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

Abstract

The embodiments of the present application relate to the field of robots, and disclose a mobile control method, device, electronic device and storage medium for a robot. The method includes: controlling the robot to move according to the map information obtained by the scanning device; wherein, the map information includes markings of the positions of obstacles, and the markings are used to indicate whether the positions are movable obstacle positions; if the positioning of the robot is lost, and it is determined according to the markings that the lost position is in a movable obstacle position, then clear the movable obstacle position where the lost position is located in the map information, and obtain the positioning information of the robot according to the cleared map information to perform the mobile control of the robot. The embodiments of the present application can avoid the influence of movable obstacles on the positioning of the robot and facilitate the better movement of the robot.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a method, device, electronic device and storage medium for controlling the movement of a robot. Background Art

[0002] Relying on artificial intelligence technology, the application scenarios and service models of robots are constantly expanding, but there are still many aspects of existing robots that need to be improved. At present, the map on which the robot moves needs to be scanned first by a lidar or a 3D depth image camera, and then the robot returns to the charging pile before the map can be built according to the just-scanned data. However, during the map-building process, all the recognized information is often put into the map, which easily affects the positioning of the robot in the map, resulting in the loss of the robot's positioning and making the robot unable to move reasonably. Summary of the Invention

[0003] The purpose of the present invention is to solve the above problems, and to provide a method, device, electronic device and storage medium for controlling the movement of a robot, so as to avoid the influence of movable obstacles on the positioning of the robot and facilitate the better movement of the robot.

[0004] To solve the above problems, an embodiment of the present application provides a method for controlling the movement of a robot, including: controlling the movement of the robot according to the map information obtained by a scanning device; wherein the map information includes marks of the positions of obstacles, and the marks are used to indicate whether the positions are positions of movable obstacles; if the positioning of the robot is lost and it is determined according to the marks that the lost position is at a position of a movable obstacle, then clear the position of the movable obstacle where the lost position is located in the map information, and obtain the positioning information of the robot according to the cleared map information to perform the movement control of the robot. To solve the above problems, an embodiment of the present application provides a device for controlling the movement of a robot, including: a movement control module, configured to control the movement of the robot according to the map information obtained by a scanning device; wherein the map information includes marks of the positions of obstacles, and the marks are used to indicate whether the positions are positions of movable obstacles; a clearing module, configured to clear the position of the movable obstacle where the lost position is located in the map information if the positioning of the robot is lost and it is determined according to the marks that the lost position is at a position of a movable obstacle; the movement control module is further configured to obtain the positioning information of the robot according to the cleared map information to perform the movement control of the robot after the clearing module clears the position of the movable obstacle where the lost position is located.

[0005] To solve the above problems, an embodiment of the present application further provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the above-mentioned mobile control method of the robot.

[0006] To solve the above problems, an embodiment of the present application further provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the above-mentioned mobile control method of the robot is implemented.

[0007] In an embodiment of the present application, by marking the positions of movable obstacles in the map information, and when the robot loses its position at the position of the movable obstacle, clearing the position of the movable obstacle where the robot is located in the map information. Since the positioning interference of the movable obstacle to the robot is cleared, the influence of the movable obstacle on the robot positioning can be avoided and eliminated. Finally, the positioning of the robot is obtained through the map information, so as to achieve the purpose of better controlling the movement of the robot.

[0008] In addition, during the process of controlling the robot to move, if it is detected that the robot is in a specific area marked as the position of the movable obstacle, then N sensors are turned on; according to the detection data of the N sensors, the movement of the robot is assisted to be controlled. Turning on N sensors in the movable obstacle area can have a more accurate positioning of the obstacle, ensuring that the robot can smoothly avoid the movable obstacle during the movement.

[0009] In addition, the map information is obtained in the following manner: turning on a map scanning device to scan the map, and generating map information according to the scanning data; wherein, the obstacles detected during the scanning are identified as to whether they are movable obstacles; in the generated map information, marks are set for the positions of the detected obstacles according to the results of the identification, and the marks are used to indicate whether the positions are the positions of movable obstacles. By identifying whether the obstacles are movable obstacles, the robot can be indicated whether the current position is the position of a movable obstacle when moving.

[0010] In addition, identify whether the obstacles detected during the map scanning process are movable obstacles, including one or any combination of the following detection methods: Through an image recognition algorithm, perform image recognition on the detected obstacles and determine whether the obstacles are movable obstacles based on the image recognition results; perform infrared temperature detection on the detected obstacles and determine whether the obstacles are movable obstacles based on the infrared temperature detection results; perform multiple position detections on the detected obstacles, and determine whether the obstacles move based on the multiple position detection results. If they move, determine that the obstacles are movable obstacles. Through multiple identification methods, identify whether the obstacles are movable obstacles from different aspects, making the identification results more accurate.

[0011] In addition, obtain the positioning information of the robot according to the cleared map information, including: The robot continues to scan the map to obtain new scan data; determine whether the new scan data matches the cleared map information; if it matches, obtain the positioning information of the robot from the map information. When the robot loses its position at the location of the movable obstacle, by obtaining the nearby scan data and comparing it with the map information to determine whether the current scan data matches the map information, the robot's positioning is re-obtained, and the current position is obtained in a timely manner through other information, avoiding keeping the robot in a state of long-term positioning loss.

[0012] In addition, when a movable obstacle is detected, a prompt voice is emitted, and the prompt voice is used to prompt the movable obstacle to actively avoid. When the robot encounters a movable obstacle, it actively emits a sound to remind the movable obstacle to actively avoid, making the map scanning and movement process of the robot smoother. Description of the Drawings

[0013] Figure 1 is a flowchart of the mobile control method of the robot provided by an embodiment of the present application;

[0014] Figure 2 is a flowchart of the robot's map scanning in the mobile control method of the robot provided by an embodiment of the present application;

[0015] Figure 3 is a schematic structural diagram of the mobile control device of the robot provided by an embodiment of the present application;

[0016] Figure 4 is a schematic structural diagram of the electronic device provided by an embodiment of the present application. Detailed Embodiments

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will elaborate on each implementation manner of this application in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that in each implementation manner of this application, many technical details are presented to help readers better understand this application. However, even without these technical details and various changes and modifications based on the following implementation manners, the technical solutions claimed in this application can still be implemented.

[0018] An embodiment of this application relates to a method for controlling the movement of a robot, including: controlling the movement of the robot according to the map information obtained by a mapping device; where the map information includes markings of obstacle positions, and the markings are used to indicate whether the position is a movable obstacle position; if the positioning of the robot is lost and it is determined according to the markings that the lost position is at a movable obstacle position, then clear the movable obstacle position where the lost position is located in the map information, and obtain the positioning information of the robot according to the cleared map information to perform the movement control of the robot.

[0019] The following specifically describes the implementation details of the method for controlling the movement of the robot in this embodiment. The following content is only for facilitating the understanding of the implementation details of this solution and is not necessary for implementing this solution. The specific process is as Figure 1 shown and may include the following steps:

[0020] In step 101, control the movement of the robot according to the map information obtained by the mapping device; where the map information includes markings of obstacle positions, and the markings are used to indicate whether the position is a movable obstacle position; in addition, the mapping device includes one or any combination of the following: lidar sensors, 3D depth cameras, RGB cameras, and ultrasonic devices.

[0021] In one example, the map information is obtained in the following manner: the robot turns on the mapping device to perform mapping, and generates map information according to the obtained mapping data. Among them, identify whether the obstacles detected during the mapping are movable obstacles; in the generated map information, the robot sets markings for the detected obstacle positions according to the identification results, and the markings are used to indicate whether the position is a movable obstacle position. For example, when the robot detects obstacles such as a house and an animal during mapping, identify the above-mentioned obstacles of the house and the animal, and detect that the house is not a movable obstacle and the animal is a movable obstacle. In order to distinguish the areas where the two types of obstacles are located in the map information, the robot marks the map information of the position where the house is located as blue and marks the map information of the position where the animal is located as red.

[0022] It is worth mentioning that the robot can identify whether an obstacle is a movable obstacle and mark and distinguish the positions of the obstacles, so that when the robot moves, it can be indicated whether the current position is the position of a movable obstacle.

[0023] In one example, during the movement of the robot, if the robot detects that the current position is marked with the mark of the position of a movable obstacle, the robot turns on more sensors, such as lidar sensors, 3D depth cameras, RGB cameras, ultrasonic devices, etc. The data detected by the above multiple sensors can assist the robot to move more smoothly.

[0024] It is worth mentioning that by turning on multiple sensors, the robot can obtain more information about the current movable obstacles, which is more convenient for the robot to move.

[0025] In one example, there are multiple methods for the robot to identify whether an obstacle is a movable obstacle, including: through an image recognition algorithm, performing image recognition on the detected obstacle and judging whether the obstacle is a movable obstacle according to the image recognition result; detecting the infrared temperature of the detected obstacle and judging whether the obstacle is a movable obstacle according to the infrared temperature detection result; performing multiple position detections on the detected obstacle, and judging whether the obstacle moves according to the results of the multiple position detections. If it moves, it is determined that the obstacle is a movable obstacle. The above various methods for identifying whether an obstacle is a movable obstacle can be used alone or in combination.

[0026] For example, through an image recognition algorithm, performing image recognition on the detected obstacle and judging whether the obstacle is a movable obstacle according to the image recognition result can be specifically as follows: First, collect the image, and then preprocess the collected image, such as performing operations such as denoising, smoothing, and transformation on the image to strengthen the important features of the image. Then, perform feature extraction and selection. Since we use an image recognition algorithm to identify movable obstacles, we select features suitable for distinguishing whether it is a movable obstacle from numerous features. Finally, use a classifier and classification decision to identify the movable obstacle. Among them, classifier design refers to obtaining an identification rule through training. Through this identification rule, a feature classification can be obtained, enabling the image recognition technology to achieve a high recognition rate. Classification decision refers to classifying the object to be recognized in the feature space, so as to better identify which category the object under study specifically belongs to.

[0027] For example, the infrared temperature detection of the detected obstacle and judging whether the obstacle is a movable obstacle according to the infrared temperature detection result can be specifically as follows: The infrared temperature sensor measures the electromagnetic radiation emitted by the recognized obstacle, and the electromagnetic wavelength of the radiation changes with the temperature of the object being measured. The infrared temperature sensor measures the electromagnetic wavelength of the radiation emitted by the object being measured, so as to obtain the temperature of the object being measured itself.

[0028] In one example, the robot can use any recognition method to recognize whether the obstacle is a movable obstacle, or can combine multiple recognition methods to improve the recognition accuracy of the movable obstacle and reduce the misjudgment rate. That is to say, the robot first uses an obstacle recognition method to recognize the current obstacle. In order to make the recognition result more accurate, another recognition method or multiple recognition methods are used to perform secondary recognition on the obstacle. If the result of the secondary recognition also indicates that the current obstacle is a movable obstacle, then the robot sets a mark at the position of the movable obstacle. For example, under room temperature conditions, the robot uses infrared temperature to detect the current obstacle and detects that the temperature of the current obstacle is higher than the ambient temperature. Then, from the recognition result, it can be known that the current obstacle is a kind of living being, that is, a movable obstacle. In order to make the recognition result more accurate, the computer uses an image recognition algorithm to perform secondary recognition on the current obstacle. Through the image recognition algorithm, it is recognized that the current obstacle is a dog, that is, a movable obstacle. Then the robot finally determines that the current obstacle is a movable obstacle.

[0029] It is worth mentioning that the robot performs multiple recognitions on the obstacle through multiple recognition methods, and recognizes whether the obstacle is a movable obstacle from different aspects, making the recognition result more accurate.

[0030] In step 102, if the positioning of the robot is lost and it is determined according to the mark that the lost position is at the position of the movable obstacle, then the position of the movable obstacle where the lost position is located is cleared in the map information, and the positioning information of the robot is obtained according to the cleared map information to perform the movement control of the robot.

[0031] In one example, when the robot's positioning is lost at the position of the movable obstacle, the robot clears the position information of the movable obstacle in the map information, and obtains the positioning information of the robot according to the cleared map information, so as to realize the movement control of the robot.

[0032] Specifically, when the robot's positioning is lost at the position of the movable obstacle, the robot clears the above-mentioned position of the movable obstacle in the map information, and uses a scanning device to scan the nearby area to obtain scanning data. A local map information is generated according to the obtained scanning data, and the local map information is matched with the cleared map information. If the matching is successful, the positioning information of the current position of the robot is obtained according to the map information.

[0033] In one example, the current map information includes a movable obstacle, a chair, and an immovable obstacle, a table. Since the chair has moved, the robot loses its position at the location of the chair. At this time, the robot clears the information about the position of the chair in the map information. The cleared map information still includes the immovable obstacle, the table. The robot obtains scan data through a scanning device and generates local map information based on the obtained scan data. Since the immovable obstacle, the table, will not be cleared, the generated local map information includes the table. The robot matches the local map information with the map information from which the position of the chair has been cleared. Since the local map information and the cleared map information both include the same position of the table, the position of the table in the local map information matches the position of the table in the cleared map information. Using the position of the table as a reference position, the current positioning information of the robot can be obtained.

[0034] In one example, when the robot detects a movable obstacle, it emits a prompt sound to indicate that the movable obstacle should make way in time. For example, when the robot detects a movable obstacle, a person, while moving, the robot emits a voice prompt of "Please make way".

[0035] It is worth mentioning that by actively emitting a sound to remind the movable obstacle to make way, it is beneficial for the scanning and movement processes of the robot to be smoother.

[0036] To make the implementation process of the mobile control method of the robot provided by this application clearer, next, a specific example is used to specifically illustrate the implementation steps of the robot scanning process. The specific process is as Figure 2 shown:

[0037] In step 201, the scanning device is turned on to start scanning.

[0038] In step 202, it is identified whether the detected obstacle is a movable obstacle.

[0039] In step 203, when the identified obstacle is a static obstacle, the map information of the position of the static obstacle is marked blue.

[0040] In step 204, when the identified obstacle is a movable obstacle, the robot rotates around this obstacle, turns on multiple scanning devices to obtain more data, and marks the map information of the position of the movable obstacle red.

[0041] In an embodiment of the present application, by identifying movable obstacles during the map scanning process and marking the positions of the movable obstacles, the robot can determine whether the current position is a position of a movable obstacle during movement. Thus, when the robot's positioning is lost, the robot can timely clear the information of the movable obstacle position and re-position the robot through other information, avoiding the long-term positioning loss of the robot caused by the movement of the movable obstacle, eliminating the interference of the movable obstacle on the robot's positioning, enabling the robot to move better, and improving the user experience.

[0042] The step division of the above various methods is only for clear description. During implementation, they can be combined into one step or some steps can be split into multiple steps. As long as the same logical relationship is included, they are all within the protection scope of this patent; adding insignificant modifications or introducing insignificant designs to the algorithm or process, but not changing the core design of its algorithm and process, are all within the protection scope of this patent.

[0043] An embodiment of the present application relates to a mobile control device for a robot, as Figure 3 shown, including: a mobile control module 301 and a clearing module 302.

[0044] Specifically, the mobile control module 301 is used to control the movement of the robot according to the map information obtained through the map scanning device; wherein, the map information includes markings of the areas where obstacles are located, and the markings are used to indicate whether the area is an area where a movable obstacle is located; the clearing module 302 is used to, if the positioning of the robot is lost and it is determined according to the markings that the lost position is in the area where a movable obstacle is located, clear the area where the movable obstacle is located at the lost position in the map information; the mobile control module is further used to, after the clearing module clears the area where the movable obstacle is located at the lost position, obtain the positioning information of the robot according to the cleared map information and perform the movement control of the robot.

[0045] In an example, the mobile control device of the robot further includes a map scanning module (not shown in the figure). The above map information is obtained through the map scanning module. The map scanning module turns on the map scanning device to perform map scanning, generates map information according to the obtained map scanning data. Among them, it identifies whether the detected obstacles during the map scanning process are movable obstacles; in the generated map information, the map scanning module sets markings for the positions of the detected obstacles according to the identification results, and the markings are used to indicate whether the position is a position of a movable obstacle.

[0046] In one example, there are multiple methods for the scanning module to identify whether an obstacle is a movable obstacle, including: through an image recognition algorithm, performing image recognition on the detected obstacle and judging whether the obstacle is a movable obstacle according to the image recognition result; detecting the infrared temperature of the detected obstacle and judging whether the obstacle is a movable obstacle according to the infrared temperature detection result; performing multiple position detections on the detected obstacle and judging whether the obstacle has moved according to the results of the multiple position detections. If it has moved, it is determined that the obstacle is a movable obstacle. The above various methods for identifying whether an obstacle is a movable obstacle can be used alone or in combination.

[0047] In one example, the scanning module first uses an obstacle recognition method to identify the current obstacle. To make the recognition result more accurate, another or multiple recognition methods are used to perform secondary recognition on the obstacle. If the result of the secondary recognition also indicates that the current obstacle is a movable obstacle, then the robot sets a mark on the position of the above movable obstacle. For example, under room temperature conditions, the robot uses infrared temperature to detect the current obstacle and detects that the temperature of the current obstacle is higher than the ambient temperature. Then, through the recognition result, it can be known that the current obstacle is a living being, that is, a movable obstacle. To make the recognition result more accurate, the computer uses an image recognition algorithm to perform secondary recognition on the current obstacle. Through the image recognition algorithm, it is recognized that the current obstacle is a dog, that is, a movable obstacle. Then the robot finally determines that the current obstacle is a movable obstacle.

[0048] In one example, when the robot loses its position in the movable obstacle area, the clearing module 302 clears the position information of the movable obstacle in the map information, and the movement control module 301 obtains the positioning information of the robot according to the cleared map information, so as to realize the movement control of the robot. Specifically, when the robot loses its position at the position of the movable obstacle, the clearing module 302 clears the position of the above movable obstacle in the map information, and scans the nearby area through the scanning device to obtain scanning data. A local map information is generated according to the obtained scanning data, and the local map information is matched with the cleared map information. If the matching is successful, the positioning information of the current position of the robot is obtained according to the map information.

[0049] In the embodiments of the present application, by identifying movable obstacles during the map scanning process and marking the positions of the movable obstacles, the robot can determine whether the current area where it is located is the position of a movable obstacle during movement. Thus, when the robot loses its positioning, the robot can timely clear the position information of the movable obstacles and re-position the robot through other information in the map information, avoiding the robot losing its positioning for a long time due to the movement of the movable obstacles, eliminating the interference of the movable obstacles on the robot's positioning, enabling the robot to move better, and improving the user experience.

[0050] It is not difficult to find that this embodiment is the corresponding apparatus embodiment of the above-mentioned method embodiment for controlling the movement of the robot, and this embodiment can be implemented in cooperation with the above-mentioned method embodiment for controlling the movement of the robot. The relevant technical details mentioned in the above-mentioned method embodiment for controlling the movement of the robot are still valid in this embodiment. To avoid repetition, they will not be elaborated here. Correspondingly, the relevant technical details mentioned in this embodiment can also be applied in the above-mentioned method embodiment for controlling the movement of the robot.

[0051] It is worth mentioning that each module involved in the above-mentioned embodiments of the present application is a logical module. In practical applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, to highlight the innovative part of the present application, units that are not closely related to solving the technical problems proposed in the present application are not introduced in this embodiment, but this does not mean that there are no other units in this embodiment.

[0052] The embodiments of the present application also provide an electronic device, as Figure 4 shown, including at least one processor 401; and a memory 402 communicatively connected to the at least one processor 401; wherein, the memory 402 stores instructions executable by the at least one processor 401, and the instructions are executed by the at least one processor 401 to enable the at least one processor to execute the above-mentioned method for controlling the movement of the robot.

[0053] Among them, the memory and the processor are connected in a bus manner. The bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors and memories together. The bus may also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and thus will not be further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be a component or multiple components, such as multiple receivers and transmitters, and provides a unit for communicating with various other devices on the transmission medium. The data processed by the processor is transmitted on the wireless medium through the antenna. Further, the antenna also receives data and transmits the data to the processor.

[0054] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interface, voltage regulation, power management, and other control functions. The memory can be used to store the data used by the processor when executing operations.

[0055] The above product can execute the method provided by the embodiment of the present application, and has the corresponding functional modules and beneficial effects for executing the method. For the technical details not described in detail in this embodiment, reference can be made to the method provided by the embodiment of the present application.

[0056] The embodiment of the present application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by the processor, the above method embodiment is implemented.

[0057] Those skilled in the art can understand that all or part of the steps in implementing the above method embodiment can be completed by instructing relevant hardware through a program. The program is stored in a storage medium and includes several instructions for causing a device (which may be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0058] The above embodiments are provided for those of ordinary skill in the art to implement and use the present application. Those of ordinary skill in the art can make various modifications or changes to the above embodiments without departing from the inventive concept of the present application. Therefore, the protection scope of the present application is not limited by the above embodiments, but should conform to the maximum scope of the innovative features mentioned in the claims.

Claims

1. A mobile control method for a robot, characterized in that, Including: Controlling the movement of the robot according to the map information obtained by the mapping device; wherein, the map information includes markings of obstacle positions, and the markings are used to indicate whether the positions are movable obstacle positions; If the positioning of the robot is lost and it is determined according to the markings that the lost position is at a movable obstacle position, then clear the movable obstacle position where the lost position is located in the map information, and obtain the positioning information of the robot according to the cleared map information to perform the movement control of the robot; The map information is obtained in the following manner: Turn on the mapping device to perform mapping, and generate map information according to the mapping data; wherein, identify whether the obstacles detected during the mapping are movable obstacles; in the generated map information, set markings for the detected obstacle positions according to the identification results, and the markings are used to indicate whether the positions are movable obstacle positions; Obtaining the positioning information of the robot according to the cleared map information includes: The robot continues to perform mapping to obtain new mapping data; determine whether the new mapping data matches the cleared map information; if it matches, obtain the positioning information of the robot from the map information.

2. The mobile control method for a robot according to claim 1, characterized in that, Also including: During the process of controlling the movement of the robot, if it is detected that the robot is in a specific area marked as a movable obstacle position, then turn on N sensors; Assist in controlling the movement of the robot according to the detection data of the N sensors.

3. The mobile control method for a robot according to claim 1, characterized in that, The identification of whether the obstacles detected during the mapping are movable obstacles includes one or any combination of the following detection methods: Through an image recognition algorithm, perform image recognition on the detected obstacles and judge whether the obstacles are movable obstacles according to the image recognition results; Perform infrared temperature detection on the detected obstacles and judge whether the obstacles are movable obstacles according to the infrared temperature detection results; Perform multiple position detections on the detected obstacles, judge whether the obstacles move according to the multiple position detection results, and if they move, determine that the obstacles are movable obstacles.

4. The mobile control method for a robot according to any one of claims 1 to 3, characterized in that, Also including: When a movable obstacle is detected, emit a prompt voice, and the prompt voice is used to prompt the movable obstacle to perform active avoidance.

5. A mobile control device for a robot, characterized in that, Including: A movement control module for controlling the movement of the robot according to the map information obtained by the mapping device; wherein, the map information includes markings of obstacle positions, and the markings are used to indicate whether the positions are movable obstacle positions; the map information is obtained in the following manner: Turn on the mapping device to perform mapping, and generate map information according to the mapping data; wherein, identify whether the obstacles detected during the mapping are movable obstacles; in the generated map information, set markings for the detected obstacle positions according to the identification results, and the markings are used to indicate whether the positions are movable obstacle positions; A clearing module, configured to clear the position of the movable obstacle where the lost position is located in the map information if the positioning of the robot is lost and it is determined according to the mark that the lost position is at the position of the movable obstacle; The movement control module is further configured to, after the clearing module clears the position of the movable obstacle where the lost position is located, obtain the positioning information of the robot according to the cleared map information, and perform movement control of the robot; the obtaining of the positioning information of the robot according to the cleared map information includes: the robot continues to scan the map to obtain new scan data; determining whether the new scan data matches the cleared map information; if it matches, obtaining the positioning information of the robot from the map information.

6. An electronic device, characterized in that, Comprising: At least one processor; And, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the movement control method of the robot according to any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the movement control method of the robot according to any one of claims 1 to 4.

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