Robot control method, device, storage medium and electronic device

Abstract

The present disclosure relates to a robot control method, apparatus, storage medium, and electronic device, so as to provide a new robot control method and improve the robot control efficiency. The method includes: determining a real scene image currently collected by the robot in the real scene, and determining a virtual scene image displayed on the control platform, where the virtual scene image is obtained by simulating historical real scene images transmitted by the robot; comparing the real scene image currently collected by the robot and the virtual scene image to determine the content of the image difference; and controlling the robot according to the content of the image difference.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and more particularly, to a robot control method, apparatus, storage medium, and electronic device. Background Art

[0002] With the continuous development of robotics, robots can be used to assist or even replace humans in performing various operational tasks. Among them, in order to better control robots, the robots in the real scenario can be simulated and displayed in a 3D virtual scenario through digital twins, facilitating operators to obtain information such as the actions and positions of the robots in the real scenario from the virtual robots in the virtual scenario, so as to control the robots in the real scenario. Summary of the Invention

[0003] The purpose of the present disclosure is to provide a robot control method, apparatus, storage medium, and electronic device, so as to provide a new robot control method and improve the robot control efficiency and the task execution efficiency of the robot.

[0004] To achieve the above object, in a first aspect, the present disclosure provides a robot control method, the method comprising:

[0005] Determine the real-scene image currently captured by the robot in the real scenario, and determine the virtual-scene image displayed on the control platform, where the virtual-scene image is obtained by simulating the historical real-scene images transmitted by the robot;

[0006] Compare the real-scene image currently captured by the robot with the virtual-scene image to determine the content of the image difference;

[0007] Control the robot according to the content of the image difference.

[0008] Optionally, the controlling the robot according to the content of the image difference includes:

[0009] Determine an image difference value according to the content of the image difference;

[0010] If the image difference value is greater than or equal to a preset threshold, control the acquisition component on the robot for acquiring environmental information to increase the environmental information acquired by the robot.

[0011] Optionally, the robot is provided with a plurality of image acquisition components, and the controlling the acquisition component on the robot for acquiring environmental information to increase the environmental information acquired by the robot includes:

[0012] Determine the target image acquisition component of the robot for acquiring the real-scene image;

[0013] Among the multiple image acquisition components, control at least one image acquisition component other than the target image acquisition component to be turned on to increase the environmental images acquired by the robot.

[0014] Optionally, the method further includes:

[0015] If the screen difference value is greater than or equal to the preset threshold, control the real robot to increase the frame rate of the transmitted scene screen and / or increase the resolution of the transmitted scene screen;

[0016] If the screen difference value is less than the preset threshold, control the real robot to decrease the frame rate of the transmitted scene screen and / or decrease the resolution of the transmitted scene screen.

[0017] Optionally, the robot is used to perform a control operation on a first item. Controlling the robot according to the screen difference content includes:

[0018] If the item represented by the screen difference content exists in the real scene screen and does not exist in the virtual scene screen, determine whether the item category of the second item is the same as the item category of the first item;

[0019] If it is determined that the item category of the second item is the same as the item category of the first item, control the robot to perform the control operation on the second item.

[0020] Optionally, it further includes:

[0021] If the item represented by the screen difference content exists in the real scene screen and does not exist in the virtual scene screen, determine the virtual item corresponding to the item in the virtual scene screen according to the appearance characteristics of the item, and display the virtual item at the corresponding position in the virtual scene screen according to the position characteristics of the item in the real scene.

[0022] In a second aspect, the present disclosure further provides a robot control device, and the device includes:

[0023] A determination module, configured to determine the real scene screen currently acquired by the robot in the real scene and determine the virtual scene screen, where the virtual scene screen is obtained by simulating the historical real scene screen transmitted by the robot;

[0024] A comparison module, configured to compare the real scene screen currently acquired by the robot and the virtual scene screen to determine the screen difference content;

[0025] A control module, configured to control the robot according to the content of the screen difference, and adjust the display content of the virtual scene screen according to the content of the screen difference, so that the display content of the adjusted virtual scene screen is consistent with the display content of the real scene screen.

[0026] Optionally, the control module is configured to:

[0027] Determine a screen difference value according to the content of the screen difference;

[0028] If the screen difference value is greater than or equal to a preset threshold, control the acquisition component for acquiring environmental information on the robot to increase the environmental information acquired by the robot.

[0029] In a third aspect, the present disclosure provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method described in any one of the first aspects are implemented.

[0030] In a fourth aspect, the present disclosure provides an electronic device, including:

[0031] A memory, on which a computer program is stored;

[0032] A processor, configured to execute the computer program in the memory to implement the steps of the method described in any one of the first aspects.

[0033] Through the above technical solutions, the real scene screen currently acquired by the real robot in the real scene can be determined, and the virtual scene screen displayed on the control platform can be determined, and then the real scene screen currently acquired by the real robot and the virtual scene screen are compared to determine the content of the screen difference. Finally, the real robot is controlled according to the content of the screen difference. Thus, a new robot control method is provided, which can control the robot based on the content of the screen difference between the virtual scene screen and the real scene screen, thereby improving the control efficiency of the robot and the efficiency of the robot performing tasks. And, in possible scenarios, the frame rate and / or resolution of the screen transmitted by the robot can also be controlled according to the content of the screen difference, thereby saving network bandwidth.

[0034] Other features and advantages of the present disclosure will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification, and are used to explain the present disclosure together with the following specific implementation manners, but do not constitute a limitation to the present disclosure. In the drawings:

[0036] Figure 1It is a flowchart of a robot control method shown according to an exemplary embodiment of the present disclosure;

[0037] Figure 2 It is a flowchart of a robot control method shown according to another exemplary embodiment of the present disclosure;

[0038] Figure 3 It is a block diagram of a robot control device shown according to an exemplary embodiment of the present disclosure;

[0039] Figure 4 It is a block diagram of an electronic device shown according to an exemplary embodiment of the present disclosure;

[0040] Figure 5 It is a block diagram of an electronic device shown according to another exemplary embodiment of the present disclosure. Detailed implementation manners

[0041] The following will describe in detail the specific implementation manners of the present disclosure with reference to the accompanying drawings. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0042] As described in the background art, in order to better control the robot, the robot in the real scenario can be simulated and displayed in a 3D virtual scenario through digital twin, so that the operator can obtain information such as the behavior actions and positions of the robot in the real scenario through the virtual robot in the virtual scenario, thereby controlling the robot in the real scenario.

[0043] In this scenario, it is necessary to reconstruct the corresponding virtual scenario based on the real scenario where the robot is located. Therefore, the robot needs to collect the real scenario pictures where it is located and send them to the server or control platform for scenario reconstruction. However, in this scenario, the control of the robot is mainly manual control by the operator through the virtual scenario pictures, or autonomous control by the robot based on pre-set tasks, and it is impossible to effectively combine the real scenario pictures collected by the robot and the reconstructed virtual scenario pictures to control the robot, thus affecting the control efficiency of the robot and the task execution efficiency of the robot.

[0044] In view of this, the present disclosure provides a robot control method to control the robot based on the content of the picture difference between the virtual scenario picture and the real scenario picture, improving the control efficiency of the robot and the task execution efficiency of the robot.

[0045] Figure 1 It is a flowchart of a robot control method shown according to an exemplary embodiment of the present disclosure. Referring to Figure 1 , the robot control method may include the following steps:

[0046] Step 101: Determine the real - scene image currently captured by the robot in the real scene, and determine the virtual - scene image displayed on the control platform. The virtual - scene image is obtained by simulating the historical real - scene images transmitted by the robot;

[0047] Step 102: Compare the real - scene image currently captured by the robot with the virtual - scene image to determine the content of the image difference;

[0048] Step 103: Control the robot according to the content of the image difference.

[0049] It should be understood that the robot control method provided in this disclosure can be applied to a server that communicates with the robot and the control platform respectively, or can be applied to the robot. Additionally, it should be understood that for the convenience of controlling the robot, before step 101, the robot in the real scene can be simulated and displayed in the 3D virtual - scene image through the digital - twin method. The virtual - scene image can be obtained by simulating the real - scene images transmitted by the robot in the real world. Specifically, when implemented, the virtual robot and the corresponding virtual - scene image obtained through digital - twin can be displayed on the control platform. Therefore, in step 101, the virtual - scene image displayed on the control platform can be determined.

[0050] It should also be understood that the virtual - scene image is not a real - time scene, but is made in advance through various methods. For example, the virtual - scene image can be obtained by simulating the historical real - scene images transmitted by the robot in the real world. Therefore, the virtual - scene image may be the same as a certain previous time point. However, the real - scene image captured by the robot in the real world changes frequently. Therefore, the embodiments of this disclosure propose to control the robot according to the content of the image difference between the real - scene image and the virtual - scene image to improve the control efficiency of the robot and the task - execution efficiency of the robot.

[0051] When specifically implemented, the camera of the robot in the real world can turn on the real - time video to capture the real - scene image and synchronize it to the control platform to display the corresponding virtual - scene image. However, due to reasons such as time delay, there are differences between the virtual - scene image displayed on the control platform and the real - scene image captured by the real robot. Therefore, image - recognition technology can be used to compare the content of the image difference between the virtual - scene image and the real - scene image, and thus control the robot according to the content of the image difference.

[0052] Among possible ways, controlling the robot according to the content of the screen difference can be: first, determining the screen difference value according to the content of the screen difference. If the screen difference value is greater than or equal to a preset threshold, controlling the acquisition component on the robot for acquiring environmental information to increase the environmental information acquired by the robot. Herein, the preset threshold can be set according to the actual situation, and the embodiments of the present disclosure do not limit this.

[0053] For example, all pixel points in the virtual scene screen and the real scene screen can be compared one by one, and the sum of the differences in pixel values between all pixel points can be used as the screen difference value. If this screen difference value is greater than or equal to the preset threshold, it indicates that there is a large difference between the virtual scene screen and the real scene screen. Therefore, in order to enable the robot to perform autonomous control more accurately, the acquisition component on the robot in the real world for acquiring environmental information can be controlled to increase the environmental information acquired by the robot, so that the robot can perform other control operations based on more environmental information and improve the control accuracy of the robot. It should be understood that if this screen difference value is less than the preset threshold, no additional control needs to be performed on the acquisition component on the robot for acquiring environmental information.

[0054] Among possible ways, the robot can be provided with multiple image acquisition components. Correspondingly, controlling the acquisition component on the robot for acquiring environmental information to increase the environmental information acquired by the robot can be: determining the target image acquisition component for the robot to acquire the real scene screen, and among the multiple image acquisition components, controlling at least one image acquisition component other than the target image acquisition component to be turned on to increase the environmental images acquired by the robot.

[0055] It should be understood that if the screen difference value is greater than or equal to the preset threshold, it indicates that there is a large difference between the virtual scene screen and the real scene screen. Therefore, in order to reduce such a screen difference and enable the operator to control the robot more accurately based on the virtual scene screen, more image acquisition components can be turned on to facilitate the robot in the real world to acquire more scene screens under the same real scene, so that for the same real scene, more scenes can be used for scene reconstruction, and then a more accurate virtual scene screen can be obtained, improving the control accuracy of the robot.

[0056] Among possible ways, if the screen difference value is greater than or equal to the preset threshold, the real robot can also be controlled to increase the frame rate of transmitting the scene screen and / or increase the resolution of the transmitted scene screen. If the screen difference value is less than the preset threshold, the real robot can also be controlled to decrease the frame rate of transmitting the scene screen and / or decrease the resolution of the transmitted scene screen.

[0057] For example, referring to Figure 2 , the flowchart of the robot control method provided by the embodiments of the present disclosure can also be asFigure 2 As shown, when applied to a robot, it includes:

[0058] Step 201: Determine the real - scene image currently captured by the robot in the real scene, and determine the virtual - scene image displayed on the control platform.

[0059] Step 202: Compare the real - scene image currently captured by the robot with the virtual - scene image to determine the content of the image difference.

[0060] Step 203: Determine the image - difference value according to the content of the image difference.

[0061] Step 204: If the image - difference value is greater than or equal to the preset threshold, control the real robot to increase the frame rate of the transmitted scene image and / or increase the resolution of the transmitted scene image.

[0062] Step 205: If the image - difference value is less than the preset threshold, control the real robot to decrease the frame rate of the transmitted scene image and / or decrease the resolution of the transmitted scene image.

[0063] It should be understood that in the real world, the robot captures real - scene images in real time and transmits the real - scene images in real time for scene reconstruction to obtain virtual - scene images, which requires a large amount of bandwidth. Therefore, in the embodiments of the present disclosure, if the image - difference value is less than the preset threshold, control the real robot to decrease the frame rate of the transmitted scene image and / or decrease the resolution of the transmitted scene image. Thus, network bandwidth can be saved when the image difference is small. On the other hand, if the image - difference value is greater than or equal to the preset threshold, it indicates that the image difference between the real - scene image and the virtual - scene image is large. Therefore, for more accurate control, the real robot can be controlled to increase the frame rate of the transmitted scene image and / or increase the resolution of the transmitted scene image.

[0064] In a possible way, if the robot is used to perform a control operation on a first item, then according to the content of the image difference, the control of the robot can be: if the content of the image difference represents a second item that exists in the real - scene image but does not exist in the virtual - scene image, determine whether the item category of the second item is the same as the item category of the first item. If it is determined that the item category of the second item is the same as the item category of the first item, control the robot to perform a control operation on the second item.

[0065] For example, a robot in a real scenario is pre-set with an item picking task, which is used to instruct the robot to pick up a first item from the first side of a desk in the real scenario to the second side opposite the first side. In such a scenario, if the first side of the desk is shown to have a second item in the real scenario picture, while the first side of the desk is shown not to have the second item in the virtual scenario picture, that is, the content of the picture difference represents the second item that exists in the real scenario picture and does not exist in the virtual scenario picture, then it can be further determined whether the item category of the second item is the same as that of the first item. If the item category of the second item is the same as that of the first item, the robot can be controlled to directly pick up the second item. Thus, the robot does not need to go around to the second side of the desk to pick up the corresponding item according to the pre-set item picking task, thereby improving the control efficiency of the robot and the task execution efficiency of the robot.

[0066] In a possible way, if the content of the picture difference represents an item that exists in the real scenario picture and does not exist in the virtual scenario picture, the virtual item corresponding to the item can also be determined according to the appearance characteristics of the item, and the virtual item can be displayed at the corresponding position in the virtual scenario picture according to the position characteristics of the item in the real scenario.

[0067] That is to say, the embodiments of the present disclosure can also adjust the virtual scenario picture according to the content of the picture difference, so that the picture content of the adjusted virtual scenario picture is consistent with the picture content of the real scenario picture, facilitating the operator to control based on the virtual scenario picture and improving the accuracy of control.

[0068] Based on the same inventive concept, the present disclosure also provides a robot control device, which can become part or all of an electronic device in a way of software, hardware or a combination of both. The electronic device can be a server that communicates with the robot and the control platform respectively, or the electronic device can be the robot.

[0069] Referring to Figure 3 , the robot control device 300 may include:

[0070] A determination module 301, configured to determine the real scenario picture currently collected by the robot in the real scenario and determine the virtual scenario picture, where the virtual scenario picture is obtained by simulating the historical real scenario picture transmitted by the robot;

[0071] A comparison module 302, configured to compare the real scenario picture currently collected by the robot and the virtual scenario picture to determine the content of the picture difference;

[0072] The control module 303 is configured to control the robot according to the content of the screen difference, and adjust the display content of the virtual scene screen according to the content of the screen difference, so that the display content of the adjusted virtual scene screen is consistent with the display content of the real scene screen.

[0073] Optionally, the control module 303 is configured to:

[0074] Determine a screen difference value according to the content of the screen difference;

[0075] When the screen difference value is greater than or equal to a preset threshold, control the acquisition component on the robot for acquiring environmental information to increase the environmental information acquired by the robot.

[0076] Optionally, the robot is provided with a plurality of image acquisition components, and the control module 303 is configured to:

[0077] Determine the target image acquisition component for the robot to acquire the real scene screen;

[0078] Among the plurality of image acquisition components, control at least one image acquisition component other than the target image acquisition component to be turned on to increase the environmental images acquired by the robot.

[0079] Optionally, the device 300 further includes:

[0080] The first transmission control module is configured to control the real robot to increase the frame rate of the transmitted scene screen and / or increase the resolution of the transmitted scene screen when the screen difference value is greater than or equal to the preset threshold;

[0081] The second transmission control module is configured to control the real robot to decrease the frame rate of the transmitted scene screen and / or decrease the resolution of the transmitted scene screen when the screen difference value is less than the preset threshold.

[0082] Optionally, the robot is used to perform a control operation on a first item, and the control module 303 is configured to:

[0083] When the content of the screen difference represents a second item that exists in the real scene screen and does not exist in the virtual scene screen, determine whether the item category of the second item is the same as the item category of the first item;

[0084] When it is determined that the item category of the second item is the same as the item category of the first item, control the robot to perform the control operation on the second item.

[0085] Optionally, the device 300 further includes:

[0086] A screen adjustment module, configured to, when the content of the screen difference represents an item that exists in the real - scene screen but does not exist in the virtual - scene screen, determine a virtual item corresponding to the item for the virtual - scene screen according to the appearance characteristics of the item, and display the virtual item at the corresponding position in the virtual - scene screen according to the position characteristics of the item in the real scene.

[0087] Regarding the device in the above - mentioned embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0088] Based on the same inventive concept, the present disclosure also provides a computer - readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps of any of the above - mentioned robot control methods are implemented.

[0089] Based on the same inventive concept, the present disclosure also provides an electronic device, including:

[0090] A memory, on which a computer program is stored;

[0091] A processor, configured to execute the computer program in the memory to implement the steps of any of the above - mentioned robot control methods.

[0092] In a possible manner, the electronic device can be provided as a robot. As Figure 4 shown, the electronic device 400 may include: a processor 401, a memory 402. The electronic device 400 may further include one or more of a multimedia component 403, an input / output (I / O) interface 404, and a communication component 405.

[0093] Among them, the processor 401 is used to control the overall operation of the electronic device 400 to complete all or part of the steps in the above robot control method. The memory 402 is used to store various types of data to support the operation of the electronic device 400. These data may include, for example, instructions for any application or method operating on the electronic device 400, as well as application-related data, such as contact data, received and sent messages, pictures, audio, video, and so on. The memory 402 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disc. The multimedia component 403 may include a screen and an audio component. The screen can be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal can be further stored in the memory 402 or sent through the communication component 405. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 404 provides an interface between the processor 401 and other interface modules, and the other interface modules can be a keyboard, a mouse, buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 405 is used for wired or wireless communication between the electronic device 400 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, near field communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G, etc., or a combination of one or more of them, is not limited here. Therefore, the corresponding communication component 405 may include: a Wi-Fi module, a Bluetooth module, an NFC module, and so on.

[0094] In an exemplary embodiment, the electronic device 400 can be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components, and is used to execute the above-mentioned robot control method.

[0095] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided. When the program instructions are executed by a processor, the steps of the above-mentioned robot control method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 402 including program instructions, and the above-mentioned program instructions can be executed by the processor 401 of the electronic device 400 to complete the above-mentioned robot control method.

[0096] In another possible way, the electronic device can be provided as a server. Referring to Figure 5 , the electronic device 500 includes a processor 522, the number of which can be one or more, and a memory 532 for storing computer programs executable by the processor 522. The computer programs stored in the memory 532 can include one or more modules each corresponding to a set of instructions. In addition, the processor 522 can be configured to execute the computer program to execute the above-mentioned robot control method.

[0097] In addition, the electronic device 500 can further include a power supply component 526 and a communication component 550. The power supply component 526 can be configured to perform power management of the electronic device 500, and the communication component 550 can be configured to implement communication of the electronic device 500, for example, wired or wireless communication. In addition, the electronic device 500 can further include an input / output (I / O) interface 558. The electronic device 500 can operate based on an operating system stored in the memory 532, such as Windows Server TM , Mac OSX TM , Unix TM , Linux TM and so on.

[0098] In another exemplary embodiment, there is also provided a computer-readable storage medium including program instructions, and when the program instructions are executed by a processor, the steps of the above-described robot control method are implemented. For example, the computer-readable storage medium may be the above-described memory 532 including program instructions, and the above program instructions may be executed by the processor 522 of the electronic device 500 to complete the above-described robot control method.

[0099] In another exemplary embodiment, there is also provided a computer program product, which includes a computer program executable by a programmable device, and the computer program has a code portion for executing the above-described robot control method when executed by the programmable device.

[0100] The preferred embodiments of the present disclosure have been described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0101] In addition, it should be noted that, among the various specific technical features described in the above specific embodiments, they can be combined in any appropriate manner without conflict. To avoid unnecessary repetition, the present disclosure does not separately describe various possible combination manners.

[0102] In addition, any combination can be made between various different embodiments of the present disclosure, as long as it does not violate the idea of the present disclosure, and it should also be regarded as the content disclosed by the present disclosure.

Claims

1. A robot control method, characterized in that, The method includes: Determine the real - scene image currently captured by the robot in the real scene, and determine the virtual - scene image displayed on the control platform, where the virtual - scene image is obtained by simulating the historical real - scene images transmitted by the robot; Compare the real - scene image currently captured by the robot and the virtual - scene image to determine the content of the image difference; Control the robot according to the content of the image difference; The robot is used to perform a control operation on a first item. The controlling the robot according to the content of the image difference includes: If the content of the image difference represents a second item that exists in the real - scene image but does not exist in the virtual - scene image, determine whether the item category of the second item is the same as the item category of the first item; If it is determined that the item category of the second item is the same as the item category of the first item, control the robot to perform the control operation on the second item.

2. The method according to claim 1, characterized in that, The controlling the robot according to the content of the image difference includes: Determine an image - difference value according to the content of the image difference; If the image - difference value is greater than or equal to a preset threshold, control the acquisition component on the robot for acquiring environmental information to increase the environmental information acquired by the robot.

3. The method according to claim 2, wherein The robot is provided with multiple image - acquisition components. The controlling the acquisition component on the robot for acquiring environmental information to increase the environmental information acquired by the robot includes: Determine the target image - acquisition component used by the robot to capture the real - scene image; Among the multiple image - acquisition components, control at least one image - acquisition component other than the target image - acquisition component to be turned on to increase the environmental images acquired by the robot.

4. The method according to claim 2, wherein The method further includes: If the image - difference value is greater than or equal to the preset threshold, control the real robot to increase the frame rate of the transmitted scene image and / or increase the resolution of the transmitted scene image; If the image - difference value is less than the preset threshold, control the real robot to decrease the frame rate of the transmitted scene image and / or decrease the resolution of the transmitted scene image.

5. The method according to any one of claims 1-4, characterized in that, It further includes: If the content of the image difference represents an item that exists in the real - scene image but does not exist in the virtual - scene image, determine the virtual item corresponding to the item in the virtual - scene image according to the appearance feature of the item, and display the virtual item at the corresponding position in the virtual - scene image according to the position feature of the item in the real scene.

6. A robot control device, characterized in that, The device includes: A determination module, configured to determine the real - scene image currently captured by the robot in the real scene and determine the virtual - scene image, where the virtual - scene image is obtained by simulating the historical real - scene images transmitted by the robot; A comparison module, configured to compare the real - scene image currently captured by the robot and the virtual - scene image to determine the content of the image difference; A control module, configured to control the robot according to the content of the screen difference, and adjust the display content of the virtual scene screen according to the content of the screen difference, so that the display content of the adjusted virtual scene screen is consistent with the display content of the real scene screen; The robot is used to execute a control operation for a first item. The control module is further configured to determine whether the item category of the second item, which exists in the real scene screen but does not exist in the virtual scene screen as represented by the content of the screen difference, is the same as the item category of the first item; When it is determined that the item category of the second item is the same as the item category of the first item, control the robot to perform the control operation on the second item.

7. The device according to claim 6, characterized in that The control module is configured to: Determine a screen difference value according to the content of the screen difference; If the screen difference value is greater than or equal to a preset threshold, control the acquisition component on the robot for acquiring environmental information to increase the environmental information acquired by the robot.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method according to any one of claims 1-5.

9. An electronic device, characterized in that, Comprising: A memory, on which a computer program is stored; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1-5.

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