Robot and its moving speed control method, device and storage medium

Abstract

The present application relates to the field of robots, and proposes a robot and a method, device and storage medium for controlling the movement speed thereof. The method comprises: determining a reference force for preventing the robot from colliding; determining a reference speed of the robot generated by the reference force according to the reference force, and determining the expected acceleration of the robot according to the reference force and the control force of the robot; determining the expected speed of the robot according to the reference speed of the robot and the expected acceleration of the robot, and controlling the movement of the robot according to the expected speed. This enables the robot to decelerate smoothly and steadily, improves the reliability of the robot when moving in actual scenarios, and improves the safety of the robot's human-machine interaction.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to a robot and a moving speed control method, device and storage medium thereof. Background Art

[0002] During the movement of the robot, an autonomous navigation solution is usually used to plan a path for the robot based on the location of obstacles detected by the robot, avoid collision between the robot and obstacles, and achieve autonomous protection of the robot.

[0003] However, when the robot's autonomous navigation system fails, for example, the robot's planned path is wrong, or the robot's autonomous navigation algorithm has an operational failure, it may cause the robot to collide with obstacles, which is not conducive to ensuring the safe interaction between the robot and the environment. Summary of the invention

[0004] In view of this, an embodiment of the present application provides a robot and its moving speed control method, device and storage medium to solve the problem in the prior art that when the robot's autonomous navigation fails, the robot may collide with obstacles, which is not conducive to ensuring the safe interaction between the robot and the environment.

[0005] A first aspect of an embodiment of the present application provides a method for controlling the movement speed of a robot, the method comprising:

[0006] determining a reference force for preventing the robot from colliding;

[0007] Determine a reference speed of the robot generated by the reference force according to the reference force, and determine a desired acceleration of the robot according to the reference force and the control force of the robot;

[0008] The desired speed of the robot is determined according to the reference speed of the robot and the desired acceleration of the robot, and the movement of the robot is controlled according to the desired speed.

[0009] In combination with the first aspect, in a first possible implementation manner of the first aspect, determining a reference force for preventing the robot from colliding includes:

[0010] Obtaining distance information between obstacles in the scene where the robot is located and the robot;

[0011] Determining a reference force for preventing the robot from colliding according to distance information between the obstacle and the robot;

[0012] Alternatively, a protective cover is arranged in front of the robot, the protective cover is connected to the robot via a spring, and the reference force is determined by the force detected by the protective cover.

[0013] In combination with the first aspect, in a second possible implementation manner of the first aspect, obtaining distance information between an obstacle in a scene where the robot is located and the robot includes:

[0014] Detecting the distance information between the obstacle and the robot by a distance sensor;

[0015] Alternatively, a protective cover is provided in front of the robot, the protective cover is connected to the robot via a spring, and the distance between the protective cover and the robot is detected by a linear potentiometer as the distance between the obstacle and the robot.

[0016] In combination with the first aspect, in a third possible implementation manner of the first aspect, determining, according to distance information between the obstacle and the robot, a reference force for preventing the robot from colliding includes:

[0017] According to the reference force calculation formula:

[0018]

[0019] , determine the reference force used to prevent the robot from colliding, where f s is the reference force, k s is the predetermined spring damping parameter, l d is the predetermined safety distance threshold, l s To measure distance.

[0020] In combination with the first aspect, in a fourth possible implementation manner of the first aspect, determining the expected acceleration of the robot according to the reference force and the control force of the robot includes:

[0021] Constructing a spring damping model of the robot according to the reference force and control force of the robot;

[0022] Based on the robot spring-damper model, a desired acceleration of the robot is determined.

[0023] In combination with the first aspect, in a fifth possible implementation manner of the first aspect, determining a reference speed of the robot generated by the reference force according to the reference force includes:

[0024] Taking the reference force of the robot as a quotient of the mass of the robot to obtain the reference acceleration of the robot at different times;

[0025] The reference acceleration of the robot is integrated with time to obtain the reference speed of the robot at different times.

[0026] In combination with the first aspect, in a sixth possible implementation manner of the first aspect, determining the expected speed of the robot according to the reference speed of the robot and the expected acceleration of the robot includes:

[0027] According to the formula:

[0028] v d (k+1)=v d (k)+v r (k)+a(k)t

[0029] Determine the desired speed of the robot, where k represents the number of steps and v d represents the expected speed, v r represents the reference speed, a represents the robot acceleration, and t represents a step time.

[0030] A second aspect of an embodiment of the present application provides a robot movement speed control device, the device comprising:

[0031] a reference force determination unit, used to determine a reference force for preventing the robot from colliding;

[0032] an acceleration determination unit, configured to determine a reference speed of the robot generated by the reference force according to the reference force, and determine a desired acceleration of the robot according to the reference force and a control force of the robot;

[0033] The expected speed determination unit is used to determine the expected speed of the robot according to the reference speed of the robot and the expected acceleration of the robot, and control the movement of the robot according to the expected speed.

[0034] A third aspect of an embodiment of the present application provides a robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in any one of the first aspects when executing the computer program.

[0035] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in any one of the first aspects are implemented.

[0036] The beneficial effects of the embodiments of the present application compared with the prior art are as follows: the embodiments of the present application determine the size of the reference force required to prevent the robot from colliding, obtain the reference speed of the robot and the expected acceleration of the robot based on the determined reference force, fuse the actual speed of the robot and the speed change caused by the acceleration, determine the expected speed of the robot, and decelerate the robot according to the expected speed, so that the robot can decelerate smoothly and steadily, thereby improving the reliability of the robot when moving in actual scenarios and improving the safety of human-computer interaction of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0038] Figure 1 It is a schematic diagram of the implementation flow of a method for controlling the movement speed of a robot provided in an embodiment of the present application;

[0039] Figure 2 is a schematic diagram of a robot model provided in an embodiment of the present application;

[0040] Figure 3 is a schematic diagram of a robot model provided in an embodiment of the present application;

[0041] Figure 4 is a schematic diagram of an impedance control model constructed by a robot provided in an embodiment of the present application;

[0042] Figure 5 is a schematic diagram of a robot movement speed control device provided in an embodiment of the present application;

[0043] Figure 6 It is a schematic diagram of the robot provided in the embodiment of the present application. DETAILED DESCRIPTION

[0044] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0045] In order to illustrate the technical solution described in this application, a specific embodiment is provided below for illustration.

[0046] The autonomous navigation system can help the robot automatically identify obstacles in the scene and plan the path according to the established scene map, so that the robot can intelligently complete the tasks required, including mopping the floor, delivering meals, etc. However, in some cases, the autonomous navigation system may fail unexpectedly. When the autonomous navigation system fails, the robot may move to the obstacle at a faster speed, causing the robot to collide with obstacles such as people or objects in the scene, making it impossible to ensure the safe interaction between the robot and the environment, which is not conducive to improving the reliability of the robot's operation.

[0047] Based on this, the present application embodiment proposes a method for controlling the movement speed of a robot, such as Figure 1 As shown, the robot's moving speed control method includes:

[0048] In S101 , a reference force for preventing the robot from colliding is determined.

[0049] The reference force described in the embodiments of the present application is the force generated when the robot is prevented from colliding with an obstacle. The direction of the force is generally opposite to the direction of movement of the robot. In order to prevent the robot from colliding with an obstacle and to ensure that the robot is in a stable operating state and does not fall over due to excessive speed changes, it is necessary to obtain a reference force that changes with the robot's moving speed.

[0050] In a possible implementation, a distance sensor may be provided on the robot to detect the distance between the robot and the obstacle in the moving direction of the robot through the distance sensor. If the distance between the robot and the obstacle is greater than or equal to a predetermined safety distance threshold, it is not necessary to generate a reference force, that is, the reference force may be 0.

[0051] When the distance between the robot and the obstacle is less than a predetermined safety distance threshold, the robot can be s =k s (l d -l s ), determine the reference force of the robot. Where, f s is the reference force, k s is the predetermined spring damping parameter, l d is the predetermined safety distance threshold, l s To measure distance.

[0052] The spring damping parameter can be determined according to the moving speed of the robot when the distance between the robot and the obstacle is equal to a preset safety distance threshold. When the speed of the robot is faster at this position, the spring damping parameter can be increased accordingly. The corresponding relationship between the moving speed of the robot and the spring damping parameter can be preset, and the moving speed of the robot is detected when the robot is at a predetermined safety distance threshold, and the spring damping parameter of the robot is determined according to the detected moving speed of the robot. The spring damping parameter can be determined based on statistical results.

[0053] When the distance sensor is used to detect the distance between the robot and the obstacle, the reference force of the robot can be expressed as:

[0054]

[0055] When detecting the distance between the robot and the obstacle, any one or more distance sensors such as ultrasonic distance sensors and infrared distance sensors may be used. The distance sensors may be arranged in front of the robot at certain intervals. For example Figure 2 In the schematic diagram of the distance sensor setting of the robot shown, a distance sensor 202 is set in front of the robot 201, and a distance sensor 202 is set on the left and right sides of the front respectively, for detecting obstacles in front, left front and right front.

[0056] In a possible implementation, when determining the reference force in the embodiment of the present application, it can be as follows: Figure 3 As shown in the schematic diagram of the robot model shown in FIG. 1 , a protective cover 203 is installed in front of the robot 201, and the protective cover 203 is connected to the body of the robot 201 through a spring 204. A distance sensor, such as a linear potentiometer, can be set between the protective cover 203 and the body of the robot 201 to detect the change in the distance between the protective cover and the robot body. Based on the detected change in distance, according to the formula:

[0057] f s =k s (l d -l s )

[0058] Determine the corresponding relationship between the robot's reference force and the distance. s is the reference force, k s is the predetermined spring damping parameter, l d is the predetermined safety distance threshold, l s To measure distance.

[0059] In a possible implementation, the reference force may also be detected by a pressure sensor. Figure 3 In the schematic diagram of the robot model shown, a protective cover is provided in front of the robot, the protective cover is connected to the robot body through a spring, and a pressure sensor is provided on the front surface of the protective cover. When an obstacle contacts the protective cover, the obstacle will exert pressure on the surface of the protective cover. As the spring deformation increases, the pressure value gradually increases, and the pressure value can be used as the reference force of the robot, and the corresponding relationship between the reference force and time can be recorded.

[0060] In order to improve the accuracy of the reference force, the size and change of the corresponding reference force are different for robots of different mass sizes and robots of different moving speeds. The change relationship of the reference force corresponding to robots of different mass at different moving speeds can be determined statistically.

[0061] After the reference force of the robot is determined, in an ideal situation, the robot can decelerate smoothly according to the change relationship of the determined reference force, and can avoid collision with obstacles. However, the actual situation may deviate from the ideal situation, such as the terrain of movement, the difference in the friction coefficient of the ground, etc., which will make the robot deceleration process different from the ideal process. Based on this, the present application can calculate the ideal robot movement speed according to the determined reference force, and control the robot movement based on the determined movement speed.

[0062] In S102, a reference speed of the robot generated by the reference force is determined according to the reference force, and a desired acceleration of the robot is determined according to the reference force and the control force of the robot.

[0063] In the embodiment of the present application, since the magnitude of the reference force of the robot changes over time, the change of the reference force will also cause the acceleration of the robot generated by the reference force to change. The reference acceleration of the robot can be determined based on the reference force, that is, the reference acceleration is the acceleration generated by the reference force (generated in the absence of other forces). For example, the magnitude of the reference acceleration can be determined based on the ratio of the reference force to the mass of the robot. When determining the reference speed of the robot, the reference acceleration can be integrated over time to obtain the reference speed of the robot.

[0064] When determining the expected acceleration of the robot, an impedance control model based on external forces can be constructed, such as Figure 4 As shown, in the impedance control model, k is the elastic coefficient, b is the damping coefficient, m is the mass of the robot, and x is the displacement in the direction of robot movement.

[0065] According to the impedance control model, we can get:

[0066]

[0067] Among them, x c is the displacement caused by the robot control force, x r is the reference displacement produced by the reference force, f c is the control force, f r is the reference force, k is the elastic coefficient, b is the damping coefficient, m is the mass of the robot, is the second derivative of the displacement caused by the control force, is the first derivative of the displacement caused by the control force, The quadratic solution of the displacement produced by the reference force is, is the first derivative of the displacement due to the reference force.

[0068] When the damping coefficient and elastic coefficient are 0, the expected acceleration can be solved as: a = (f c -f r ) / m.

[0069] In S103, the expected speed of the robot is determined according to the reference speed of the robot and the expected acceleration of the robot, and the movement of the robot is controlled according to the expected speed.

[0070] Among them, the expected speed of the robot can be expressed as:

[0071] v d (k+1)=v d (k)+v r (k)+a(k)t

[0072] Among them, k represents the number of steps, v d represents the expected speed, v r represents the reference speed, a represents the robot acceleration, and t represents a step time.

[0073] That is, the expected speed at step k can be obtained based on the expected speed at step k-1 and the reference speed at step k-1 to obtain the actual speed at step k-1. The expected speed at step k can be calculated based on the step time from step k-1 to step k and the expected acceleration at step k.

[0074] When k=0, that is, the robot is at the position of the safety distance threshold, the robot is not affected by the reference force, the expected speed of the robot is consistent with the actual speed of the robot, and the expected speed calculated at step 1 is consistent with the expected speed at step 0. When k=1, the expected speed at step 2 is obtained by integrating the expected speed at step 1, the reference speed at step 1, and the speed change value generated by the acceleration at step 1.

[0075] After determining the expected speed of the robot under ideal conditions, the actual moving speed of the robot can be compared with the expected speed during the movement of the robot, and the driving force of the robot can be adjusted according to the difference between the two, so that the robot can change according to the ideal speed and decelerate the robot smoothly, thereby ensuring the safety of the robot's movement while ensuring the smooth and reliable operation of the robot.

[0076] For example, when the robot's moving speed is less than the expected speed, the robot's braking force can be reduced, thereby reducing the speed at which the robot's speed decreases, so that the robot's moving speed matches the expected speed, or is as close to the robot's expected speed as possible, thereby allowing the robot to be smoothly and smoothly controlled to decelerate.

[0077] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0078] Figure 5 Schematic diagram of a robot movement speed control device provided in an embodiment of the present application. Figure 5 As shown, the device comprises:

[0079] A reference force determining unit 501, used to determine a reference force for preventing the robot from colliding;

[0080] an acceleration determination unit 502, configured to determine a reference speed of the robot generated by the reference force according to the reference force, and determine a desired acceleration of the robot according to the reference force and the control force of the robot;

[0081] The expected speed determination unit 503 is used to determine the expected speed of the robot according to the reference speed of the robot and the expected acceleration of the robot, and control the movement of the robot according to the expected speed.

[0082] Figure 5 The robot moving speed control device shown is Figure 1 The robot's moving speed control method shown corresponds to.

[0083] Figure 6 is a schematic diagram of a robot provided in one embodiment of the present application. Figure 6 As shown, the robot 6 of this embodiment includes: a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and executable on the processor 60, such as a robot movement speed control program. When the processor 60 executes the computer program 62, the steps in the above-mentioned robot movement speed control method embodiments are implemented. Alternatively, when the processor 60 executes the computer program 62, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0084] Exemplarily, the computer program 62 may be divided into one or more modules / units, which are stored in the memory 61 and executed by the processor 60 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 62 in the robot 6.

[0085] The robot may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will appreciate that Figure 6 It is only an example of the robot 6 and does not constitute a limitation of the robot 6. The robot may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the robot may also include input and output devices, network access devices, buses, etc.

[0086] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0087] The memory 61 may be an internal storage unit of the robot 6, such as a hard disk or memory of the robot 6. The memory 61 may also be an external storage device of the robot 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the robot 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the robot 6. The memory 61 is used to store the computer program and other programs and data required by the robot. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0088] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0089] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0090] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0091] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0092] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0093] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0094] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method, and can also be completed by hardware related to computer program instructions. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0095] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for controlling the moving speed of a robot, characterized in that: The method comprises: Determining a reference force for preventing the robot from colliding includes: acquiring distance information between an obstacle in a scene where the robot is located and the robot; and calculating a reference force according to a formula based on the distance information between the obstacle and the robot: Determine a reference force for preventing the robot from colliding, where f s is the reference force, k s is the predetermined spring damping parameter, l d is the predetermined safety distance threshold, l s to measure the distance; or, a protective cover is arranged in front of the robot, the protective cover is connected to the robot through a spring, and the reference force is determined by the force detected by the protective cover; Determine a reference speed of the robot generated by the reference force according to the reference force, and determine a desired acceleration of the robot according to the reference force and the control force of the robot; Determining the desired speed of the robot according to the reference speed of the robot and the desired acceleration of the robot includes: according to the formula: v d (k+1)=v d (k)+v r (k)+a(k)t ​​determines the expected speed of the robot, where k represents the number of steps and v d represents the expected speed, v r represents the reference speed, a represents the robot acceleration, t represents a step time, and the robot movement is controlled according to the desired speed.

2. The method according to claim 1, characterized in that Obtaining distance information between an obstacle in a scene where the robot is located and the robot, including: Detecting the distance information between the obstacle and the robot by a distance sensor; Alternatively, a protective cover is provided in front of the robot, the protective cover is connected to the robot via a spring, and the distance between the protective cover and the robot is detected by a linear potentiometer as the distance between the obstacle and the robot.

3. The method according to claim 1, characterized in that Determining the expected acceleration of the robot according to the reference force and the control force of the robot includes: Constructing a spring damping model of the robot according to a reference force and a control force of the robot; Based on the robot spring-damper model, a desired acceleration of the robot is determined.

4. The method according to claim 1, characterized in that: Determining a reference speed of the robot generated by the reference force according to the reference force includes: Taking the reference force of the robot as a quotient of the robot mass, the reference acceleration of the robot at different times is obtained; The reference acceleration of the robot is integrated with time to obtain the reference speed of the robot at different times.

5. A robot movement speed control device, characterized in that: The device comprises: A reference force determination unit is used to determine a reference force for preventing the robot from colliding, comprising: obtaining distance information between an obstacle in a scene where the robot is located and the robot; and calculating the reference force according to the distance information between the obstacle and the robot according to a reference force calculation formula: Determine a reference force for preventing the robot from colliding, where f s is the reference force, k s is the predetermined spring damping parameter, l d is the predetermined safety distance threshold, l s to measure the distance; or, a protective cover is arranged in front of the robot, the protective cover is connected to the robot through a spring, and the reference force is determined by the force detected by the protective cover; an acceleration determination unit, configured to determine a reference speed of the robot generated by the reference force according to the reference force, and determine a desired acceleration of the robot according to the reference force and a control force of the robot; An expected speed determination unit is used to determine the expected speed of the robot according to the reference speed of the robot and the expected acceleration of the robot, including: according to the formula: v d (k+1)=v d (k)+v r (k)+a(k)t ​​determines the expected speed of the robot, where k represents the number of steps and v d represents the expected speed, v r represents the reference speed, a represents the robot acceleration, t represents a step time, and the robot movement is controlled according to the desired speed.

6. A robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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