limitation.

[0041] Based on Figure 1 the application scenario shown, please refer to Figure 3 , Figure 3It is a schematic flowchart of a method for controlling the movement of a robot disclosed in an embodiment. This method can be applied to any of the robots disclosed in the foregoing embodiments, for example, it can be applied to processors such as the UWB chip of the robot, and specific limitations are not made. As Figure 3 shown, this method may include the following steps:

[0042] 310. Determine the real-time relative position data between one or more of at least two wireless receiving modules and a wireless transmitter according to the ultra-wideband signals respectively received by the at least two wireless receiving modules.

[0043] In some embodiments, when the robot executes step 310, it may determine the real-time relative position data between the first wireless receiving module and the wireless transmitter, and determine the real-time relative position data between the second wireless receiving module and the wireless transmitter according to the ultra-wideband signals respectively received by the first wireless receiving module and the second wireless receiving module.

[0044] In some other embodiments, when the robot executes step 310, it may determine the real-time relative data between the third wireless receiving module and the wireless transmitter according to the ultra-wideband signals respectively received by the first wireless receiving module and the third wireless receiving module.

[0045] 320. If the robot performs a first movement operation between two different measurement cycles, determine the change amount of the torso angle of the robot torso according to the real-time relative position data respectively corresponding to the two measurement cycles of the wireless receiving module.

[0046] The first movement operation can be any movement operation that enables the robot to follow the target. Optionally, the first movement operation can be determined by the real-time relative position data corresponding to the first measurement cycle with a relatively earlier time sequence in two different measurement cycles; or, the first movement operation can also be executed according to a user instruction input by the user, and specific limitations are not made.

[0047] In step 320, the two different measurement cycles can be two adjacent measurement cycles, or can be two non-adjacent measurement cycles, and specific limitations are not made. If the two measurement cycles are not adjacent, the interval between the two measurement cycles can be set according to actual service requirements, and specific limitations are not made.

[0048] It should be noted that the robot performing the first movement operation between two different measurement cycles may include:

[0049] In each measurement cycle, the robot can determine the real-time relative position data between one or more wireless receiving modules and the wireless transmitter according to the UWB signals received by each wireless receiving module. Based on the real-time relative positions determined in two measurement cycles, the torso angle change of the robot between the two measurement cycles can be calculated.

[0050] The torso angle change may include: a first horizontal angle change. The first horizontal angle change can be used to characterize the angle change of the robot's torso on the horizontal plane between two measurement cycles. The first horizontal angle change can be used to judge the accuracy of the first movement operation executed by the robot to follow the target. In the measurement cycle with an earlier time sequence, the robot can determine the relative orientation between the robot's torso and the following target according to the real-time relative position data between the wireless receiving module and the wireless transmitter; if the first horizontal angle change is close to the relative orientation corresponding to the measurement cycle with an earlier time sequence, it can be considered that the accuracy of the robot following the target by executing the first movement operation is relatively high; otherwise, if the first horizontal angle change has a large difference from the relative orientation corresponding to the measurement cycle with an earlier time sequence, it can be considered that the accuracy of the robot following the target by executing the first movement operation is relatively low.

[0051] In some embodiments, if the robot includes a first wireless receiving module and a second wireless receiving module, the angle change of the central angle of the robot's torso between two measurement cycles can be calculated as the first horizontal angle change in the horizontal direction. Among them, the central angle can be the included angle between the first connection line of the wireless transmitter and the center of the robot's torso, and the second connection line of the first wireless receiving module and the second wireless receiving module. The torso center can be the midpoint of the second connection line, and the distances from the torso center to the first wireless receiving module and the second wireless receiving module can be the same.

[0052] Exemplarily, please refer to Figure 4 , Figure 4 is an exemplary diagram of the relative position relationship between a robot torso and a wireless transmitter disclosed in an embodiment. The central angle is Figure 4 the angle θ1 shown. The first horizontal angle change can be the angle change Δθ1 of the central angle θ1 between two measurement cycles.

[0053] The central angle θ1 can be calculated according to the first distance D1 and the first included angle α between the first wireless receiving module and the wireless transmitter, and the second distance D1 and the second included angle β between the second wireless receiving module and the wireless transmitter.

[0054] It should be noted that in some other possible embodiments, the robot can also calculate the angle change of the included angle between other parts of the robot's torso and the wireless transmitter between two measurement cycles as the first horizontal angle change, and the specific details are not limited.

[0055] In addition, the trunk angle change amount may further include: a vertical angle change amount. The vertical angle change amount can be used to characterize the angle change of the robot's trunk in the vertical direction between two measurement periods, and the vertical angle change amount can be used to determine whether the robot is moving in a rough terrain area. If the value of the vertical angle change amount is large, that is, the amplitude of the angle change of the robot's trunk in the vertical direction is large, it can be considered that the robot enters a rough terrain area with large undulations; otherwise, if the value of the vertical angle change amount is small, it can be considered that the robot is moving on a relatively flat terrain area.

[0056] In some embodiments, if the robot includes a first wireless receiving module and a third wireless receiving module, the third included angle between the third wireless receiving module of the robot and the wireless transmitter can be calculated. The angle change amount between two measurement periods is used as the vertical angle change amount.

[0057] Exemplarily, as described above Figure 2 shown, the third included angle can be directly calculated by the PDOA method according to the UWB signals received by the first wireless receiving module and the third wireless receiving module. The vertical angle change amount can be the angle change amount of the third included angle between two measurement periods

[0058] It should be noted that in some other possible embodiments, the robot can also calculate the angle change amount between two measurement periods of the included angle between other parts of the robot's trunk and the horizontal plane as the vertical angle change amount, which is not specifically limited.

[0059] 330. Control the robot to perform a second movement operation according to the trunk angle change amount.

[0060] In some embodiments, the trunk angle change amount may include: a first horizontal angle change amount, and the first horizontal angle change amount can be used to indicate the accuracy of the first movement operation performed by the robot following the target movement. Therefore, the second movement operation performed by the robot according to the first horizontal angle change amount can be used to perform motion compensation for the movement of the robot in the horizontal direction to improve the accuracy of the robot following the target movement in the horizontal direction.

[0061] In some other embodiments, the trunk angle change amount may include: a vertical angle change amount, and the vertical angle change amount can be used to determine whether the robot is moving in a rough terrain area. Therefore, the second movement operation performed by the robot according to the vertical angle change amount can be used to adjust the movement operation of the robot in the vertical direction to improve the traveling stability of the robot, thereby improving the accuracy of the robot following the target movement in the vertical direction.

[0062] It can be seen that in the foregoing embodiments, the robot can detect the real-time relative position data between the wireless receiving module and the transmitter in real time based on the UWB signal transmission between the wireless receiving module and the transmitter. If the robot performs a first movement operation between two measurement cycles, the robot can determine the torso angle change amount of the robot torso between the two measurement cycles according to the respective real-time relative position data determined based on the UWB signal, so as to control the robot to accurately follow the target in the horizontal or vertical direction. Compared with image data, the amount of data of the UWB signal is less. Target following based on the UWB signal can improve the accuracy of target following while reducing the computational load of the robot.

[0063] To more clearly illustrate the mobile control method of the robot disclosed in the embodiments of the present application. The following content separately introduces the solutions for the robot to perform mobile control according to the first horizontal angle change amount or the vertical angle change amount.

[0064] Please refer to Figure 5 , Figure 5 which is a schematic flowchart of another mobile control method of a robot disclosed in an embodiment. This mobile control method can be applied to a robot including a first wireless receiving module and a second wireless receiving module; and, an angle sensor can also be disposed at the torso center of the robot, and the angle sensor can be used to detect the real-time measurement angle of the robot torso. The angle sensor may include a gyroscope, but is not limited thereto.

[0065] As Figure 5 shown, the method may include the following steps:

[0066] 510. Determine the real-time relative position data between the first wireless receiving module and the wireless transmitter and between the second wireless receiving module and the wireless transmitter respectively according to the ultra-wideband signals received by the first wireless receiving module and the second wireless receiving module respectively.

[0067] In step 510, the real-time relative position data between the first wireless receiving module and the wireless transmitter may include: a first distance D1 and a first included angle α. The real-time relative position data between the second wireless receiving module and the wireless transmitter may include: a second distance D2 and a second included angle β.

[0068] 520. Use the angle sensor to detect the real-time measurement angle of the robot in the horizontal direction.

[0069] Since the angle sensor is disposed at the torso center of the robot, the real-time measurement angle detected by the angle sensor can be used to indicate the relative orientation between the robot torso and the following target in the horizontal direction.

[0070] Among them, there is no necessary logical sequence between step 510 and step 520, and the robot can execute step 510 and step 520 separately or simultaneously. The detection period of the angle sensor can be the same as or different from the measurement period corresponding to the UWB signal, and no specific limitation is made. Optionally, in order to improve the detection accuracy, the detection period of the angle sensor can be set to be the same as the measurement period corresponding to the UWB signal.

[0071] 530. If the robot performs a first movement operation between two different measurement periods, then according to the real-time relative position data respectively corresponding to the two wireless receiving modules in the two different measurement periods, determine the angular change amount of the central angle between the wireless transmitter and the robot torso between the two measurement periods as the first horizontal angular change amount.

[0072] In step 530, the two different measurement periods may include: a first measurement period and a second measurement period. The first measurement period may be a measurement period with a relatively earlier time sequence, and the second measurement period may be a measurement period with a relatively later time sequence.

[0073] The robot can calculate the central angle θ corresponding to the robot torso in the first measurement period according to the first distance D11, the first included angle α1, the second distance D21, and the second included angle β1 corresponding to the first measurement period 11 . And, the robot can calculate the central angle θ corresponding to the robot torso in the second measurement period according to the first distance D12, the first included angle α2, the second distance D22, and the second included angle β2 corresponding to the second measurement period 12 .

[0074] After calculating the central angle θ corresponding to the first measurement period 11 and the central angle θ corresponding to the second measurement period 12 , the first horizontal angular change amount Δθ1 can be calculated by the following formula: Δθ1 = θ 12 - θ 11 .

[0075] 540. If the robot performs a first movement operation between the two aforementioned measurement periods, then determine the second horizontal angular change amount of the robot torso according to the real-time measurement angles respectively detected by the angle sensor in the two measurement periods.

[0076] In step 530, the angle sensor can detect the real-time measurement angle θ 21 in the first measurement period, and detect the real-time measurement angle θ 22 in the second measurement period. The second horizontal angular change amount Δθ2 of the robot torso can be calculated by the following formula: Δθ2 = θ 22 - θ 21 .

[0077] Among them, there is no necessary logical sequence between step 530 and step 540 either. The robot can execute step 530 and step 540 separately or simultaneously, and no specific limitation is made.

[0078] 550. Control the robot to execute a second movement operation according to a first difference between the first horizontal change amount and the second horizontal change amount.

[0079] Due to factors such as UWB signal occlusion, the first horizontal change amount Δθ1 measured by UWB may have problems of false detection. To improve accuracy, the real-time measured angle detected by the angle sensor can be used for correction. The second horizontal change amount Δθ2 determined based on the real-time measured angle detected by the angle sensor can be used to indicate the actual angle change of the robot torso in the horizontal direction after executing the first movement operation.

[0080] If the first difference between the first horizontal change amount Δθ1 and the second horizontal change amount Δθ2 is large, it can be considered that there may be errors in the real-time relative position data obtained based on UWB measurement, and the actual movement operation of the robot does not accurately follow the target movement. Therefore, when the robot executes step 550, the first difference can be compared with a first threshold, and the robot can be controlled to execute a second movement operation according to the comparison result.

[0081] As an alternative implementation, in step 550, if the first difference is less than or equal to the first threshold, the robot can be controlled to execute a first motion compensation operation corresponding to the first difference, where the first motion compensation operation can be used to indicate that the robot rotates in the same rotation direction as the first movement operation, and the rotation angle is the aforementioned first difference, so as to compensate for the actual rotation error generated by the robot in the horizontal direction when executing the first movement operation. That is, the second movement operation may include: the first motion compensation operation.

[0082] As another alternative implementation, in step 550, if the first difference is less than or equal to the first threshold, the robot can also execute a movement operation corresponding to the first movement strategy. The first movement strategy can be determined according to the real-time relative position data respectively corresponding to the first wireless receiving module and the second wireless receiving module in the second measurement period. That is, the second movement operation may include: a movement operation corresponding to the first movement strategy.

[0083] In one embodiment, when the robot determines that the first difference is less than or equal to the first threshold, it can only execute the first motion compensation operation, or it can directly execute the movement operation corresponding to the first movement strategy without compensating for the actual rotation error.

[0084] In another embodiment, when the robot determines that the first difference is less than or equal to the first threshold, it may first compensate for the actual rotational error generated by the first movement operation, perform the aforementioned motion compensation operation, and then perform the movement operation corresponding to the first movement strategy. Alternatively, the robot may also first perform the movement operation corresponding to the first movement strategy, and then compensate for the actual rotational error generated by the first movement operation and perform the motion compensation operation. If the robot performs both the motion compensation operation and the movement operation corresponding to the first movement strategy, the execution order between the motion compensation operation and the aforementioned movement operation is not limited.

[0085] Exemplarily, in the first measurement period, based on the UWB signals received by the first wireless transmission module and the second wireless transmission module respectively, the robot can determine the first distance D11, the first included angle α1, the second distance D21, and the second included angle β1 corresponding to the first wireless transmission module and the second wireless transmission module respectively, and calculate the central included angle θ corresponding to the robot torso in the first measurement period. 11 Moreover, in the first measurement period, the robot can detect the real-time detected angle θ of the robot torso in the first measurement period through an angle sensor. 21 。

[0086] In addition, the robot can perform a first movement operation according to the central included angle θ calculated in the first measurement period. 11 The first movement operation may include: a steering operation, and the steering angle is θ. 11 。

[0087] In the second measurement period, based on the UWB signals received by the first wireless transmission module and the second wireless transmission module respectively, the robot can determine the first distance D12, the first included angle α2, the second distance D22, and the second included angle β2 corresponding to the first wireless transmission module and the second wireless transmission module respectively, and calculate the central included angle θ corresponding to the robot torso in the second measurement period. 12 Moreover, in the second measurement period, the robot can detect the real-time detected angle θ of the robot torso in the second measurement period through an angle sensor. 22 。

[0088] According to the central included angle θ 11 and the central included angle θ 12 the first horizontal angle change Δθ1 can be calculated; according to the real-time detected angle θ 21 and the real-time detected angle θ 22 the second horizontal angle change Δθ2 can be calculated.

[0089] The robot can calculate the first difference between the first horizontal angle change Δθ1 and the second horizontal angle change Δθ2; if the first difference is less than or equal to the first threshold, the robot can perform a motion compensation operation corresponding to the first difference and / or a movement operation corresponding to the first movement strategy.

[0090] As another alternative implementation, in step 550, if the first difference is greater than the second threshold, the robot can be controlled to pause moving. That is, the second movement operation can include: pausing moving. Wherein, the second threshold can be greater than or equal to the first threshold. The first threshold and the second threshold can be set according to actual business requirements, and are not specifically limited.

[0091] When the first difference is greater than the second threshold, it can be considered that the real-time relative position data obtained based on UWB measurement may have errors, and the actual movement operation of the robot does not accurately follow the target movement. To avoid further expansion of the error and cause the robot to deviate further from the following target, the robot can pause moving when the first difference is greater than the first threshold to wait for the factors causing errors in UWB measurement to disappear.

[0092] Among them, the factors causing errors in UWB measurement can include but are not limited to: there are obstacles blocking the UWB signal transmission between the wireless transmitter and the wireless receiving module; the wireless transmitter and a certain wireless receiving module are in a parallel state, and this wireless receiving module cannot detect the source angle of the UWB signal, that is, it cannot detect the relative orientation between the wireless transmitter and this wireless receiving module.

[0093] Further optionally, during the process of the robot pausing moving, it can still continue to receive the UWB signal sent by the wireless transmitter through each wireless receiving module, so as to continue to detect the real-time relative position data corresponding to the first wireless receiving module and the second wireless receiving module in one or more measurement cycles after the aforementioned first measurement cycle and second measurement cycle, and judge whether the factors causing errors in UWB measurement have disappeared according to the detected real-time relative position data.

[0094] Among them, the robot can judge whether the factors causing errors in UWB measurement have disappeared according to the third difference between the first included angle α corresponding to the first wireless receiving module and the second included angle β corresponding to the second wireless receiving module.

[0095] If in the Nth measurement cycle after the aforementioned two measurement cycles, the first included angle α corresponding to the first wireless receiving module N and the second included angle β corresponding to the second wireless receiving module N the third difference between them is less than the third threshold, it means that the factors causing errors in UWB measurement may have disappeared, and the robot can no longer remain stationary. The third threshold can be set according to actual business requirements and is not specifically limited.

[0096] That is, the robot can remain stationary after pausing movement until the third difference between the first included angle and the second included angle respectively corresponding to the first wireless receiving module and the second wireless receiving module in the Nth measurement period is less than the third threshold.

[0097] Exemplarily, if the robot has already generated a corresponding movement strategy based on the real-time relative position data such as the first included angle α N and the second included angle β N respectively corresponding to the first wireless receiving module and the second wireless receiving module in the Nth measurement period, then when the robot determines that the third difference between the first included angle α N and the second included angle β N is less than the third threshold, it can execute the movement operation corresponding to the movement strategy in the Nth measurement period.

[0098] Further optionally, the robot can record the duration of remaining stationary. If the duration exceeds the duration threshold, it indicates that the factors causing errors in UWB measurement cannot disappear in a short time. To prevent the robot from being in a stationary state for a long time, the robot can execute the first movement operation again and try to eliminate the factors causing errors in UWB measurement by actively changing the position of the robot. Among them, the duration threshold can be determined according to the duration of each measurement period and the maximum number of measurement periods allowing the robot to remain stationary. Exemplarily, if the robot is allowed to remain stationary for at most M measurement periods and the duration of each measurement period is t, then the duration threshold can be set to M*t. Where M is a positive integer and t is a positive number greater than 0.

[0099] In one embodiment, if the robot does not include an angle sensor, the robot can also be controlled based on the first horizontal angle change amount calculated by measuring the UWB signal. Please refer to Figure 6 , Figure 6 which is a schematic flowchart of another robot movement control method disclosed in an embodiment. This movement control method can be applied to a robot including a first wireless receiving module and a second wireless receiving module. As Figure 6 shown, this method can include the following steps:

[0100] 610. Determine the real-time relative position data between the first wireless receiving module and the second wireless receiving module and the wireless transmitter respectively according to the ultra-wideband signals received by the first wireless receiving module and the second wireless receiving module.

[0101] 620. If the robot performs a first movement operation between two different measurement cycles, the angular change amount of the central angle between the wireless transmitter and the robot torso between the two measurement cycles is determined as the first horizontal angular change amount according to the real-time relative position data corresponding to the two wireless receiving modules in the two different measurement cycles respectively.

[0102] 630. Calculate the fourth difference between the first horizontal angular change amount and the central angle of the robot torso in the first measurement cycle.

[0103] The first measurement cycle can be the measurement cycle with an earlier time sequence among the two different measurement cycles mentioned above. If the accuracy of the first movement operation performed by the robot following the target movement is relatively high, the difference between the first horizontal angular change amount and the central angle in the first measurement cycle is relatively small, and the value of the fourth difference is relatively small; otherwise, if the accuracy of the first movement operation performed by the robot following the target movement is relatively low, the difference between the first horizontal angular change amount and the central angle in the first measurement cycle is relatively large, and the value of the fourth difference is relatively large.

[0104] 640. If the fourth difference is greater than the fourth threshold, control the robot to perform a second motion compensation operation corresponding to the fourth difference.

[0105] The second motion compensation operation can be used to instruct the robot to rotate along the same rotation direction as the first movement operation, and the rotation angle is the fourth difference mentioned above, so as to compensate for the actual rotation error generated by the robot when performing the first movement operation in the horizontal direction. That is, the second movement operation may include: the second motion compensation operation.

[0106] That is to say, without relying on an angle sensor, the robot can also judge the accuracy of the robot following the target movement through the first movement operation by comparing the first horizontal angular change amount with the central angle of the robot torso in the first measurement cycle. And when it is judged that the accuracy of the first movement operation is relatively low, a motion compensation operation is performed.

[0107] It should be noted that the relatively low accuracy of the robot following the target movement through the first movement operation may be caused by errors in UWB measurement itself. Therefore, by comparing the second horizontal angular change amount detected by the angle sensor with the first horizontal angular change amount obtained by UWB measurement, the robot can more accurately judge the accuracy of the robot following the target movement through the first movement operation.

[0108] The above content introduces the technical solution for the robot to perform motion control according to the first horizontal angular change amount in the horizontal direction. In the embodiments of the present application, the robot can also perform motion control according to the vertical angular change amount in the vertical direction.

[0109] Please refer toFigure 7 , Figure 7 is a schematic flowchart of another method for controlling the movement of a robot disclosed in an embodiment. This movement control method can be applied to a robot including a first wireless receiving module and a third wireless receiving module. As shown in Figure 7 , this movement control method may include the following steps:

[0110] 710. Determine the real-time relative position data between the third receiving module and the wireless transmitter according to the ultra-wideband signals received by the first wireless receiving module and the third wireless receiving module respectively.

[0111] It should be noted that in step 710, the robot may calculate the real-time relative position data between the first wireless receiving module and the wireless transmitter, or may not calculate the real-time relative position data between the first wireless receiving module and the wireless transmitter, and no specific limitation is made.

[0112] In addition, the real-time relative position data between the third receiving module and the wireless transmitter may at least include: the third included angle

[0113] 720. If the robot performs a first movement operation between two different measurement periods, determine the angle change amount of the third included angle corresponding to the third wireless receiving module in the two measurement periods as the vertical angle change amount of the robot torso.

[0114] 730. Control the robot to perform a second movement operation according to the vertical angle change amount.

[0115] In step 730, the robot may compare the vertical angle change amount with a fifth threshold value and control the robot to perform a second movement operation according to the comparison result. The fifth threshold value can be set according to actual service requirements. When the vertical angle change amount is greater than the fifth threshold value, the traveling stability of the robot may be affected.

[0116] In one embodiment, if the vertical angle change amount is greater than the fifth threshold value, it can be considered that the robot has entered an area with uneven terrain. Therefore, the movement operations performed by the robot should consider the influence of the terrain. For example, the robot may perform operations such as lifting legs and jumping.

[0117] That is to say, in step 730, if the vertical angle change amount is greater than the fifth threshold value, the robot may control the robot to perform a second movement operation according to the vertical angle change amount. Among them, the second movement operation can be used to instruct the robot to perform a movement operation in the vertical direction so that the robot torso is kept as parallel to the current walking ground as possible. For example, the second movement operation can be used to control the robot to move in the direction where the third included angle becomes smaller.

[0118] It can be seen that in the foregoing embodiments, the robot can perform movement control according to the vertical angle change amount of the robot torso between two measurement cycles, so as to improve the traveling stability of the robot in the vertical direction, enabling the robot to follow the target more accurately.

[0119] In addition, in the embodiments of the present application, after the robot determines the real-time relative position data corresponding to each wireless receiving module in each measurement cycle, it can generate a movement strategy corresponding to this measurement cycle according to the real-time relative position data corresponding to each measurement cycle. Such as the first movement strategy generated according to the real-time relative position data corresponding to the first wireless receiving module and the second wireless receiving module in the first measurement cycle, and the movement strategy generated according to the real-time relative position data corresponding to the first wireless receiving module and the second wireless receiving module in the Nth measurement cycle, etc.

[0120] In some possible embodiments, the first movement operation performed by the robot between two measurement cycles can be determined according to the real-time relative position data corresponding to the first wireless receiving module and the second wireless receiving module in the first measurement cycle. The following content will explain this.

[0121] Please refer to Figure 8 , Figure 8 which is a schematic flowchart of another method for controlling the movement of a robot disclosed in an embodiment. This method can be applied to a robot including a first wireless receiving module and a second wireless receiving module. As Figure 8 shown, this method may include the following steps:

[0122] 810. Determine the real-time relative position data between the first wireless receiving module and the second wireless receiving module and the wireless transmitter respectively according to the ultra-wideband signals received by the first wireless receiving module and the second wireless receiving module.

[0123] In the first measurement cycle, the real-time relative position data corresponding to the first wireless receiving module may include: the first included angle α and the first distance D1; the real-time relative position data corresponding to the second wireless receiving module may include: the second included angle β and the second distance D2.

[0124] 820. If the fifth difference between the first included angle and the second included angle in the first measurement cycle is less than the sixth threshold, control the robot to perform the first movement operation according to the sixth difference between the first distance and the second distance in the first measurement cycle.

[0125] In step 820, if the fifth difference between the first included angle α and the second included angle β is less than the sixth threshold, there may be the following two situations: 1. The wireless transmitter is directly in front of the moving direction of the robot, making the difference between the first included angle α and the second included angle β relatively small; 2. The wireless transmitter is in front of the center of the robot's torso, that is, the first distance D1 from the wireless transmitter to the first wireless receiving module is the same as the second distance D2 from the wireless transmitter to the second wireless receiving module, making the difference between the first included angle α and the second included angle β relatively small.

[0126] In the aforementioned situation 1, the robot can follow the target by performing a straight-line operation. In the aforementioned situation 2, the robot should follow the target by performing a turning operation. Situation 1 and situation 2 can be distinguished by the comparison result of the first distance and the second distance.

[0127] As an optional implementation manner, if the fifth difference between the first included angle α and the second included angle β in the first measurement period is less than the sixth threshold, and the sixth difference between the first distance D1 and the second distance D2 in the first measurement period is the same as the length of the robot's torso, then control the robot to perform a straight-line operation.

[0128] As another optional implementation manner, if the fifth difference between the first included angle α and the second included angle β in the first measurement period is less than the sixth threshold, and the sixth difference between the first distance D1 and the second distance D2 in the first measurement period is not the same as the length of the robot's torso, then the robot can perform a turning operation.

[0129] 830. If the fifth difference between the first included angle and the second included angle in the first measurement period is greater than the seventh threshold, then control the robot to perform a turning operation.

[0130] Among them, the sixth threshold may be less than or equal to the seventh threshold. The sixth threshold and the seventh threshold can be set according to actual service requirements, and are not specifically limited. If the fifth difference between the first included angle α and the second included angle β is greater than the seventh threshold, it can be considered that the wireless transmitter is relatively closer to one of the wireless receiving modules.

[0131] Exemplarily, if the first included angle α is greater than the second included angle β, the wireless transmitter is closer to the first wireless receiving module; if the first included angle α is less than the second included angle β, the wireless transmitter is closer to the second wireless receiving module.

[0132] Optionally, if the fifth difference between the first included angle α and the second included angle β is greater than the seventh threshold, and the first included angle α is less than the second included angle β, the turning operation performed by the robot may include: a U-turn operation.

[0133] 840. During the execution of the first movement operation by the robot, if a movement strategy corresponding to the second movement operation has been generated based on the torso angle change amount, the robot is controlled to stop executing the first movement operation and execute the second movement operation according to the instructions of the second movement strategy.

[0134] It should be noted that while the robot is executing the first movement operation, it can also continue to execute the aforementioned step 810 to determine the real-time relative position data between the first wireless receiving module and the second wireless receiving module in the second measurement period, so as to generate a second movement strategy corresponding to the second movement operation according to the torso angle change amount of the robot torso between the first measurement period and the second measurement period.

[0135] Depending on the complexity of the first movement operation, the time required to complete the execution of the first movement operation may also vary. In some possible embodiments, the time required to complete the execution of the first movement operation may be much longer than the time interval between two measurement periods.

[0136] Exemplarily, the first movement operation may include: the robot turns 30° and moves forward 1 meter after turning. The time required to complete the execution of the first movement operation is 1 second, while the time interval between two measurement periods may be 0.5 second. Before the first movement operation is completed, the robot has already calculated the torso change amount between the two measurement periods and has generated a corresponding second movement strategy based on the determined torso change amount.

[0137] At this time, it is meaningless for the robot to continue executing the first movement operation, and it will instead cause deviation from the following target. Therefore, the robot can execute step 840, stop executing the first movement operation, and execute the second movement operation according to the instructions of the second movement strategy.

[0138] It can be seen that in the foregoing embodiments, in each measurement period, the robot can execute corresponding movement operations according to the real-time relative position data determined by the first wireless receiving module and the second receiving module through UWB signal transmission, so that the robot can move following the target.

[0139] Exemplarily, please refer to Figure 9 , Figure 9 which is a schematic flowchart of another method for controlling the movement of a robot disclosed in an embodiment. If the robot includes a first wireless receiving module, a second wireless receiving module, and a third wireless receiving module, and an angle sensor is provided on the torso of the robot, the method for controlling the movement of the robot may include the following steps:

[0140] 910. In the first measurement cycle, based on the ultra-wideband signals received by the first wireless receiving module, the second wireless receiving module, and the third wireless receiving module, determine the real-time relative position data between the first wireless receiving module, the second wireless receiving module, and the third wireless receiving module and the wireless transmitter respectively, and use the angle sensor to detect the real-time measurement angle of the robot torso in the horizontal direction.

[0141] 920. Control the robot to perform a first movement operation according to the real-time relative position data corresponding to the first wireless receiving module and the second wireless receiving module in the first measurement cycle.

[0142] 930. In the second measurement cycle, based on the ultra-wideband signals received by the first wireless receiving module, the second wireless receiving module, and the third wireless receiving module, determine the real-time relative position data between the first wireless receiving module, the second wireless receiving module, and the third wireless receiving module and the wireless transmitter respectively, and use the angle sensor to detect the real-time measurement angle of the robot torso in the horizontal direction.

[0143] 940. According to the real-time relative position data of the first wireless receiving module and the second wireless receiving module in the first measurement cycle and the second measurement cycle, determine the first horizontal angle change amount of the central angle between the wireless transmitter and the robot torso between the two measurement cycles.

[0144] 950. According to the real-time measurement angles detected by the angle sensor in the first measurement cycle and the second measurement cycle respectively, determine the second horizontal angle change amount of the robot torso.

[0145] 960. According to the third included angles corresponding to the third wireless receiving module in the first measurement cycle and the second measurement cycle respectively, calculate the angle change amount of the third included angle in the two measurement cycles as the vertical angle change amount of the robot torso.

[0146] 970. Control the robot to perform a second movement operation according to the first horizontal angle change amount, the second horizontal angle change amount, and the vertical angle change amount.

[0147] Optionally, in step 970, the robot may control the robot to perform a second movement operation according to the first difference between the first horizontal angle change amount and the second horizontal angle change amount. The second movement operation performed by the robot according to the first difference may include: a first motion compensation operation, a second movement operation corresponding to the first movement strategy, pausing movement, but not limited thereto. And / or,

[0148] Optionally, in step 970, the robot may control the robot to perform a second movement operation according to the comparison result between the vertical angle change amount and the fifth threshold.

[0149] Please refer to Figure 10 ,Figure 10 This is a schematic structural diagram of a mobile control device for a robot disclosed in an embodiment. This device can be applied to any of the aforementioned robots. As Figure 10 shown, the mobile control device 1000 of this robot may include: a first determination module 1010, a second determination module 1020, and a control module 1030.

[0150] The first determination module 1010 is configured to determine real-time relative position data between one or more of at least two wireless receiving modules and a wireless transmitter according to ultra-wideband signals respectively received by the at least two wireless receiving modules;

[0151] The second determination module 1020 is configured to determine the change amount of the torso angle of the robot torso according to the real-time relative position data respectively corresponding to the wireless receiving module in two measurement cycles when the robot performs a first movement operation between two different measurement cycles;

[0152] The control module 1030 is configured to control the robot to perform a second movement operation according to the change amount of the torso angle.

[0153] In one embodiment, the robot includes: a first wireless receiving module and a second wireless receiving module; the first wireless receiving module is disposed at the first end of the robot torso, and the second wireless receiving module is disposed at the second end of the robot torso. The first end is close to the forward direction of the robot, and the second end is far from the forward direction of the robot;

[0154] The change amount of the torso angle includes: a first horizontal angle change amount in the horizontal direction;

[0155] The second determination module 1020 may also be configured to determine, as the first horizontal angle change amount, the angle change amount between two measurement cycles of the central angle between the wireless transmitter and the robot torso according to the real-time relative position data respectively corresponding to the first wireless receiving module and the second wireless receiving module in two measurement cycles when the robot performs a first movement operation between two different measurement cycles;

[0156] wherein, the central angle is the included angle between the first connection line between the wireless transmitter and the center of the robot torso and the second connection line between the first wireless receiving module and the second wireless receiving module.

[0157] In one embodiment, an angle sensor is disposed at the center of the robot torso; the mobile control device 1000 of the robot may further include: a detection module.

[0158] The detection module is configured to detect the real-time measured angle of the robot torso in the horizontal direction by using the angle sensor;

[0159] The second determination module 1020 is further configured to determine a second horizontal angle change amount of the robot torso according to real-time measurement angles respectively detected by the angle sensor in two measurement cycles when the robot performs a first movement operation between two different measurement cycles;

[0160] The control module 1030 is further configured to control the robot to perform a second movement operation according to a first difference between the first horizontal angle change amount and the second horizontal angle change amount.

[0161] In one embodiment, the control module 1030 is further configured to control the robot to perform a first motion compensation operation corresponding to the first difference when the first difference between the first horizontal angle change amount and the second horizontal angle change amount is less than a first threshold; and / or,

[0162] The control module 1030 is further configured to control the robot to perform a second movement operation corresponding to a first movement strategy when the first difference between the first horizontal angle change amount and the second horizontal angle change amount is less than a first threshold; wherein, the first movement strategy is determined according to real-time relative position data respectively corresponding to the first wireless receiving module and the second wireless receiving module in the second measurement cycle, and the second measurement cycle is the measurement cycle with a later time sequence among the two measurement cycles.

[0163] In one embodiment, the control module 1030 is further configured to control the robot to pause moving when the first difference between the first horizontal angle change amount and the second horizontal angle change amount is greater than a second threshold.

[0164] In one embodiment, the real-time relative position data corresponding to the first wireless receiving module includes: a first included angle, where the first included angle is an included angle between a third connection line of the first wireless receiving module and the wireless transmitter and a second connection line; the real-time relative position data corresponding to the second wireless receiving module includes: a second included angle, where the second included angle is an included angle between a fourth connection line of the second wireless receiving module and the wireless transmitter and the second connection line;

[0165] The control module 1030 is further configured to, after controlling the robot to pause moving, control the robot to remain stationary until a third difference between the first included angle and the second included angle respectively corresponding to the first wireless receiving module and the second wireless receiving module in the Nth measurement cycle is less than a third threshold; the Nth measurement cycle is after the two measurement cycles in terms of time sequence, and N is a positive integer.

[0166] In one embodiment, the control module 1030 is further configured to control the robot to perform the first movement operation again when the continuous duration of the robot remaining stationary exceeds a duration threshold.

[0167] In one embodiment, the control module 1030 is further configured to, if a fourth difference between a first horizontal angle change amount and a central angle of the robot torso in a first measurement period is greater than a fourth threshold, control the robot to perform a second motion compensation operation corresponding to the fourth difference.

[0168] In one embodiment, the robot includes: a first wireless receiving module and a third wireless receiving module. Both the first wireless receiving module and the third wireless receiving module are disposed at a first end of the robot, and the first end is close to the forward direction of the robot.

[0169] The torso angle change amount includes: a vertical angle change amount in the vertical direction.

[0170] The real-time relative position data corresponding to the third wireless receiving module includes: a third included angle. The third included angle is an included angle between a fifth connection line of the wireless transmitter and the third wireless receiving module and a sixth connection line of the first wireless receiving module and the third wireless receiving module.

[0171] The second determination module 1020 is further configured to, when the robot performs a first movement operation between two different measurement periods, determine an angle change amount of the third included angle corresponding to the third wireless receiving module in the two measurement periods as the vertical angle change amount of the robot torso.

[0172] In one embodiment, the control module 1030 is further configured to, when the vertical angle change amount of the robot torso in the vertical direction is greater than a fifth threshold, control the robot to perform a second movement operation according to the vertical angle change amount.

[0173] In one embodiment, the robot includes: a first wireless receiving module and a second wireless receiving module. The first wireless receiving module is disposed at a first end of the robot torso, and the second wireless receiving module is disposed at a second end of the robot torso. The first end is close to the forward direction of the robot, and the second end is far from the forward direction of the robot.

[0174] The control module 1030 is further configured to control the robot to perform a first movement operation according to the real-time relative position data respectively corresponding to the first wireless receiving module and the second wireless receiving module in a first measurement period.

[0175] In one embodiment, the time interval between each measurement period is determined by the clock of the wireless receiving module.

[0176] The control module 1030 is further configured to, during the process of the robot performing the first movement operation, if a second movement strategy corresponding to the second movement operation has been generated according to the torso angle change amount, control the robot to stop performing the first movement operation; and perform the second movement operation according to the indication of the second movement strategy.

[0177] It can be seen that the robot can detect the real-time relative position data between the wireless receiving module and the transmitter in real time based on the UWB signal transmission between them. If the robot performs a first movement operation between two measurement cycles, the robot can determine the torso angle change amount of the robot torso between the two measurement cycles according to the real-time relative position data determined based on the UWB signal, so as to control the robot to accurately follow the target in the horizontal or vertical direction. Compared with image data, the amount of data of the UWB signal is less. Target following based on the UWB signal can reduce the computational load of the robot while improving the accuracy of target following.

[0178] Please refer to Figure 11 , Figure 11 which is a schematic structural diagram of a robot disclosed in an embodiment. As Figure 11 shown, the robot may include:

[0179] A memory 1110 storing executable program code;

[0180] A processor 1120 coupled to the memory 1110;

[0181] Wherein, the processor 1120 calls the executable program code stored in the memory 1110 and executes any one of the robot movement control methods disclosed in the embodiments of the present application.

[0182] The embodiments of the present application disclose a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor implements any one of the robot movement control methods disclosed in the embodiments of the present application.

[0183] The embodiments of the present application disclose a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute any one of the robot movement control methods disclosed in the embodiments of the present application.

[0184] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures, or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0185] In various embodiments of the present application, it should be understood that the magnitudes of the serial numbers of the above processes do not necessarily imply the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0186] The units described as separate components above may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0187] In addition, each functional unit in the embodiments of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0188] If the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, may be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc., specifically, the processor in the computer device) to execute some or all of the steps of the above methods in the various embodiments of the present application.

[0189] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program, and this program can be stored in a computer-readable storage medium. The storage medium includes read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc memories, magnetic disc memories, tape memories, or any other medium that can be used to carry or store data and is computer-readable.

[0190] The above has introduced in detail the mobile control method, device, robot and storage medium of the robot disclosed in the embodiments of the present application. Specific examples are used herein to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A method for controlling the movement of a robot, characterized in that, The robot includes at least two wireless receiving modules; A wireless transmitter is provided for the following target of the robot; the method includes: Based on the ultra-wideband signals respectively received by the at least two wireless receiving modules, determining real-time relative position data between one or more of the at least two wireless receiving modules and the wireless transmitter; If the robot performs a first movement operation between two different measurement cycles, then based on the real-time relative position data respectively corresponding to the wireless receiving modules in the two measurement cycles, determining the trunk angle change amount of the robot's trunk, where the trunk angle change amount includes the trunk angle change amount in the horizontal direction; Controlling the robot to perform a second movement operation according to the trunk angle change amount; An angle sensor is provided at the center of the robot's trunk; the controlling the robot to perform a second movement operation according to the trunk angle change amount includes: Controlling the robot to perform the second movement operation according to the difference between the change amount of the real-time measured angle in the horizontal direction detected by the angle sensor in the two measurement cycles and the trunk angle change amount in the horizontal direction; Wherein, when the at least two wireless receiving modules include a first wireless receiving module and a second wireless receiving module, the trunk angle change amount in the horizontal direction is the angle change amount between the two measurement cycles of the central angle between the wireless transmitter and the center of the robot's trunk, and the central angle is the included angle between the first connection line of the wireless transmitter and the center of the robot's trunk and the second connection line of the first wireless receiving module and the second wireless receiving module.

2. The method according to claim 1, wherein The first wireless receiving module is provided at the first end of the robot's trunk, the second wireless receiving module is provided at the second end of the robot's trunk, the first end is close to the forward direction of the robot, and the second end is far from the forward direction of the robot; the trunk angle change amount includes: the first horizontal angle change amount in the horizontal direction; And, the determining the trunk angle change amount of the robot's trunk according to the real-time relative position data respectively corresponding to the wireless receiving modules in the two measurement cycles includes: Determining the angle change amount between the two measurement cycles of the central angle between the wireless transmitter and the center of the robot's trunk as the first horizontal angle change amount according to the real-time relative position data respectively corresponding to the first wireless receiving module and the second wireless receiving module in the two measurement cycles.

3. The method according to claim 2, wherein Before the controlling the robot to perform a second movement operation according to the trunk angle change amount, the method further includes: Using the angle sensor to detect the real-time measured angle of the robot's trunk in the horizontal direction; If the robot performs a first movement operation between two different measurement cycles, then determining the second horizontal angle change amount of the robot's trunk according to the real-time measured angles respectively detected by the angle sensor in the two measurement cycles; And, controlling the robot to perform a second movement operation according to the change amount of the torso angle includes: Controlling the robot to perform a second movement operation according to a first difference between the first horizontal angle change amount and the second horizontal angle change amount.

4. The method according to claim 3, characterized in that Controlling the robot to perform a second movement operation according to the first difference between the first horizontal angle change amount and the second horizontal angle change amount includes: If the first difference between the first horizontal angle change amount and the second horizontal angle change amount is less than a first threshold, controlling the robot to perform a first motion compensation operation corresponding to the first difference; and / or, If the first difference between the first horizontal angle change amount and the second horizontal angle change amount is less than a first threshold, controlling the robot to perform a second movement operation corresponding to a first movement strategy; Wherein, the first movement strategy is determined according to real-time relative position data respectively corresponding to the first wireless receiving module and the second wireless receiving module in a second measurement period, and the second measurement period is the measurement period with a later time sequence in the two measurement periods.

5. The method according to claim 3, characterized in that, Controlling the robot to perform a second movement operation according to the first difference between the first horizontal angle change amount and the second horizontal angle change amount includes: If the first difference between the first horizontal angle change amount and the second horizontal angle change amount is greater than a second threshold, controlling the robot to pause moving.

6. The method according to claim 5, characterized in that, The real-time relative position data corresponding to the first wireless receiving module includes: a first included angle, where the first included angle is an included angle between a third connection line of the first wireless receiving module and the wireless transmitter and the second connection line; the real-time relative position data corresponding to the second wireless receiving module includes: a second included angle, where the second included angle is an included angle between a fourth connection line of the second wireless receiving module and the wireless transmitter and the second connection line; And, after controlling the robot to pause moving, the method further includes: Controlling the robot to remain stationary until a third difference between the first included angle and the second included angle respectively corresponding to the first wireless receiving module and the second wireless receiving module in the Nth measurement period is less than a third threshold; the Nth measurement period is after the two measurement periods in terms of time sequence, and N is a positive integer.

7. The method according to claim 6, wherein The method further includes: If the continuous duration of the robot remaining stationary exceeds a duration threshold, controlling the robot to perform the first movement operation again.

8. The method according to claim 2, wherein Controlling the robot to perform a second movement operation according to the change amount of the torso angle includes: If a fourth difference between the first horizontal angle change amount and a central included angle of the robot torso in the first measurement period is greater than a fourth threshold, controlling the robot to perform a second motion compensation operation corresponding to the fourth difference.

9. The method according to claim 1, wherein When the at least two wireless receiving modules include a first wireless receiving module and a third wireless receiving module, both the first wireless receiving module and the third wireless receiving module are disposed at a first end of the robot, and the first end is close to the forward direction of the robot; The torso angle change amount includes: the vertical angle change amount in the vertical direction; The real-time relative position data corresponding to the third wireless receiving module includes: a third included angle; the third included angle is the included angle between the fifth connection line of the wireless transmitter and the third wireless receiving module, and the sixth connection line of the first wireless receiving module and the third wireless receiving module; And, determining the torso angle change amount of the robot torso according to the real-time relative position data corresponding to the wireless receiving module in the two measurement periods respectively includes: Determining the angle change amount of the third included angle corresponding to the third wireless receiving module in the two measurement periods as the vertical angle change amount of the robot torso.

10. The method according to claim 9, wherein Determining the movement strategy of the robot according to the torso angle change amount includes: If the vertical angle change amount of the robot torso in the vertical direction is greater than a fifth threshold, controlling the robot to perform a second movement operation according to the vertical angle change amount.

11. The method according to claim 1, wherein The first wireless receiving module is arranged at the first end of the robot torso, the second wireless receiving module is arranged at the second end of the robot torso, the first end is close to the forward direction of the robot, and the second end is far from the forward direction of the robot; Before determining the torso angle change amount of the robot torso according to the real-time relative position data corresponding to the wireless receiving module in the two measurement periods respectively if the robot performs a first movement operation between different two measurement periods, the method further includes: Controlling the robot to perform a first movement operation according to the real-time relative position data corresponding to the first wireless receiving module and the second wireless receiving module in the first measurement period respectively; the first measurement period is the measurement period with an earlier time sequence in the two measurement periods.

12. The method according to claim 11, wherein, After controlling the robot to perform the first movement operation, and before controlling the robot to perform the second movement operation according to the torso angle change amount, the method further includes: During the process of the robot performing the first movement operation, if a second movement strategy corresponding to the second movement operation has been generated according to the torso angle change amount, controlling the robot to stop performing the first movement operation; And, controlling the robot to perform the second movement operation according to the torso angle change amount includes: Performing the second movement operation according to the indication of the second movement strategy.

13. A mobile control device for a robot, characterized in that, The robot includes at least two wireless receiving modules, which are respectively arranged at both ends of the robot torso; a wireless transmitter is arranged on the following target of the robot; the device includes: A first determination module, configured to determine the real-time relative position data between one or more of the at least two wireless receiving modules and the wireless transmitter respectively according to the ultra-wideband signals received by the at least two wireless receiving modules; A second determination module, configured to determine a torso angle change amount of the robot torso according to real-time relative position data respectively corresponding to the two measurement periods by the wireless receiving module when the robot performs a first movement operation between two different measurement periods, where the torso angle change amount includes a torso angle change amount in the horizontal direction; A control module, configured to control the robot to perform a second movement operation according to the torso angle change amount; An angle sensor is disposed at the center of the torso of the robot; specifically, the control module is configured to: Control the robot to perform the second movement operation according to a difference between a change amount in the horizontal direction of real-time measurement angles respectively detected by the angle sensor in the two measurement periods and the torso angle change amount in the horizontal direction; Wherein, when the at least two wireless receiving modules include a first wireless receiving module and a second wireless receiving module, the torso angle change amount in the horizontal direction is an angle change amount of an included angle between the wireless transmitter and the center of the robot torso between the two measurement periods, and the included angle is an included angle between a first connection line of the wireless transmitter and the center of the robot torso and a second connection line of the first wireless receiving module and the second wireless receiving module.

14. A robot, characterized in that, It includes a memory and a processor, and a computer program is stored in the memory. When the computer program is executed by the processor, the processor implements the method according to any one of claims 1 to 12.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method according to any one of claims 1 to 12.

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