Method, device, storage medium, equipment and robot for controlling robot

Abstract

The present disclosure relates to a method, device, storage medium, equipment and robot for controlling a robot, and relates to the field of robot control technology. The method comprises: obtaining the ground parameter change amount of the robot moving on the ground in a first historical time period, and the ground parameter change amount is used to characterize the flatness of the moving ground; obtaining the historical moving speed of the robot in a second historical time period; determining the first moving speed of the robot according to the historical moving speed and the ground parameter change amount; and controlling the robot to move at the first moving speed. In this way, the moving speed of the robot can be adjusted in time according to the flatness of the ground on which the robot moves, thereby improving the stability of the robot's movement and ensuring that the normal use of the robot is not affected.

Description

Technical Field

[0001] The present disclosure relates to the technical field of robot control, and in particular, to a method, apparatus, storage medium, device and robot for controlling a robot. Background Art

[0002] With the continuous development of electronic information technology, more and more robots are applied to various scenarios of life and work. When the robot is walking and moving, if the moving ground is uneven, the robot will shake during the movement and may even fall, thus affecting the normal use of the robot. Summary of the invention

[0003] In order to solve the above problems, the present disclosure provides a method, an apparatus, a storage medium, a device and a robot for controlling a robot.

[0004] In a first aspect, the present disclosure provides a method for controlling a robot, the method comprising: obtaining a change in a ground parameter of the ground on which the robot moves within a first historical time period, the ground parameter change being used to characterize the flatness of the moving ground; obtaining a historical moving speed of the robot within a second historical time period; determining a first moving speed of the robot based on the historical moving speed and the ground parameter change; and controlling the robot to move at the first moving speed.

[0005] Optionally, determining the first moving speed of the robot according to the historical moving speed and the ground parameter change includes: obtaining the moving acceleration of the robot according to the ground parameter change; and determining the first moving speed of the robot according to the historical moving speed and the moving acceleration.

[0006] Optionally, obtaining the movement acceleration of the robot according to the change in the ground parameter includes: obtaining the movement acceleration of the robot through a regularization algorithm according to the change in the ground parameter.

[0007] Optionally, the method also includes: acquiring an image of the environment in which the robot is located; determining the scene information of the robot based on the environment image; determining a target variation range in which the ground parameter variation is located from multiple preset variation ranges; determining a target speed range from multiple preset speed ranges through a preset speed correspondence relationship based on the scene information and the target variation range; the preset speed correspondence relationship includes a correspondence between scene information, a preset speed range and a preset variation range; determining the first moving speed of the robot based on the historical moving speed and the moving acceleration includes: determining a pending moving speed of the robot based on the historical moving speed and the moving acceleration; when the pending moving speed is within the target speed range, using the pending moving speed as the first moving speed; when the pending moving speed is outside the target speed range, using the maximum moving speed in the target speed range as the first moving speed.

[0008] Optionally, the method also includes: obtaining obstacle information of obstacles within a preset distance range of the robot; sending the scene information and the obstacle information to a cloud server, so that the cloud server determines a target moving path from multiple moving paths based on the obstacle information and the scene information; and controlling the robot to move along the target moving path to avoid the obstacle.

[0009] Optionally, obtaining the ground parameter change amount of the ground on which the robot moves within the first historical time period includes: obtaining the ground parameter change amount by using a plurality of inertial measurement units IMUs arranged on the robot.

[0010] In a second aspect, the present disclosure provides a device for controlling a robot, the device comprising: a first acquisition module, used to obtain a ground parameter change amount of the robot moving on the ground within a first historical time period, the ground parameter change amount being used to characterize the flatness of the moving ground; a second acquisition module, used to obtain a historical moving speed of the robot within a second historical time period; a first determination module, used to determine a first moving speed of the robot based on the historical moving speed and the ground parameter change amount; and a control module, used to control the robot to move at the first moving speed.

[0011] Optionally, the first determination module includes: a first determination submodule, used to obtain the movement acceleration of the robot according to the change in the ground parameter; and a second determination submodule, used to determine the first movement speed of the robot according to the historical movement speed and the movement acceleration.

[0012] Optionally, the first determination submodule is used to obtain the movement acceleration of the robot through a regularization algorithm according to the change in the ground parameter.

[0013] Optionally, the device also includes: a third acquisition module, used to acquire an environmental image of the robot; a second determination module, used to determine the scene information of the robot based on the environmental image; a third determination module, used to determine the target variation range of the ground parameter variation from multiple preset variation ranges; a fourth determination module, used to determine the target speed range from multiple preset speed ranges through a preset speed correspondence relationship based on the scene information and the target variation range; the preset speed correspondence relationship includes a correspondence between scene information, a preset speed range and a preset variation range; the second determination submodule is used to determine the pending moving speed of the robot based on the historical moving speed and the moving acceleration; when the pending moving speed is within the target speed range, the pending moving speed is used as the first moving speed; when the pending moving speed is outside the target speed range, the maximum moving speed in the target speed range is used as the first moving speed.

[0014] Optionally, the device also includes: a fourth acquisition module, used to obtain obstacle information of obstacles within a preset distance range of the robot; a sending module, used to send the scene information and the obstacle information to a cloud server, so that the cloud server determines a target moving path from multiple moving paths based on the obstacle information and the scene information; and a control module, further used to control the robot to move along the target moving path to avoid the obstacle.

[0015] Optionally, the first acquisition module is used to acquire the ground parameter change through multiple inertial measurement units IMUs set on the robot.

[0016] In a third aspect, the present disclosure provides a non-temporary computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for controlling a robot described in the first aspect.

[0017] In a fourth aspect, the present disclosure provides an electronic device, comprising: a memory on which a computer program is stored; and a processor for executing the computer program in the memory to implement the steps of the method for controlling a robot described in the first aspect above.

[0018] In a fifth aspect, the present disclosure provides a robot comprising the electronic device described in the fifth aspect.

[0019] Through the above technical solution, the present disclosure obtains the ground parameter change amount of the robot moving on the ground in the first historical time period, and the ground parameter change amount is used to characterize the flatness of the moving ground; obtains the historical moving speed of the robot in the second historical time period; determines the first moving speed of the robot according to the historical moving speed and the ground parameter change amount; and controls the robot to move at the first moving speed. By adopting the above technical solution, the moving speed of the robot can be adjusted in time according to the flatness of the ground on which the robot moves, thereby improving the stability of the robot's movement, thereby ensuring that the normal use of the robot is not affected.

[0020] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0022] Figure 1 is a flowchart of a method for controlling a robot provided by an embodiment of the present disclosure;

[0023] Figure 2 is a flowchart of another method for controlling a robot provided by an embodiment of the present disclosure;

[0024] Figure 3 is a flowchart of another method for controlling a robot provided by an embodiment of the present disclosure;

[0025] Figure 4 is a flowchart of another method for controlling a robot provided by an embodiment of the present disclosure;

[0026] Figure 5 is a flowchart of another method for controlling a robot provided by an embodiment of the present disclosure;

[0027] Figure 6 is a schematic diagram of the structure of a device for controlling a robot provided by an embodiment of the present disclosure;

[0028] Figure 7 is a schematic structural diagram of another device for controlling a robot provided by an embodiment of the present disclosure;

[0029] Figure 8 is a schematic structural diagram of another device for controlling a robot provided by an embodiment of the present disclosure;

[0030] Fig. 9 is a schematic structural diagram of another device for controlling a robot provided by an embodiment of the present disclosure;

[0031] Fig.10 is a block diagram of an electronic device provided by an embodiment of the present disclosure;

[0032] Fig.11 It is a block diagram of a robot provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0033] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0034] In the description below, words such as “first” and “second” are only used for the purpose of distinguishing the description and should not be understood as indicating or implying relative importance or order.

[0035] First, the application scenario of the present disclosure is explained. The present disclosure can be applied to the scenario of robot movement, in which the robot reaches a preset destination by moving. In different scenarios, the robot has different functions. For example, in a restaurant, the robot needs to deliver dishes to guests; in a hotel, the robot needs to deliver items to guests' rooms. However, the inventor found that the ground on which the robot moves may be uneven, and the robot moving on an uneven ground is likely to cause the robot to shake during movement, and may even cause the robot to fall, thereby affecting the normal use of the robot.

[0036] In order to solve the above problems, the present disclosure provides a method, device, storage medium, equipment and robot for controlling a robot, which can timely adjust the movement speed of the robot according to the flatness of the ground on which the robot moves, thereby improving the stability of the robot's movement and ensuring that the normal use of the robot is not affected.

[0037] The present disclosure is described below in conjunction with specific embodiments.

[0038] Figure 1 is a flow chart of a method for controlling a robot provided by an embodiment of the present disclosure, such as Figure 1 As shown, the method comprises the following steps:

[0039] Step S101: Obtain the change in ground parameters of the ground on which the robot moves during a first historical time period.

[0040] The ground parameter variation is used to characterize the flatness of the moving ground. If the ground parameter variation is larger, the ground on which the robot moves is more uneven; if the ground parameter variation is smaller, the ground on which the robot moves is more flat. The first historical time period may be a time period from the current moment to any moment in the historical time period.

[0041] In addition, the ground parameter variation can be obtained by multiple inertial measurement units (IMUs) arranged on the robot, and multiple IMUs can be arranged at different positions on the robot. For example, IMUs can be arranged at the head position and chest position of the robot. IMUs can include gyroscopes, accelerometers, and magnetometers.

[0042] Considering that the ground parameter changes detected by multiple IMUs installed on the robot may be different, for example, for the same robot, the change range of the IMU installed on the robot head may be greater than the change range of the IMU installed near the chassis of the robot. At the same time, there may be data with large fluctuations in the ground parameter changes detected by the same IMU in the first historical time period. Therefore, the ground parameter changes detected by the IMU can be preprocessed, for example, the data can be preprocessed for denoising, filtering, etc., to ensure that the ground parameter changes detected by the IMU can more accurately reflect the flatness of the mobile ground.

[0043] Step S102: Obtain the historical moving speed of the robot in the second historical time period.

[0044] Among them, the historical moving speed can be the average moving speed of the robot in the second historical time period, the second historical time period can be the time period from the current moment to any moment in the historical time period, and the second historical time period can be the same as or different from the first historical time period.

[0045] Step S103: Determine a first moving speed of the robot according to the historical moving speed and the ground parameter change.

[0046] It should be noted that, considering that the robot may experience large fluctuations in its current moving speed due to uneven ground during walking, in order to more accurately adjust the robot's upcoming moving speed, in this solution, the robot's first moving speed can be determined based on the robot's historical moving speed in the second historical time period and the ground parameter change, so as to ensure that the robot can move smoothly.

[0047] In one possible implementation, Figure 2 As shown, determining the first moving speed of the robot according to the historical moving speed and the ground parameter change may include the following steps:

[0048] Step S1031: Obtain the movement acceleration of the robot according to the change in the ground parameter.

[0049] Specifically, the movement acceleration of the robot can be obtained by a regularization algorithm according to the change in the ground parameter. For the regularization algorithm, reference can be made to the relevant content in the prior art, which will not be repeated here. The change in the ground parameter can be subjected to a regularization algorithm to obtain a value between -1 and 1, which is the movement acceleration of the robot.

[0050] The movement acceleration may be an acceleration that accelerates the movement of the robot, or an acceleration that decelerates the movement of the robot. The movement acceleration of the robot may be determined according to the variation of the ground parameter, and different ground flatnesses correspond to different movement accelerations.

[0051] For example, the more uneven the moving ground is, the slower the robot needs to move. Therefore, the moving acceleration is a negative value, that is, the robot is decelerated to ensure the robot moves smoothly. If the moving ground is a regularly changing ground, such as a ground with many small horizontal / twill stripes, the ground can be considered flat. For regularly changing ground, the robot can accelerate to reduce the shaking of the robot body and ensure the robot moves smoothly.

[0052] Step S1032: Determine a first moving speed of the robot according to the historical moving speed and the moving acceleration.

[0053] The method for calculating the first moving speed of the robot according to the historical moving speed and the moving acceleration can refer to the relevant methods or algorithms in the prior art, which will not be described in detail here. The first moving speed can include linear speed and angular speed.

[0054] Step S104: Control the robot to move at the first moving speed.

[0055] It should be noted that the ground parameter variation can be acquired in real time, and similarly, the first moving speed of the robot can also be adjusted in real time.

[0056] By adopting the above method, the moving speed of the robot can be adjusted in time according to the flatness of the ground on which the robot moves, thereby improving the stability of the robot's movement and ensuring that the normal use of the robot is not affected.

[0057] Considering that the robot has different requirements for the stability of its movement in different scenarios, for example, in a restaurant scenario, the robot needs to deliver dishes to the guest's table smoothly and promptly, so the requirement for the stability of the robot's movement is higher; in a hotel scenario, the robot needs to deliver items to the guest's room quickly, so the requirement for the stability of the robot's movement is lower. Then, in this solution, the robot's movement speed can also be required according to different scenarios.

[0058] Figure 3 is a flow chart of another method for controlling a robot provided by an embodiment of the present disclosure, such as Figure 3 As shown, the method further comprises the following steps:

[0059] Step S301: Acquire an image of the environment in which the robot is located.

[0060] The environment image may be collected by a camera disposed on the robot, and the environment image may be used to reflect the scene information in which the robot is located.

[0061] Step S302: Determine the scene information of the robot according to the environment image.

[0062] The scene information may be a plurality of pre-set scenes, for example, the scene may be a restaurant, a hotel, a business hall, an office, or other scenes.

[0063] Step S303: Determine a target variation range of the ground parameter variation from a plurality of preset variation ranges.

[0064] It should be noted that the multiple preset variation ranges corresponding to different scene information may be the same or different, and may be specifically set according to the requirements for the robot's movement stability in different scenes.

[0065] Step S304: determining a target speed range from a plurality of preset speed ranges through a preset speed correspondence relationship according to the scene information and the target variation range.

[0066] The preset speed correspondence relationship includes the correspondence relationship among scene information, a preset speed range and a preset variation range.

[0067] For example, if the robot is in a restaurant, and there is a relatively uneven ground while the robot is delivering food to guests, in order to ensure that the food delivered by the robot does not spill, the robot needs to slow down in this scenario. Correspondingly, if the robot is in a hotel, and there is a ground with the same flatness as in the above example while the robot is delivering food to guests, in this scenario, the robot has a lower stability requirement, so for the moving ground, in this scenario, the robot can continue to move at a preset speed.

[0068] Accordingly, determining the first moving speed of the robot according to the historical moving speed and the moving acceleration may include:

[0069] The pending moving speed of the robot is determined according to the historical moving speed and the moving acceleration; when the pending moving speed is within the target speed range, the pending moving speed is used as the first moving speed.

[0070] If the pending moving speed is within the target speed range, it indicates that the pending moving speed is the moving speed adapted by the robot for the current moving ground in the scenario. Therefore, the pending moving speed can be used as the first moving speed.

[0071] In addition, when the undetermined moving speed is outside the target speed range, the maximum moving speed in the target speed range is used as the first moving speed.

[0072] If the pending moving speed is outside the target speed range, it indicates that the pending moving speed is a moving speed that is not suitable for the robot for the current moving ground in the scenario. Therefore, the maximum moving speed in the target speed range can be used as the first moving speed.

[0073] Considering that there may be obstacles in the direction of the robot's movement during the robot's movement, it will affect the normal movement of the robot. Figure 4 As shown, in this embodiment, the method may further include the following steps:

[0074] Step S401: Obtain obstacle information of obstacles within a preset distance range of the robot.

[0075] The obstacle information may include the size of the obstacle, the distance between the obstacle and the robot, the sparseness or density of the obstacle, and the height distribution of the obstacle.

[0076] Step S402: sending the scene information and the obstacle information to a cloud server so that the cloud server determines a target moving path from a plurality of moving paths according to the obstacle information and the scene information.

[0077] After receiving the scene information and obstacle information sent by the robot, the cloud server can generate a digital twin scene corresponding to the scene (i.e., perform digital twin virtualization of the scene where the robot is located). In the digital twin scene, a target moving path that can avoid the obstacle is determined from multiple preset moving paths. The target moving path can be a local path in the robot's moving path or a global path in the robot's moving path. The target moving path is sent to the robot so that the robot moves according to the target moving path.

[0078] In addition, the moving speed of the robot to bypass the obstacle and move along the target moving path can be determined based on the curvature of the above-mentioned target moving path, the robot's own gravity, center of gravity, and the preset moving speed range in the scenario, and the robot can move at the moving speed while moving along the target moving path.

[0079] Step S403: Control the robot to move along the target moving path to avoid the obstacle.

[0080] By adopting the above method, the robot's moving speed can be adjusted in time according to the flatness of the ground on which the robot moves, thereby improving the stability of the robot's movement. At the same time, obstacles in the robot's moving direction are judged, and the corresponding target moving path is generated from the cloud server to avoid obstacles, thereby ensuring that the normal use of the robot is not affected.

[0081] Figure 5 is a flow chart of another method for controlling a robot provided by an embodiment of the present disclosure, such as Figure 5 As shown, the method comprises the following steps:

[0082] Step S501: Obtain scene information of the robot.

[0083] The scene information may be determined by an environment image captured by a camera installed on the robot.

[0084] Step S502: Obtain obstacle information of obstacles within a preset distance range of the robot.

[0085] Step S503: sending the scene information and the obstacle information to a cloud server so that the cloud server determines a target moving path from a plurality of moving paths according to the obstacle information and the scene information.

[0086] Step S504: Control the robot to move along the target moving path to avoid the obstacle.

[0087] Step S505: Obtain the change in ground parameters of the ground on which the robot moves during the first historical time period.

[0088] Step S506: Obtain the historical moving speed of the robot in the second historical time period.

[0089] Step S507: Obtain the movement acceleration of the robot through a regularization algorithm according to the change in the ground parameters.

[0090] Step S508: Determine a target variation range of the ground parameter variation from a plurality of preset variation ranges.

[0091] Step S509: determining a target speed range from a plurality of preset speed ranges through a preset speed correspondence relationship according to the scene information and the target variation range.

[0092] Step S510: Determine the pending moving speed of the robot according to the historical moving speed and the moving acceleration.

[0093] Step S511: determine whether the pending moving speed is within the target speed range.

[0094] If the pending moving speed is within the target speed range, executing step S512;

[0095] If the to-be-determined moving speed is outside the target speed range, step S513 is executed.

[0096] Step S512: Use the undetermined moving speed as the first moving speed.

[0097] Step S513: taking the maximum moving speed in the target speed range as the first moving speed.

[0098] Step S514: Control the robot to move at the first moving speed.

[0099] By adopting the above method, the robot's moving speed can be adjusted in time according to the flatness of the ground on which the robot moves, thereby improving the stability of the robot's movement. At the same time, obstacles in the robot's moving direction are judged, and the corresponding target moving path is generated from the cloud server to avoid obstacles, thereby ensuring that the normal use of the robot is not affected.

[0100] Figure 6 is a schematic diagram of the structure of a device for controlling a robot provided by an embodiment of the present disclosure, such as Figure 6 As shown, the device 600 includes:

[0101] A first acquisition module 601 is used to acquire a ground parameter change amount of the ground on which the robot moves within a first historical time period, where the ground parameter change amount is used to characterize the flatness of the moving ground;

[0102] A second acquisition module 602 is used to acquire a historical moving speed of the robot in a second historical time period;

[0103] A first determination module 603 is used to determine a first moving speed of the robot according to the historical moving speed and the ground parameter change;

[0104] The control module 604 is used to control the robot to move at the first moving speed.

[0105] Alternatively, if Figure 7As shown, the first determination module 603 includes:

[0106] The first determination submodule 6031 is used to obtain the movement acceleration of the robot according to the ground parameter change;

[0107] The second determining submodule 6032 is used to determine the first moving speed of the robot according to the historical moving speed and the moving acceleration.

[0108] Optionally, the first determination submodule 6031 is used to obtain the movement acceleration of the robot through a regularization algorithm according to the change in the ground parameter.

[0109] Alternatively, if Figure 8 As shown, the device 600 also includes:

[0110] The third acquisition module 605 is used to acquire an image of the environment in which the robot is located;

[0111] A second determination module 606 is used to determine the scene information of the robot according to the environment image;

[0112] The third determination module 607 is used to determine the target variation range of the ground parameter variation from a plurality of preset variation ranges;

[0113] A fourth determination module 608 is used to determine a target speed range from a plurality of preset speed ranges according to the scene information and the target variation range through a preset speed correspondence relationship; the preset speed correspondence relationship includes a correspondence relationship between the scene information, the preset speed range, and the preset variation range;

[0114] The second determination submodule 6032 is used to determine the robot's pending moving speed based on the historical moving speed and the moving acceleration; when the pending moving speed is within the target speed range, the pending moving speed is used as the first moving speed; when the pending moving speed is outside the target speed range, the maximum moving speed in the target speed range is used as the first moving speed.

[0115] Alternatively, if Fig. 9 As shown, the device 600 also includes:

[0116] A fourth acquisition module 609 is used to acquire obstacle information of obstacles within a preset distance range of the robot;

[0117] A sending module 610, configured to send the scene information and the obstacle information to a cloud server, so that the cloud server determines a target moving path from a plurality of moving paths according to the obstacle information and the scene information;

[0118] The control module 604 is further used to control the robot to move along the target moving path to avoid the obstacle.

[0119] Optionally, the first acquisition module 601 is used to acquire the ground parameter change through a plurality of inertial measurement units IMUs arranged on the robot.

[0120] By adopting the above method, the robot's moving speed can be adjusted in time according to the flatness of the ground on which the robot moves, thereby improving the stability of the robot's movement. At the same time, obstacles in the robot's moving direction are judged, and the corresponding target moving path is generated from the cloud server to avoid obstacles, thereby ensuring that the normal use of the robot is not affected.

[0121] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0122] Fig.10 FIG. 1 is a block diagram of an electronic device 1000 according to an exemplary embodiment. Fig.10 As shown, the electronic device 1000 may include: a processor 1001 and a memory 1002. The electronic device 1000 may also include one or more of a multimedia component 1003, an input / output (I / O) interface 1004, and a communication component 1005.

[0123] The processor 1001 is used to control the overall operation of the electronic device 1000 to complete all or part of the steps in the above-mentioned method for controlling the robot. The memory 1002 is used to store various types of data to support the operation of the electronic device 1000, and these data may include, for example, instructions for any application or method used to operate on the electronic device 1000, and application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The memory 1002 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia component 1003 may include a screen and an audio component. The screen may 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, which is used to receive external audio signals. The received audio signal may be further stored in the memory 1002 or sent through the communication component 1005. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 1004 provides an interface between the processor 1001 and other interface modules, and the above-mentioned other interface modules may be keyboards, mice, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 1005 is used for wired or wireless communication between the electronic device 1000 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 1005 may include: Wi-Fi module, Bluetooth module, NFC module, etc.

[0124] In an exemplary embodiment, the electronic device 1000 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned method of controlling the robot.

[0125] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned method of controlling a robot are implemented. For example, the computer-readable storage medium may be the above-mentioned memory 1002 including program instructions, and the above-mentioned program instructions may be executed by the processor 1001 of the electronic device 1000 to complete the above-mentioned method of controlling a robot.

[0126] Fig.11 is a block diagram of a robot provided by an embodiment of the present disclosure, such as Fig.11 As shown, the robot 1100 includes Fig.10 An electronic device 1000 is shown.

[0127] The preferred embodiments of the present disclosure are 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 technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0128] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0129] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A method for controlling a robot, characterized in that: The method comprises: Acquire a ground parameter change amount of the ground on which the robot moves within a first historical time period, wherein the ground parameter change amount is used to characterize the flatness of the moving ground; Obtaining a historical moving speed of the robot in a second historical time period; Determining a first moving speed of the robot according to the historical moving speed and the ground parameter change; Controlling the robot to move at the first moving speed; Determining the first moving speed of the robot according to the historical moving speed and the ground parameter change includes: According to the ground parameter change, the movement acceleration of the robot is obtained; Determining a first moving speed of the robot according to the historical moving speed and the moving acceleration; The method further comprises: Acquire an image of the environment in which the robot is located; Determine scene information where the robot is located according to the environment image; Determining a target variation range of the ground parameter variation from a plurality of preset variation ranges; According to the scene information and the target variation range, a target speed range is determined from a plurality of preset speed ranges through a preset speed correspondence relationship; the preset speed correspondence relationship includes a correspondence relationship among the scene information, the preset speed range and the preset variation range; Determining the first moving speed of the robot according to the historical moving speed and the moving acceleration comprises: Determining a pending moving speed of the robot according to the historical moving speed and the moving acceleration; When the pending moving speed is within the target speed range, taking the pending moving speed as the first moving speed; When the to-be-determined moving speed is outside the target speed range, the maximum moving speed in the target speed range is used as the first moving speed.

2. The method according to claim 1, characterized in that The obtaining of the movement acceleration of the robot according to the ground parameter variation comprises: According to the variation of the ground parameters, the movement acceleration of the robot is obtained through a regularization algorithm.

3. The method according to claim 1, characterized in that The method further comprises: Obtaining obstacle information of obstacles within a preset distance range of the robot; Sending the scene information and the obstacle information to a cloud server so that the cloud server determines a target moving path from a plurality of moving paths according to the obstacle information and the scene information; The robot is controlled to move along the target moving path to avoid the obstacle.

4. The method according to any one of claims 1 to 3, characterized in that The step of obtaining the ground parameter change amount of the ground on which the robot moves in the first historical time period includes: The ground parameter variation is acquired by using a plurality of inertial measurement units (IMUs) arranged on the robot.

5. A device for controlling a robot, characterized in that: The device comprises: A first acquisition module is used to acquire a ground parameter change amount of the ground on which the robot moves within a first historical time period, wherein the ground parameter change amount is used to characterize the flatness of the moving ground; A second acquisition module is used to acquire a historical moving speed of the robot in a second historical time period; A first determination module, used for determining a first moving speed of the robot according to the historical moving speed and the ground parameter change; A control module, used for controlling the robot to move at the first moving speed; The first determination module includes: a first determination submodule, used to obtain the movement acceleration of the robot according to the ground parameter change; a second determination submodule, used to determine the first movement speed of the robot according to the historical movement speed and the movement acceleration; The device also includes: A third acquisition module is used to acquire an image of the environment in which the robot is located; A second determination module, used to determine scene information where the robot is located according to the environment image; A third determination module is used to determine the target variation range where the ground parameter variation is located from a plurality of preset variation ranges; a fourth determination module, configured to determine a target speed range from a plurality of preset speed ranges according to the scene information and the target variation range through a preset speed correspondence relationship; the preset speed correspondence relationship includes a correspondence relationship among the scene information, the preset speed range, and the preset variation range; The second determination submodule is used to determine the robot's pending moving speed based on the historical moving speed and the moving acceleration; when the pending moving speed is within the target speed range, the pending moving speed is used as the first moving speed; when the pending moving speed is outside the target speed range, the maximum moving speed in the target speed range is used as the first moving speed.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method for controlling a robot according to any one of claims 1 to 4 are implemented.

7. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method for controlling a robot according to any one of claims 1 to 4.

8. A robot, characterized in that: The electronic device comprising the electronic device described in claim 7 above.

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