Mobile Control Method, Device, Equipment and Storage Medium of Robot

Abstract

This application relates to the field of robots. This application provides a method, device, equipment and storage medium for mobile control of a robot, which determines a first target pose according to the first observation area of the robot; determines a first movement period according to the preset movement parameters corresponding to the robot and the first target pose; the robot moves to the first target pose, updates the observation area to control the robot to move to the next node until the robot completes the movement of all node areas corresponding to the total movement area. By the above method, the node pose and movement period are determined, and the observation area is updated based on the current pose to control the robot to move to the end point. Thus, the total movement area of the robot is segmented for control, realizing high-precision movement control at a low frequency, which not only improves the efficiency of robot movement control, but also improves the accuracy of robot control, and solves the technical problems of low efficiency and low accuracy in current robot movement control.

Description

Technical Field

[0001] The present invention relates to the field of mobile robots, and in particular to a robot movement control method, device, equipment and computer-readable storage medium. Background Art

[0002] With the progress of society, robots play more and more roles in social life and work, and accordingly, people's demand for robots is increasing. In the current field of mobile robots, high-precision posture control is related to high-frequency observation areas. If posture control is required, it must be realized by inputting the observation area at all times during the movement; under low-frequency observation, the information observed by the robot is not necessarily real-time and true information, and high-precision posture control cannot be performed. Therefore, how to achieve high-precision posture control under low-frequency observation has become one of the focuses of controlling robot movement in the field of mobile robots. At present, the control of robot movement is mainly through high-frequency acquisition observation areas, which requires a large number of control cycles to achieve posture control, with low efficiency and low precision. Therefore, how to solve the low efficiency and low precision of existing robot movement control has become a technical problem that needs to be solved urgently. Summary of the invention

[0003] The main purpose of the present invention is to provide a robot movement control method, device, equipment and computer-readable storage medium, aiming to solve the technical problems of low efficiency and low precision of existing robot movement control.

[0004] To achieve the above-mentioned purpose, the present invention provides a robot movement control method, the robot movement control method comprising: determining a first target posture of a first node area based on the robot's total movement area and a first observation area corresponding to a current starting posture, and calculating an initial movement period of the first node area according to preset movement parameters corresponding to the robot and the first target posture; when the initial movement period is not greater than a preset time threshold, taking the initial movement period as the first movement period, and controlling the robot to complete the movement of the first node area according to the movement parameters, the first movement period and the first target posture; when the robot moves to the first target posture, updating the target posture of the next node area based on the observation area corresponding to the first target posture and the total movement area, and controlling the robot to complete the movement of the next node area according to the target posture of the next node area, until the robot completes the movement of all node areas corresponding to the total movement area.

[0005] In addition, to achieve the above object, the present invention further provides a mobile control device for a robot. The mobile control device for the robot includes: a movement cycle acquisition module, configured to determine a first target pose of a first node based on a total movement area of the robot and a current observation area corresponding to a current starting pose, and calculate an initial movement cycle of the first node according to a preset movement parameter corresponding to the robot and the first target pose; a robot movement control module, configured to use the initial movement cycle as a first movement cycle when the initial movement cycle is not greater than a preset time threshold, and control the robot to complete the movement of the first node according to the movement parameter, the first movement cycle, and the first target pose; a target pose update module, configured to update a target pose of a next node based on an observation area corresponding to the first target pose and the total movement area when the robot moves to the first target pose, so as to control the robot to complete the movement of the next node according to the target pose of the next node until the robot completes the movement of all nodes corresponding to the total movement area.

[0006] In addition, to achieve the above object, the present invention further provides a mobile control device for a robot. The mobile control device for the robot includes a processor, a memory, and a mobile control program for the robot stored on the memory and executable by the processor. When the mobile control program for the robot is executed by the processor, the steps of the mobile control method for the robot as described above are implemented.

[0007] In addition, to achieve the above object, the present invention further provides a computer-readable storage medium. A mobile control program for the robot is stored on the computer-readable storage medium. When the mobile control program for the robot is executed by a processor, the steps of the mobile control method for the robot as described above are implemented.

[0008] The present invention provides a method for controlling the movement of a robot. The method determines the first target pose of the first node area based on the total movement area of the robot and the first observation area corresponding to the current starting pose, and calculates the initial movement period of the first node area according to the preset movement parameters corresponding to the robot and the first target pose; when the initial movement period is not greater than a preset time threshold, the initial movement period is used as the first movement period, and the robot is controlled to complete the movement of the first node area according to the movement parameters, the first movement period, and the first target pose; when the robot moves to the first target pose, the target pose of the next node area is updated based on the observation area corresponding to the first target pose and the total movement area, and the robot is controlled to complete the movement of the next node area according to the target pose of the next node area until the robot completes the movement of all node areas corresponding to the total movement area. By the above method, the present invention divides the total movement area corresponding to the robot into multiple segments, determines the corresponding node poses according to the observation areas corresponding to each node, and determines the movement period through the preset movement parameters of the robot and the node poses, and controls the robot to move to each node pose with the preset movement parameters until the robot completes the movement of all node areas corresponding to the total movement area. Thereby, high-precision movement control at a low frequency is achieved, which not only improves the efficiency of robot movement control, but also improves the accuracy of robot control, and solves the technical problems of low efficiency and low accuracy in current robot movement control. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a schematic hardware structure diagram of the movement control device of the robot involved in the solution of the embodiment of the present invention;

[0010] Figure 2 It is a schematic flowchart of the first embodiment of the method for controlling the movement of the robot of the present invention;

[0011] Figure 3 It is a schematic diagram of the functional modules of the first embodiment of the movement control device of the robot of the present invention.

[0012] The realization, functional characteristics, and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0013] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0014] The method for controlling the movement of the robot involved in the embodiment of the present invention is mainly applied to the movement control device of the robot, and the control device of the robot can be a device with display and processing functions such as a PC, a portable computer, a mobile terminal, etc.

[0015] Reference Figure 1 , Figure 1 is a schematic diagram of the hardware structure of the mobile control device of the robot involved in the solution of the embodiment of the present invention. In the embodiment of the present invention, the mobile control device of the robot may include a processor 1001 (such as a CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components; the user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface); the memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory, and the memory 1005 may optionally be a storage device independent of the aforementioned processor 1001.

[0016] Those skilled in the art can understand that Figure 1 the hardware structure shown in does not constitute a limitation on the control device of the robot, and may include more or fewer components than shown, or combine some components, or have different component arrangements.

[0017] Continue to refer to Figure 1 , Figure 1 in, the memory 1005 as a computer-readable storage medium may include an operating system, a network communication module, and a mobile control program of the robot.

[0018] In Figure 1 the network communication module is mainly used to connect to the server and communicate with the server for data; while the processor 1001 can call the mobile control program stored in the memory 1005 and execute the mobile control method of the robot provided by the embodiment of the present invention.

[0019] The embodiment of the present invention provides a mobile control method for a robot.

[0020] Refer to Figure 2 , Figure 2 is a schematic flowchart of the first embodiment of the mobile control method of the robot of the present invention.

[0021] In this embodiment, the mobile control method of the robot includes the following steps:

[0022] Step S10, based on the total movement area of the robot and the first observation area corresponding to the current starting pose, determine the first target pose of the first node area, and calculate the initial movement period of the first node area according to the preset movement parameters corresponding to the robot and the first target pose;

[0023] In this embodiment, based on the moving direction of the robot, the first observation area is segmented to generate at least one node area; according to the moving sequence of the robot, the first node area is determined in each node area, and the end point of the first node area is determined as the first target pose; it is judged whether the moving direction of the robot in the first observation area changes; if the moving direction of the robot in the first observation area changes, then based on the moving direction of the robot, the first observation area is segmented to generate at least one node area.

[0024] Specifically, the 3D scanning device of the robot can scan on the total moving area. The scanning area in the camera coordinate system obtained by the 3D scanning device of the robot through scanning is transformed through coordinate transformation to obtain the scanning area based on the world coordinate system, and the transformed scanning area is compared with the total moving area to obtain the overlapping area. Among them, the 3D scanning device can be a 3D camera, 3D lidar, stereo camera or other devices that can obtain poses.

[0025] Specifically, the 3D scanning device uses the principle of laser ranging. By recording the three-dimensional coordinates, reflectivity, texture and other information of a large number of dense points on the surface of the measured object, the three-dimensional model of the measured target and various data such as lines, surfaces and solids can be quickly reconstructed. Among them, the pose information of the 3D scanning device relative to the robot includes parameter information such as x, y, z, roll, pitch and yaw.

[0026] The three-dimensional space points in the camera coordinate system are converted to be represented in the world coordinate system through the external parameters of the 3D scanning device. According to the internal and external parameters, the mapping relationship between the pixel points in the image pixel coordinate system and the three-dimensional space points in the world coordinate system is constructed;

[0027] According to the image processing algorithm, the target points on the image are obtained. Through the above mapping relationship from the pixel coordinate system to the world coordinate system, the three-dimensional space target points based on the world coordinate system are obtained, and the scanning range based on the world coordinate system is compared with the total moving area to obtain the overlapping area.

[0028] Specifically, the preset moving parameters of the robot include the moving speed and moving direction of the robot. Among them, the moving speed and moving direction are set manually. During the movement of the robot, the moving speed remains unchanged, and the moving direction changes with the total moving area. After the first target pose is determined, after calculating the distance through the 3D scanning device, according to the calculated distance S / speed V, the first moving cycle T is obtained.

[0029] Step S20, when the initial movement period is not greater than a preset time threshold, use the initial movement period as the first movement period, and control the robot to complete the movement in the first node area according to the movement parameters, the first movement period, and the first target pose.

[0030] In this embodiment, the preset time threshold is set manually. This threshold can be understood as the maximum time allowed for the robot to move when detecting an observation area. Compare the initial movement period T with the preset time threshold t. If the initial movement period is not greater than the preset time threshold, use the initial movement period as the first movement period, and control the robot to complete the movement towards the first node area according to the above movement parameters, the first movement period, and the first target pose.

[0031] Specifically, by setting the preset time threshold, it is avoided that the robot moves for a long time, which may cause the robot to have moved to the target pose but failed to feedback information in time, resulting in the robot not stopping in time or deviating from the total movement area, improving the movement control accuracy of the robot and reducing the frequency of obtaining the observation area at the same time.

[0032] Step S30, when the robot moves to the first target pose, update the target pose of the next node area based on the observation area corresponding to the first target pose and the total movement area, and control the robot to complete the movement in the next node area according to the target pose of the next node area until the robot completes the movement in all node areas corresponding to the total movement area.

[0033] In this embodiment, when the robot moves to the first target pose, obtain and update the target pose of the next node area according to the observation area corresponding to the first target pose and the total movement area, and then control the robot to move towards the next node area until the robot completes the movement in the node areas corresponding to the total movement area.

[0034] Further, before the first observation area is the observation area of the next node of the first node, if the observation area of the next node of the first node area is not detected, stop the movement of the robot to prevent the robot from deviating from the total movement area or reaching the target pose but not stopping in time.

[0035] If the movement time of the robot reaches the first movement period, but the robot does not move to the first target pose, the robot updates the observation area based on the current pose to control the robot to finally move to the end point of the total movement area.

[0036] This embodiment provides a method for controlling the movement of a robot. The method determines the first target pose of the first node area based on the total movement area of the robot and the first observation area corresponding to the current starting pose, and calculates the initial movement period of the first node area according to the preset movement parameters corresponding to the robot and the first target pose; when the initial movement period is not greater than the preset time threshold, the initial movement period is used as the first movement period, and the robot is controlled to complete the movement of the first node area according to the movement parameters, the first movement period and the first target pose; when the robot moves to the first target pose, the target pose of the next node area is updated based on the observation area and the total movement area corresponding to the first target pose, and the robot is controlled to complete the movement of the next node area according to the target pose of the next node area until the robot completes the movement of all node areas corresponding to the total movement area. In the above manner, in this embodiment, the total movement area corresponding to the robot is divided into multiple segments, the corresponding node poses are determined according to the observation area corresponding to each node, and the movement period is determined by the preset movement parameters of the robot and the node poses, and the robot is controlled to move to each node pose with the preset movement parameters until the robot completes the movement of all node areas corresponding to the total movement area. Thereby, high-precision movement control at a low frequency is achieved, which not only improves the efficiency of robot movement control, but also improves the accuracy of robot control, and solves the technical problems of low efficiency and low accuracy in current robot movement control.

[0037] Based on the above Figure 2 shown embodiment, the present invention provides a second embodiment. In this embodiment, before the step of determining based on the total movement area of the robot and the first observation area corresponding to the current starting pose, the method further includes:

[0038] Based on a 3D scanning device communicatively connected to the robot, obtain the scanning area of the robot corresponding to the current starting pose;

[0039] If the scanning area is not greater than the total movement area, use the total movement area as the first observation area;

[0040] If the scanning area is greater than the total movement area, use the scanning area as the first observation area.

[0041] In this embodiment, the robot obtains the scanning area of the 3D scanning device through the 3D scanning device. Taking the 3D camera as an example of the 3D scanning device, through the method described in the above first embodiment, the scanning area obtained by scanning with the 3D camera is transformed through coordinate system conversion, and the scanning area based on the camera coordinate system is transformed into the world coordinate system. Then, in the world coordinate system, the obtained scanning area is compared with the total moving area. If the scanning area is not larger than the total moving area, the scanning area is used as the first observation area. If the scanning area is larger than the total moving area, the total moving area is used as the first observation area.

[0042] In this embodiment, the scanning area of the 3D scanning device is divided into a valid scanning area and an invalid scanning area. The valid scanning area is the overlapping area between the scanning area of the 3D scanning device and the total moving area, and the invalid scanning area is the non-overlapping area of the scanning area of the 3D scanning device. In this embodiment, the scanning area specifically refers to the valid scanning area.

[0043] If the total moving area is larger than the scanning area, that is, the overlapping area is included in the total moving area, the scanning area is used as the first observation area;

[0044] If the total moving area is not larger than the scanning area, that is, the overlapping area is the same as the total moving area, the total moving area is used as the first observation area.

[0045] Further, the step of determining the first target pose of the first node area based on the total moving area of the robot and the first observation area corresponding to the current starting pose specifically includes:

[0046] Based on the moving direction of the robot, the first observation area is segmented to generate at least one node area;

[0047] According to the moving sequence of the robot, the first node area is determined in each node area, and the end point of the first node area is determined as the first target pose.

[0048] In this embodiment, based on the scanning area corresponding to the 3D scanning device communicatively connected to the robot, the first observation area is determined in the total moving area; based on the overlapping area, the overlapping area is segmented in a preset manner to determine the first node and obtain the first target pose.

[0049] In this embodiment, in addition to determining the first target pose in the above first embodiment, a method for determining the first target pose is provided. The overlapping area is segmented according to a preset method, further reducing the frequency at which the robot acquires the observation area, improving the segmentation control accuracy of the total movement area, and better realizing the movement control of the robot with low control frequency and high precision.

[0050] Further, the step of segmenting the first observation area based on the moving direction of the robot to generate at least one node area includes:

[0051] Determine whether the moving direction of the robot in the first observation area changes;

[0052] If the moving direction of the robot in the first observation area changes, then segment the first observation area based on the moving direction of the robot and generate at least one node area.

[0053] In this embodiment, if the moving direction of the robot in the first observation area changes, then a point where the direction changes is used as a node, and according to the moving order of the robot in the total movement area, the first node area is determined, where the number of node areas is at least one, that is, when the total movement area is a straight line.

[0054] In a specific embodiment, if the moving direction of the robot in the first observation area does not change, then the node area is segmented according to the moving cycle of the robot.

[0055] Specifically, if the moving direction of the robot in the first observation area does not change, in order to prevent the robot from being interfered by external factors or its own control being blocked, resulting in the robot stopping moving for a long time, the node area can be segmented according to the moving cycle, that is, the total movement area is segmented into node areas with the moving cycle as the time node, so as to prevent the robot from failing and stopping when moving for a long time.

[0056] Based on the above first embodiment, the present invention also has a third embodiment. In this embodiment, the method for controlling the movement of the robot further includes:

[0057] If the initial moving cycle is greater than the preset time threshold, then use the preset time threshold as the first moving cycle, and control the robot to move in the first node area according to the movement parameters, the first moving cycle, and the first target pose;

[0058] When the moving time of the robot reaches the first moving cycle, obtain the current pose of the robot as the starting pose of the next node;

[0059] Based on the total moving area and the observation area corresponding to the starting pose of the next node, update the target pose of the next node area, and control the robot to complete the movement in the next node area according to the updated target pose of the next node area until the robot completes the movement in all node areas corresponding to the total moving area.

[0060] In this embodiment, to avoid the robot having a too long moving cycle due to an unchanged moving direction, which may cause a failure and the inability to feedback the current failure state, by setting the preset time threshold, the stability and accuracy of the robot's movement control are improved.

[0061] Further, in this embodiment, based on the above first embodiment, before the step S20, it further includes:

[0062] If the initial moving cycle is greater than the preset time threshold, then use the preset time threshold as the first moving cycle, and control the robot to move in the first node area according to the movement parameters, the first moving cycle, and the first target pose;

[0063] When the moving time of the robot reaches the first moving cycle, obtain the current pose of the robot as the current starting pose;

[0064] Based on the total moving area and the observation area corresponding to the current starting pose, update the target pose of the next node area, and control the robot to complete the movement in the next node area according to the updated target pose of the next node area until the robot completes the movement in all node areas corresponding to the total moving area.

[0065] In this embodiment, according to the comparison between the initial moving cycle and the preset time threshold, when the initial moving cycle is greater than the preset time threshold, use the preset time threshold as the first moving cycle.

[0066] Specifically, setting the preset time threshold is to avoid the robot having too long a moving time, reaching the target pose but not timely feedbacking the current pose, resulting in the robot exceeding the target pose but failing to stop moving in time. Setting the time threshold improves the accuracy of the robot's movement control and at the same time reduces the frequency of the robot obtaining the observation area.

[0067] Based on the above third embodiment, the present invention further provides a fourth embodiment. In this embodiment, after the step S20, it further includes:

[0068] When the moving time of the robot reaches the first moving period and the robot does not move to the first target pose, the robot is controlled to move to the first target pose according to the moving parameters, so as to control the robot to complete the movement in the first node area;

[0069] When the robot moves to the first target pose, based on the observation area corresponding to the first target pose and the total moving area, the target pose of the next node area is updated, and the robot is controlled to complete the movement of the next node area according to the target pose of the next node area until the robot completes the movement of all node areas corresponding to the total moving area.

[0070] In this embodiment, when the moving time of the robot reaches the first moving period and the robot does not maneuver to the first target pose, the robot is controlled to move to the first target pose according to the moving parameters, so as to complete the movement of the robot in the first node area.

[0071] Specifically, during the movement of the robot, affected by external factors, the actual moving speed of the robot is affected, resulting in a situation where the moving time reaches the first moving period but the robot does not reach the first target pose. The method provided in this embodiment avoids the robot stopping moving when the moving time reaches the first moving period but it does not reach the first node pose, resulting in the forced termination of the robot's movement control, and improves the accuracy of the robot's movement control.

[0072] In addition, an embodiment of the present invention also provides a movement control device for a robot.

[0073] Refer to Figure 3 , Figure 3 which is a schematic diagram of the functional modules of the first embodiment of the control device for the robot of the present invention.

[0074] In this embodiment, the movement control device of the robot includes:

[0075] A moving period acquisition module 10, configured to determine the first target pose of the first node based on the total moving area of the robot and the current observation area corresponding to the current starting pose, and calculate the initial moving period of the first node according to the preset moving parameters corresponding to the robot and the first target pose;

[0076] A robot movement control module 20, configured to use the initial moving period as the first moving period when the initial moving period is not greater than a preset time threshold, and control the robot to complete the movement of the first node according to the moving parameters, the first moving period, and the first target pose;

[0077] The target pose update module 30 is configured to, when the robot moves to the first target pose, update the target pose of the next node based on the observation area corresponding to the first target pose and the total movement area, so as to control the robot to complete the movement of the next node according to the target pose of the next node until the robot completes the movement of all nodes corresponding to the total movement area.

[0078] Further, the movement period acquisition module 10 specifically includes:

[0079] A target pose determination unit, configured to determine the first target pose of the first node based on the total movement area of the robot and the current observation area corresponding to the current starting pose;

[0080] A movement period acquisition unit, configured to calculate the initial movement period of the first node according to the preset movement parameters corresponding to the robot and the first target pose.

[0081] Further, the robot movement control module 20 specifically includes:

[0082] A movement parameter setting unit, configured to manually set the preset movement parameters of the robot;

[0083] A movement period determination unit, configured to compare the initial movement period with the preset time threshold and determine the first movement period, so as to determine the actual movement time of the robot;

[0084] Further, the target pose update module 30 specifically includes:

[0085] A target pose update unit, configured to, when the robot moves to the first target pose, update the target pose of the next node based on the observation area corresponding to the first target pose and the total movement area.

[0086] Wherein, each module in the above-mentioned robot movement control device corresponds to each step in the above-mentioned robot movement control method embodiment, and its functions and implementation processes will not be elaborated herein one by one.

[0087] In addition, an embodiment of the present invention further provides a computer-readable storage medium.

[0088] A robot movement control program is stored on the computer-readable storage medium of the present invention. When the robot movement control program is executed by a processor, the steps of the above-mentioned robot movement control method are implemented.

[0089] Wherein, the method implemented when the robot movement control program is executed can refer to each embodiment of the robot movement control method of the present invention, which will not be elaborated herein.

[0090] It should be noted that, in this document, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article or system comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or system comprising such element.

[0091] The serial numbers of the embodiments of the present invention above are merely for description and do not represent the superiority or inferiority of the embodiments.

[0092] This application can be used in numerous general-purpose or special-purpose computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multi-processor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and so on. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This application can also be practiced in a distributed computing environment where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0093] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general-purpose hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on this understanding, the technical solution of the present invention, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disc) and includes several instructions to enable a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0094] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural or equivalent process transformations made by using the description of the present invention's specification and drawings, or directly or indirectly applied in other related technical fields, are equally included in the patent protection scope of the present invention.

Claims

1. A method for controlling the movement of a robot, characterized in that, The method includes: Based on the total moving area of the robot and the first observation area corresponding to the current starting pose, determine the first target pose of the first node area, and calculate the initial moving period of the first node area according to the preset moving parameters corresponding to the robot and the first target pose; When the initial moving period is not greater than the preset time threshold, use the initial moving period as the first moving period, and control the robot to complete the movement of the first node area according to the moving parameters, the first moving period, and the first target pose; When the robot moves to the first target pose, update the target pose of the next node area based on the observation area and the total moving area corresponding to the first target pose, and control the robot to complete the movement of the next node area according to the target pose of the next node area until the robot completes the movement of all node areas corresponding to the total moving area; Among them, before the step of based on the total moving area of the robot and the first observation area corresponding to the current starting pose, it includes: Based on a 3D scanning device communicatively connected to the robot, obtain the scanning area corresponding to the robot at the current starting pose; If the scanning area is not greater than the total moving area, use the scanning area as the first observation area; If the scanning area is greater than the total moving area, use the total moving area as the first observation area; Among them, the step of based on the total moving area of the robot and the first observation area corresponding to the current starting pose, determine the first target pose of the first node area, includes: Based on the moving direction of the robot, divide the first observation area to generate at least one node area; According to the moving sequence of the robot, determine the first node area among the respective node areas, and determine the end point of the first node area as the first target pose.

2. The mobile control method according to claim 1, wherein The step of based on the moving direction of the robot, divide the first observation area to generate at least one node area, includes: Judge whether the moving direction of the robot changes in the first observation area; If the moving direction of the robot changes in the first observation area, then divide the first observation area based on the moving direction of the robot and generate at least one node area.

3. The mobile control method according to claim 1, wherein The method further includes: If the initial moving period is greater than the preset time threshold, use the preset time threshold as the first moving period, and control the robot to move in the first node area according to the moving parameters, the first moving period, and the first target pose; When the moving time of the robot reaches the first moving period, obtain the current pose of the robot as the starting pose of the next node; Based on the total moving area and the observation area corresponding to the starting pose of the next node, update the target pose of the next node area, and control the robot to complete the movement in the next node area according to the updated target pose of the next node area until the robot completes the movement in all node areas corresponding to the total moving area.

4. The mobile control method according to claim 3, wherein If the initial moving period is greater than the preset time threshold, then use the preset time threshold as the first moving period, and after controlling the robot to move in the first node area according to the moving parameters, the first moving period, and the first target pose, it further includes: When the moving time of the robot reaches the first moving period and the robot has not moved to the first target pose, control the robot to move to the first target pose according to the moving parameters to control the robot to complete the movement in the first node area; When the robot moves to the first target pose, based on the observation area corresponding to the first target pose and the total moving area, update the target pose of the next node area, and control the robot to complete the movement in the next node area according to the target pose of the next node area until the robot completes the movement in all node areas corresponding to the total moving area.

5. The mobile control method according to any one of claims 1-4, characterized in that, Before updating the first observation area to the observation area of the next node of the first node, it further includes: When the observation area of the next node of the first node area is not detected, stop the movement of the robot to prevent the robot from deviating from the total moving area.

6. A mobile control device for a robot, characterized in that, The movement control device of the robot includes: A moving period acquisition module, configured to determine the first target pose of the first node area based on the total moving area of the robot and the first observation area corresponding to the current starting pose, and calculate the initial moving period of the first node area according to the preset moving parameters corresponding to the robot and the first target pose; A robot movement control module, configured to use the initial moving period as the first moving period when the initial moving period is not greater than the preset time threshold, and control the robot to complete the movement in the first node area according to the moving parameters, the first moving period, and the first target pose; A target pose update module, configured to, when the robot moves to the first target pose, update the target pose of the next node area based on the observation area corresponding to the first target pose and the total moving area, and control the robot to complete the movement in the next node area according to the target pose of the next node area until the robot completes the movement in all node areas corresponding to the total moving area; Among them, the moving period acquisition module is further configured to: Obtain the scanning area corresponding to the current starting pose of the robot based on a 3D scanning device communicatively connected to the robot; If the scanning area is not greater than the total moving area, use the scanning area as the first observation area; If the scanning area is greater than the total moving area, use the total moving area as the first observation area; Segment the first observation area based on the moving direction of the robot to generate at least one node area; Determine the first node area in each node area according to the moving sequence of the robot, and determine the end point of the first node area as the first target pose.

7. A mobile control device for a robot, characterized in that, The movement control device of the robot includes a processor, a memory, and a movement control program of the robot stored on the memory and executable by the processor. When the movement control program of the robot is executed by the processor, the steps of the movement control method of the robot according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium, characterized in that, A movement control program of the robot is stored on the computer-readable storage medium. When the movement control program of the robot is executed by a processor, the steps of the movement control method of the robot according to any one of claims 1 to 5 are implemented.

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