A multi-morph robot control method, device, robot, and storage medium

Abstract

This invention discloses a multi-form robot control method, device, robot, and storage medium, belonging to the field of robot technology. The method includes: acquiring the communication state between the chassis module and the peripheral module; determining the current form of the robot based on the communication state; and controlling the robot's operation based on the current form. The peripheral module includes at least one of a mast module, a control panel module, and a backpack actuator. Through this technical solution, flexible control of multi-form robots can be achieved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a multi-form robot control method, device, robot, and storage medium. Background Technology

[0002] Currently, robots are entering people's daily work and life, and can replace human labor in tasks such as delivery, transportation, disinfection, and guidance. However, for the same type of robot, different users have different specific usage scenarios, and their needs for the robot also vary. Summary of the Invention

[0003] The applicant discovered that in order for the same type of robot to adapt to the needs of different users, multi-form robots are needed. When robots exist in multiple forms, accurately determining the robot's form is particularly important.

[0004] This invention provides a multi-morph robot control method, device, robot, and storage medium to achieve flexible control of multi-morph robots.

[0005] According to one aspect of the present invention, a multi-morph robot control method is provided, the robot including a chassis module, the method comprising:

[0006] Obtain the connectivity status between the chassis module and the peripheral module;

[0007] Based on the connectivity state, determine the current form of the robot;

[0008] The robot is controlled to operate according to its current configuration; wherein the peripheral module includes at least one of a mast module, a control panel module, and a backpack actuator.

[0009] According to another aspect of the present invention, a multi-form robot control device is provided, the robot including a chassis module, the device comprising:

[0010] A connectivity status acquisition module is used to acquire the connectivity status between the chassis module and the peripheral module;

[0011] The current form determination module is used to determine the current form of the robot based on the connectivity state;

[0012] A robot control module is used to control the operation of the robot according to its current form; wherein the peripheral module includes at least one of a mast module, a control panel module, and a backpack actuator.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the multi-morph robot control method according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the multi-morph robot control method according to any embodiment of the present invention.

[0018] The technical solution of this invention obtains the connectivity status between the chassis module and the peripheral module, then determines the current form of the robot based on the connectivity status, and subsequently controls the robot's operation based on the current form. The peripheral module includes at least one of a mast module, a control panel module, and a backpack actuator. This technical solution determines the robot's form through the connectivity status and controls the robot in the corresponding form, enabling rapid and accurate identification and control of different robot forms.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1A This is a flowchart of a multi-morph robot control method provided in Embodiment 1 of the present invention;

[0022] Figure 1B This is a schematic diagram of a mast-shaped robot according to Embodiment 1 of the present invention;

[0023] Figure 1C This is a schematic diagram of a detachable robot according to Embodiment 1 of the present invention;

[0024] Figure 1D This is a schematic diagram of a shuttle-shaped robot according to Embodiment 1 of the present invention;

[0025] Figure 2 This is a flowchart of a multi-morph robot control method provided in Embodiment 2 of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of a multi-form robot control device provided in Embodiment 3 of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the multi-morph robot control method of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] Example 1

[0031] Figure 1A This is a flowchart of a multi-morph robot control method according to Embodiment 1 of the present invention. This embodiment is applicable to situations involving the control of multi-morph robots. The method can be executed by a multi-morph robot control device, which can be implemented in hardware and / or software and integrated into an electronic device that carries multi-morph robot control functions, such as a robot. Figure 1A As shown, the multi-morph robot control method in this embodiment may include:

[0032] S110. Obtain the connectivity status between the chassis module and the peripheral module.

[0033] In this embodiment, the chassis module is an essential component of the multi-form robot. Optionally, the chassis module includes an integrated interface control board and a controller, where the controller can be an embedded system. The integrated interface control board can interact with the embedded system. The integrated interface control board is equipped with multiple hardware interfaces that can connect to peripheral modules. Incorporating an integrated interface control board into the chassis module facilitates the connection management between the chassis module and multiple peripheral modules, and also allows users to expand the robot's form factor. Furthermore, because the chassis module is essential, it can adapt to the needs of all robot forms, avoiding the limitation of placing the control board on peripheral modules, which only meets the requirements of that specific form, and also avoiding the need to place interface control boards on each peripheral module, thus reducing costs. It is understood that the chassis module also includes a locomotion mechanism, such as drive wheels and active wheels, to enable the robot to move autonomously.

[0034] Peripheral modules are flexibly configurable modules for multi-form robots, used individually or in combination, with specific functions. Optional features include, but are not limited to, mast modules, control panel modules, and backpack actuators. The mast module includes at least one sub-module selected from a mast emergency stop switch, a power control lever module, and a top-down stereo vision module. The control panel module includes at least one sub-module selected from a touchscreen module, a label image module, and a cursor laser module. The backpack actuator can be a box-shaped cargo box, a robotic arm, etc., connected to the chassis module. The chassis controller outputs control signals and power to control the backpack actuator. It should be noted that the touchscreen module can interact with the barcode scanner module and / or RFID module via a USB interface.

[0035] The so-called connectivity state refers to the connection status between the chassis module and the peripheral module, which can include two states: connected and disconnected. It can be represented by the peripheral status word. For example, if the connectivity state is connected, the peripheral status word is "working state"; if the connectivity state is disconnected, the peripheral status word is "abnormal state".

[0036] Optionally, the connectivity status between the chassis module and the peripheral module can be obtained based on signals fed back from the integrated interface control board. It is understood that the integrated interface control board can be equipped with multiple circuit interfaces for electrical connection to different peripheral modules, thereby determining the connection status between the chassis module and the peripheral module based on the connectivity status of each circuit interface.

[0037] S120. Determine the current form of the robot based on the connectivity state.

[0038] In this embodiment, the robot's form can be mast form, detached form, shuttle form, etc. Furthermore, the robot's current form refers to its form at this moment. The mast-shaped robot includes a chassis module, a mast module, a control panel module, and a backpack actuator, for example, such as... Figure 1B As shown; the detached robot includes a chassis module and a control screen module, for example, such as Figure 1C As shown, the control panel module can be placed on the chassis module; the shuttle-shaped robot includes a chassis module, for example, such as... Figure 1D As shown.

[0039] Specifically, the current form of the robot can be determined based on a preset detection sequence and the connectivity status between the chassis module and the peripheral module.

[0040] For example, if the connectivity state of any sub-module in the mast module is detected to be connected, then the current form of the robot is determined to be the mast form.

[0041] For example, if it is detected that only any sub-module in the control panel module is connected, then the robot's current state is determined to be a disconnected state.

[0042] For example, if the connectivity status of all peripheral modules of the robot is detected as not connected, then the current form of the robot is determined to be the shuttle form.

[0043] Understandably, determining the robot's current form by checking the connectivity of essential peripheral modules corresponding to different robot forms allows for quick and accurate identification. The detection order can be determined based on the peripheral modules used in each form. If a module is unique to a particular form, it can be detected first. For example, if the mast module is only used in mast form, the connectivity of its sub-modules should be checked first. Similarly, if the control panel module is used in both mast and detached forms, it can be checked only if all sub-modules in the mast module are not connected, thus improving detection efficiency. Because each peripheral module may have multiple sub-modules, and not all sub-modules are necessarily used, the connectivity of any sub-module can be used to determine the connectivity between the peripheral module and the chassis module, reducing false positives.

[0044] S130. Control the robot to operate according to its current state.

[0045] Optionally, after determining the robot's current form, the connectivity status of each peripheral module of the robot in the current form can be continuously monitored to determine whether each function of the robot is normal in the current form, and corresponding countermeasures can be taken for abnormal peripheral modules.

[0046] For example, if the robot's current form is a mast, the connectivity status of each peripheral module in mast form can be monitored based on a preset monitoring sequence. This could be, for instance, in the order of mast emergency stop switch - power control stick module - top-view stereo vision module - label image module - cursor laser module - barcode scanner module - RFID module - backpack actuator. If a submodule is found to be disconnected, it is considered abnormal. Then, based on the module's importance to the robot, it is determined whether the abnormality will affect the robot's normal movement. If so, appropriate measures are taken, such as pausing the robot and reporting the abnormality to management. If not, the robot continues to run and the abnormality is reported to management. This approach increases the robot's robustness, preventing a local peripheral module malfunction from causing the entire robot to crash.

[0047] The technical solution of this invention obtains the connectivity status between the chassis module and the peripheral module, then determines the current form of the robot based on the connectivity status, and subsequently controls the robot's operation based on the current form. The peripheral module includes at least one of a mast module, a control panel module, and a backpack actuator. This technical solution determines the robot's form through the connectivity status and controls the robot in the corresponding form, enabling rapid and accurate identification and control of different robot forms.

[0048] Based on the above embodiments, as an optional embodiment of the present invention, the determination result of the current form can also be displayed on the robot's interactive screen or the page of the associated terminal, and the operation page can be rendered according to the supported functions corresponding to the current form.

[0049] Among these, "associated terminal" refers to the terminal associated with the robot, such as a PC or mobile phone. "Judgment result" refers to the determination of the robot's current form, which could include, for example, the robot's name, model, and style.

[0050] It should be noted that different types of robots may support different functions and operate in different ways.

[0051] Specifically, the determination result of the current form can be displayed on the interactive screen or the page of the associated terminal, and the operation page can be rendered according to the supported functions corresponding to the current form, so that the robot in the current form can be controlled through the operation page. For example, the control screen module is equipped with a microphone, so the robot supports voice broadcast function in mast mode and detached mode. Users can set the broadcast volume on the control screen as needed. However, the shuttle mode does not support voice broadcast function, so the corresponding broadcast settings page is not rendered and displayed on the associated terminal, improving the user experience.

[0052] Understandably, by displaying the determination result of the robot's current form and the corresponding supported functions, users can intuitively and clearly understand the robot's current form and its supported functions, so that they can judge whether the determination result of the current form is accurate and whether the robot in the current form meets business needs, thereby improving the control efficiency of the robot.

[0053] Example 2

[0054] Figure 2 This is a flowchart of a multi-morph robot control method according to Embodiment 2 of the present invention. This embodiment further optimizes the above embodiments and provides an optional approach. For example... Figure 2 As shown, the multi-morph robot control method in this embodiment may include:

[0055] S210. Obtain the connectivity status between the chassis module and the peripheral module.

[0056] The peripheral module includes at least one of the following: mast module, control panel module, and backpack actuator.

[0057] S220. Determine the current state of the robot based on the connectivity status;

[0058] S230. Control the robot's operation based on its current state.

[0059] Optionally, the chassis module includes a first positioning module, which, for example, may be a LiDAR; the control screen module includes a second positioning module, which, for example, may be an image acquisition module; correspondingly, depending on the robot's current form, controlling the robot's operation may be as follows: if the current form is a mast form or a detached form, the robot's positioning method is determined to be positioning based on the first positioning module and the second positioning module; if the current form is a shuttle form, the robot's positioning method is determined to be positioning based on the first positioning module; the robot is controlled to perform positioning according to the determined positioning method.

[0060] Specifically, if the current form is a mast or a detached form, positioning is performed using the combined first and second positioning modules. For example, initial positioning can be performed first using the first positioning module, followed by navigation positioning using the second positioning module. If the current form is a shuttle, navigation positioning is performed using the second positioning module.

[0061] It should be noted that in mast mode and detached mode, the robot is equipped with an image module for assisted positioning, thus supporting the robot's elevator-riding function. In shuttle mode, since the robot is not equipped with an image module, elevator-riding is not supported to ensure robot safety.

[0062] Understandably, by determining different positioning methods for robots in different forms, we can flexibly adapt to different robot forms, make full use of each module of the robot, and ensure the robot's working efficiency.

[0063] Optionally, the chassis module includes a first obstacle avoidance module, which, for example, may be a front stereo vision module; the mast module includes a top-down obstacle avoidance module, which, for example, may be a top-down stereo vision module; correspondingly, depending on the robot's current form, controlling the robot's operation can be as follows: if the current form is a mast form, then the obstacle avoidance method of the robot is determined to be obstacle avoidance based on the detection results of the top-down obstacle avoidance module and the detection results of the first obstacle avoidance module of the chassis module; if the current form is a split form or a shuttle form, then the obstacle avoidance method of the robot is determined to be obstacle avoidance based on the detection results of the first obstacle avoidance module of the chassis module; the robot is controlled to avoid obstacles according to the determined obstacle avoidance method.

[0064] Specifically, if the current form is mast mode, obstacle avoidance can be performed by combining the detection results from the top-down obstacle avoidance module and the first obstacle avoidance module. If the current form is split mode or shuttle mode, since no top-down obstacle avoidance module is configured, obstacle avoidance is performed directly based on the detection results from the first obstacle avoidance module.

[0065] Optionally, the control panel module can also be equipped with an obstacle avoidance module. However, the control panel module is more flexible in the separated mode, which is prone to triggering obstacle avoidance misjudgments. Even if the control panel is equipped with an obstacle avoidance module, it will not be used in the separated mode.

[0066] Understandably, by determining different obstacle avoidance methods for robots in different forms, we can flexibly adapt to different robot forms and ensure that the robot is ready to avoid obstacles, thereby improving the robot's work efficiency.

[0067] Optionally, the control panel module includes an interactive screen; correspondingly, depending on the robot's current form, controlling the robot's operation can be as follows: if the current form is a mast form or a detached form, the robot's instruction receiving method is determined to be obtaining control instructions through the interactive screen; if the current form is a shuttle form, the robot's instruction receiving method is determined to be obtaining control instructions through the robot's associated terminal; the robot receives instructions according to the determined instruction method.

[0068] Specifically, if the current form is mast mode or detached mode, the robot has an interactive screen on its control panel module, allowing it to obtain control commands through the screen. If the current form is shuttle mode, the robot does not have an interactive screen, and it can obtain control commands through its associated terminal.

[0069] Understandably, by determining different command receiving methods for robots in different forms, we can flexibly adapt to different robot forms and ensure that the robot can receive control commands in a timely manner, thereby improving the robot's working efficiency.

[0070] Optionally, the size and placement of objects that the robot can carry can differ in different modes. Specifically, after determining the robot's current mode, the user can be prompted with the appropriate size of the object to carry and the recommended placement location. For example, in mast mode, it is recommended to place the object close to the mast so that the mast and object can contact each other to provide support; in shuttle and detached modes, it is recommended to place the object in the center of the chassis to improve reliability in the absence of support. In mast mode, due to the presence of the mast, the size of the object that can be placed is smaller than in detached and shuttle modes to prevent the object from extending too far beyond the chassis in the width direction, thus avoiding falling or colliding during transport.

[0071] The technical solution of this invention obtains the connectivity status between the chassis module and the peripheral module, then determines the current form of the robot based on the connectivity status, and subsequently controls the robot's operation based on the current form. The peripheral module includes at least one of a mast module, a control panel module, and a backpack actuator. This technical solution determines the robot's form through the connectivity status, enabling control of the robot in the corresponding form and allowing for rapid and accurate identification of different robot forms.

[0072] Example 3

[0073] Figure 3 This is a schematic diagram of a multi-morph robot control device according to Embodiment 3 of the present invention. This embodiment is applicable to various situations involving the control of multi-morph robots. The multi-morph robot control device can be implemented in hardware and / or software and can be integrated into electronic devices that carry multi-morph robot control functions, such as robots. Figure 3 As shown, the multi-form robot control device in this embodiment may include:

[0074] The connectivity status acquisition module 310 is used to acquire the connectivity status between the chassis module and the peripheral module;

[0075] The current form determination module 320 is used to determine the current form of the robot based on the connectivity state;

[0076] The robot control module 330 is used to control the operation of the robot according to its current form; the peripheral module includes at least one of the following: mast module, control panel module and backpack actuator.

[0077] The technical solution of this invention obtains the connectivity status between the chassis module and the peripheral module, then determines the current form of the robot based on the connectivity status, and subsequently controls the robot's operation based on the current form. The peripheral module includes at least one of a mast module, a control panel module, and a backpack actuator. This technical solution determines the robot's form through the connectivity status and controls the robot in the corresponding form, enabling rapid and accurate identification and control of different robot forms.

[0078] Optionally, the current form determination module 320 is specifically used for:

[0079] If the connectivity status of any sub-module in the mast module is detected as connected, then the robot's current form is determined to be the mast form.

[0080] If it is detected that only any sub-module in the control panel module is connected, then the robot's current state is determined to be a disconnected state.

[0081] If all of the robot's peripheral modules are found to be disconnected, then the robot's current form is determined to be a shuttle.

[0082] Optionally, the mast module includes at least one sub-module selected from the following: mast emergency stop switch, power control lever module, and top-down stereo vision module; the control screen module includes at least one sub-module selected from the following: touch screen module, label image module, and cursor laser module.

[0083] Optionally, the chassis module includes a first positioning module; the control panel module includes a second positioning module; correspondingly, the robot control module 330 is specifically used for:

[0084] If the current form is a mast form or a separated form, then the robot's positioning method is determined to be positioning based on the first positioning module and the second positioning module;

[0085] If the current form is a shuttle, then the robot's positioning method is determined to be positioning based on the first positioning module;

[0086] The robot is controlled to perform positioning according to the determined positioning method.

[0087] Optionally, the chassis module includes a first obstacle avoidance module; the mast module includes a top-down obstacle avoidance module; correspondingly, the robot control module 330 is specifically used for:

[0088] If the current form is a mast, then the obstacle avoidance method of the robot is determined to be obstacle avoidance based on the detection results of the top-down obstacle avoidance module and the detection results of the first obstacle avoidance module of the chassis module.

[0089] If the current form is a split form or a shuttle form, the obstacle avoidance method of the robot is determined to be obstacle avoidance based on the detection results of the first obstacle avoidance module of the chassis module;

[0090] The robot is controlled to avoid obstacles according to a predetermined obstacle avoidance method.

[0091] Optionally, the control panel module includes an interactive screen; correspondingly, the robot control module 330 is specifically used for:

[0092] If the current form is mast form or detached form, then the robot's command receiving method is determined to be obtaining control commands through the interactive screen;

[0093] If the current form is a shuttle, then the robot's command receiving method is determined to be obtaining control commands through the robot's associated terminal;

[0094] The robot receives instructions according to a predetermined instruction method.

[0095] Optionally, the device may also include:

[0096] The judgment result display module is used to display the judgment result of the current form on the interactive screen or the page of the associated terminal, and to render the operation page according to the supported functions corresponding to the current form.

[0097] The multi-morph robot control device provided in the embodiments of the present invention can execute the multi-morph robot control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0098] In the technical solution of this invention, the collection, storage, use, processing, transmission, provision and disclosure of the connectivity status of various modules in the robot are all in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0099] Example 4

[0100] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the multi-morph robot control method of the present invention. Figure 4 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0101] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0102] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0103] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as multimorphic robot control methods.

[0104] In some embodiments, the multimorphic robot control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the multimorphic robot control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the multimorphic robot control method by any other suitable means (e.g., by means of firmware).

[0105] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0106] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0107] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0108] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0109] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0110] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0111] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0112] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A multi-modal robot control method, characterized by, The robot comprises a chassis module, and the method comprises: acquiring a connection state of the chassis module and an external device module; wherein the external device module comprises at least one of a mast module, a control screen module and a backpacked executor; determining a current form of the robot according to the connection state based on a preset detection sequence; wherein the preset detection sequence gives priority to detecting the external device module representing a specific form; after determining the current form of the robot, prompting a user about a suitable load size and a recommended placement position in the current form; controlling the robot to run according to the current form of the robot; the control screen module comprises an interactive screen; the controlling the robot to run according to the current form of the robot comprises: if the current form is a mast form or a separated form, determining that a control instruction receiving mode of the robot is to acquire a control instruction through the interactive screen; if the current form is a shuttle machine form, determining that the control instruction receiving mode of the robot is to acquire a control instruction through an associated terminal of the robot; controlling the robot to receive an instruction according to the determined instruction mode.

2. The method of claim 1, wherein, the determining the current form of the robot according to the connection state comprises: if it is detected that the connection state of any submodule in the mast module is connected, determining that the current form of the robot is the mast form; if it is detected that only the connection state of any submodule in the control screen module is connected, determining that the current form of the robot is the separated form; if it is detected that the connection states of the external device modules of the robot are all not connected, determining that the current form of the robot is the shuttle machine form.

3. The method of claim 2, wherein, the mast module comprises at least one submodule of a mast emergency stop switch, a power operating rod module and an overhead stereo vision module; the control screen module comprises at least one submodule of a touch screen module, a label image module and a cursor laser module.

4. The method of claim 1, wherein, the chassis module comprises a first positioning module; the control screen module comprises a second positioning module; the controlling the robot to run according to the current form of the robot comprises: if the current form is the mast form or the separated form, determining that a positioning mode of the robot is to position based on the first positioning module and the second positioning module; if the current form is the shuttle machine form, determining that the positioning mode of the robot is to position based on the first positioning module; controlling the robot to position according to the determined positioning mode.

5. The method of claim 1, wherein, the chassis module comprises a first obstacle avoidance module; the mast module comprises an overhead obstacle avoidance module; the controlling the robot to run according to the current form of the robot comprises: if the current form is the mast form, determining that an obstacle avoidance mode of the robot is to avoid obstacles according to a detection result of the overhead obstacle avoidance module and a detection result of the first obstacle avoidance module of the chassis module; if the current form is the separated form or the shuttle machine form, determining that the obstacle avoidance mode of the robot is to avoid obstacles according to the detection result of the first obstacle avoidance module of the chassis module; controlling the robot to avoid obstacles according to the determined obstacle avoidance mode.

6. The method of claim 1, wherein, further comprising: The determination result of the current mode is displayed on a page of the interaction screen or the associated terminal, and an operation page is rendered according to the support function corresponding to the current mode.

7. A multi-modal robotic control device, comprising: The robot comprises a chassis module, and the device comprises: A communication state acquisition module is configured to acquire a communication state of the chassis module and an external module; the external module comprises at least one of a mast module, a control screen module, and a backpacked actuator module; a current mode determination module is configured to determine a current mode of the robot based on a preset detection sequence and the communication state; the preset detection sequence gives priority to detecting an external module representing a specific mode; After determining the current mode of the robot, a user is prompted about a suitable load size and a recommended placement position in the current mode; A robot control module is configured to control the robot to operate according to the current mode of the robot; the control screen module comprises an interaction screen; the control of the robot to operate according to the current mode of the robot comprises: If the current mode is the mast mode or the separated mode, it is determined that the instruction receiving mode of the robot is to acquire a control instruction through the interaction screen; If the current mode is the shuttle robot mode, it is determined that the instruction receiving mode of the robot is to acquire a control instruction through an associated terminal of the robot; The robot is controlled to receive an instruction according to the determined instruction mode.

8. A robot, characterized in that The robot comprises: at least one processor; and a memory connected to the at least one processor in communication; wherein The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the multi-mode robot control method in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the multi-mode robot control method in any one of claims 1-6 when executed.

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