Camping article carrying method and related device based on humanoid robot

Abstract

The present application provides a camping article transporting method based on a humanoid robot and a related device, the method comprising: obtaining a camping article information list and a target transporting position; determining m target articles that successfully match the camping article information list among all articles in a target vehicle; moving the m target articles into a camping cart according to a preset article loading plan; determining initial gait parameters according to the target transporting position; obtaining a current weight of the camping cart; adjusting the initial gait parameters according to the current weight to obtain a first gait parameter; controlling the humanoid robot to push the camping cart to transport articles according to the first gait parameter, and obtaining ground environment information within a preset sensing range during the transport process; adjusting the first gait parameter according to the ground environment information to obtain a second gait parameter; controlling the humanoid robot to push the camping cart to transport articles according to the second gait parameter to reach the target transporting position.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a method and related device for carrying camping items based on a humanoid robot. Background Art

[0002] With the development of intelligent technology, robots are increasingly used in industries, services, and households. For example, in the field of transportation, the use of transportation robots has greatly improved transportation efficiency, reduced labor costs, and reduced safety hazards during work. However, existing transportation robot technology still has problems such as insufficient stability, easy slipping or overturning when dealing with complex ground environments such as slopes or uneven ground in outdoor camping.

[0003] Therefore, how to enable robots to efficiently and safely carry camping items in complex ground environments is an urgent problem to be solved. Summary of the invention

[0004] The embodiments of the present application provide a method and related device for carrying camping items based on a humanoid robot, which dynamically adjusts the gait parameters of the humanoid robot to adapt to the complex ground environment and controls the humanoid robot to efficiently and safely complete the carrying of camping items.

[0005] In a first aspect, an embodiment of the present application provides a method for carrying camping items based on a humanoid robot, the method comprising:

[0006] Get a list of camping items and their destination;

[0007] Determine m target items among all items in the target vehicle that successfully match the camping item information list; m is a positive integer;

[0008] Moving the m target items into the camping cart according to a preset item loading plan;

[0009] determining initial gait parameters of the humanoid robot according to the target transport position;

[0010] Get the current weight of the camping cart;

[0011] Adjusting the initial gait parameter according to the current weight to obtain the first gait parameter;

[0012] Controlling the humanoid robot to push the camping cart to transport items according to the first posture parameter, and obtaining ground environment information within a preset sensing range during the transportation process;

[0013] Adjusting the first gait parameter according to the ground environment information to obtain a second gait parameter;

[0014] The humanoid robot is controlled to push the camping cart to transport items according to the second gait parameter to reach the target transport position.

[0015] In a second aspect, an embodiment of the present application provides a camping goods carrying device based on a humanoid robot, the device comprising:

[0016] The acquisition module is used to obtain the camping item information list and the target transport location;

[0017] A determination module is used to determine m target items that successfully match the camping item information list among all items in the target vehicle; m is a positive integer;

[0018] A loading module, used for moving the m target objects into the camping cart according to a preset object loading plan;

[0019] The determination module is further used to determine the initial gait parameters of the humanoid robot according to the target transport position;

[0020] The acquisition module is further used to acquire the current weight of the camping cart;

[0021] An adjustment module, used for adjusting the initial gait parameter according to the current weight to obtain a first gait parameter;

[0022] A control module, used to control the humanoid robot to push the camping cart to transport items according to the first posture parameter, and to obtain ground environment information within a preset sensing range during the transportation process;

[0023] The adjustment module is further used to adjust the first gait parameter according to the ground environment information to obtain a second gait parameter;

[0024] The control module is further used to control the humanoid robot to push the camping cart to transport items according to the second gait parameter to reach the target transport position.

[0025] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps of any method in the first aspect of the embodiment of the present application.

[0026] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps described in any method of the first aspect of the embodiment of the present application.

[0027] In a fifth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in any method of the first aspect of the embodiment of the present application. The computer program product may be a software installation package.

[0028] By implementing the embodiments of the present application, the gait parameters of the humanoid robot can be dynamically adjusted to adapt to complex ground environments, and the humanoid robot can be controlled to efficiently and safely complete the transportation of camping items. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 This is a scene architecture diagram of a method for carrying camping items based on a humanoid robot provided in an embodiment of the present application;

[0031] Figure 2 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application;

[0032] Figure 3 It is a flowchart of a method for carrying camping items based on a humanoid robot provided in an embodiment of the present application;

[0033] Figure 4 is a schematic diagram of a humanoid robot pushing a camping cart provided by an embodiment of the present application;

[0034] Figure 5 This is a functional module composition block diagram of a camping goods transporting device based on a humanoid robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0036] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0037] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article indicates that the associated objects before and after are in an "or" relationship. The "plurality" appearing in the embodiments of the present application refers to two or more.

[0038] In the embodiments of the present application, "at least one item" or similar expressions refer to any combination of these items, including any combination of single items or plural items, and refer to one or more, and multiple refers to two or more. For example, at least one item of a, b, or c can represent the following seven situations: a, b, c, a and b, a and c, b and c, a, b, and c. Among them, each of a, b, and c can be an element or a set containing one or more elements.

[0039] The "connection" that appears in the embodiments of the present application refers to various connection methods such as direct connection or indirect connection to achieve communication between devices, and the embodiments of the present application do not impose any limitations on this.

[0040] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0041] With the development of intelligent technology, robots are increasingly used in industries, services, and households. For example, in the field of transportation, the use of transportation robots has greatly improved transportation efficiency, reduced labor costs, and reduced safety hazards in the work process. However, the existing transportation robot technology still has problems such as insufficient stability, easy slipping or overturning when dealing with complex ground environments such as slopes or uneven ground for outdoor camping. Therefore, how to enable robots to efficiently and safely complete the transportation of camping items in complex ground environments needs to be solved urgently.

[0042] To solve the above problems, the embodiment of the present application provides a method and related device for carrying camping items based on a humanoid robot. First, a camping item information list and a target carrying position can be obtained; m target items that successfully match the camping item information list among all items in the target vehicle are determined; m is a positive integer; the m target items are moved to a camping cart according to a preset item loading scheme; the initial gait parameters of the humanoid robot are determined according to the target carrying position; then, the current weight of the camping cart is obtained; the initial gait parameters are adjusted according to the current weight to obtain the first gait parameters; the humanoid robot is controlled to push the camping cart to transport items according to the first gait parameters, and the ground environment information of the preset sensing range is obtained during the transportation process; finally, the first gait parameters are adjusted according to the ground environment information to obtain the second gait parameters; the humanoid robot is controlled to push the camping cart to transport items according to the second gait parameters to reach the target carrying position. The gait parameters of the humanoid robot are dynamically adjusted to adapt to the complex ground environment, and the humanoid robot is controlled to efficiently and safely complete the carrying of camping items.

[0043] Combine the following Figure 1 The scenario architecture of a method for transporting camping items based on a humanoid robot in an embodiment of the present application is described. Figure 1 This is a scenario architecture diagram of a method for transporting camping items based on a humanoid robot provided in an embodiment of the present application, including a target vehicle, a humanoid robot, a camping cart, and a camping tent.

[0044] Among them, the target vehicle is used to carry items needed for camping, and the target vehicle includes but is not limited to a car, a van, a motorhome, and a pickup truck. The humanoid robot is used to perform the task of carrying camping items. The humanoid robot has an ergonomic design and can simulate human movements and actions. In addition, the joints of the humanoid robot can move freely so that it can be placed in the target vehicle. The camping cart is used to load and transport camping items. The camping cart can be a foldable cart, which is easy to fold and place in the target vehicle. The camping tent is the target transportation location where the camping items need to be placed, and the target transportation location includes but is not limited to camping tents, camping tables and chairs, lockers, and camping grounds. It should be noted that camping items should be placed on a flat plane area to facilitate the stable placement of camping items.

[0045] In a possible embodiment, the humanoid robot can first identify all items in the target vehicle through a visual sensor, determine the camping items that need to be transported, and then classify the camping items into stackable items and non-stackable items according to their fragility, and then load different types of camping items into camping carts for transportation. Stackable camping items include but are not limited to sleeping bags, camping mats, camping chairs, and first aid kits, and non-stackable items include but are not limited to camping stoves, fuel tanks, tableware, and electronic products. Reasonable classification of camping items can ensure the safety and stability of camping items during transportation.

[0046] In one possible embodiment, the humanoid robot includes a mechanical arm. During the process of loading camping items, the humanoid robot can use the mechanical arm to grab the camping items and load them into the camping cart, and obtain the weight of each camping item through the pressure sensor on the mechanical arm and record it to calculate the total weight of the camping items currently loaded. If the total weight is greater than a preset first weight threshold, and the total weight is less than or equal to a preset second weight threshold, it is determined that the camping cart is loaded, and the humanoid robot can be controlled to push the camping cart for transportation. If the total weight is less than the first weight threshold, it is determined that the camping cart can continue to be loaded, and if the total weight is greater than the second weight threshold, it is determined that the camping cart exceeds the loading limit, and the difference between the total weight and the second weight threshold can be calculated, and the humanoid robot can be controlled to determine the camping items that need to be removed based on the difference and the weight record to ensure that the total weight of the camping items in the camping cart is within a limited range.

[0047] It can be seen that through automated weight recording and loading control, the efficiency of loading items is improved, and it can also ensure that the weight of camping items loaded each time meets the preset requirements, preventing the camping cart from being overloaded, so as to reduce the risk of damage to camping items during loading.

[0048] Combine the following Figure 2 The electronic device in the embodiment of the present application is described. Figure 2A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the electronic device includes one or more processors, a memory, a communication interface and one or more programs, and the processor is communicatively connected with the memory and the communication interface via an internal communication bus.

[0049] Among them, the processor is mainly used for:

[0050] Get a list of camping items and their destination;

[0051] Determine m target items among all items in the target vehicle that successfully match the camping item information list; m is a positive integer;

[0052] Move m target items into the camping cart according to the preset item loading plan;

[0053] determining initial gait parameters of the humanoid robot according to the target transport position;

[0054] Get the current weight of the camper cart;

[0055] The initial gait parameters are adjusted according to the current weight to obtain the first gait parameters;

[0056] Control the humanoid robot to push the camping cart to transport items according to the first step posture parameters, and obtain ground environment information within a preset sensing range during the transportation process;

[0057] The first gait parameter is adjusted according to the ground environment information to obtain the second gait parameter;

[0058] The humanoid robot is controlled to push the camping cart to transport items according to the second gait parameter to reach a target transporting position.

[0059] The one or more programs are stored in the above-mentioned memory and are configured to be executed by the above-mentioned processor, and the one or more programs include instructions for executing any step in the above-mentioned method embodiment.

[0060] Among them, the processor can be, for example, a central processing unit (CPU), a general processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, units and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of DSP and microprocessors, and the like. The communication unit can be a communication interface, a transceiver, a transceiver circuit, and the like, and the storage unit can be a memory.

[0061] The memory may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. Among them, the nonvolatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus RAM (DR RAM).

[0062] It is understandable that the electronic device may include more or fewer structural elements than those in the above structural block diagram, for example, including a power module, physical buttons, a Wi-Fi module, a speaker, a Bluetooth module, a sensor, a display module, etc., which are not limited here. It should be noted that the electronic device includes a humanoid robot and can be used in Figure 1 In the described scenario architecture.

[0063] After understanding the software and hardware architecture of this application, Figure 3 A method for transporting camping items based on a humanoid robot in an embodiment of the present application is described. Figure 3 A schematic diagram of a process of carrying camping items based on a humanoid robot provided in an embodiment of the present application specifically includes the following steps:

[0064] Step S301, obtaining a camping item information list and a target transport location.

[0065] The camping item information list includes sleeping bags, camping mats, camping chairs, first aid kits, camping stoves, fuel tanks, tableware, and electronic products. It can be created in advance according to the routine camping matters, or it can be dynamically updated according to the real-time needs of users during the process of loading camping items. The target transport location includes camping tents, camping tables and chairs, lockers, and camping grounds, which can be set according to the type of camping items. For example, sleeping bags need to be transported to camping tents, and tableware can be transported to camping tables and chairs or lockers.

[0066] Step S302: determining m target items among all items in the target vehicle that successfully match the camping item information list.

[0067] Wherein, m is a positive integer. First, the visual sensor of the humanoid robot can be used to scan and identify each item in the target vehicle to obtain the information of all items, and then the information of all items can be compared and matched with the camping item information list. The name, size and other possible features of the item can be compared to determine whether it matches the item in the camping item information list. Then, the successfully matched items are marked as target items to obtain m target items.

[0068] Step S303: moving the m target objects into the camping cart according to a preset object loading plan.

[0069] The m target objects can be identified and divided into n stackable objects and mn non-stackable objects so as to perform different loading methods; n is a positive integer less than or equal to m; when loading the n stackable objects, at least one stackable object among the n stackable objects is loaded in the camping cart in a multi-layer stacking manner; a first height of the multi-layer stacking of the at least one stackable object is obtained; it is determined that the first height is less than or equal to a preset loading height threshold, so as to complete one loading; when loading the mn non-stackable objects, at least one non-stackable object among the mn non-stackable objects is loaded in the camping cart in a single-layer flat manner; a first interval between any two non-stackable objects among the at least one non-stackable object is obtained to obtain at least one first interval; it is determined that the at least one first interval is greater than or equal to a preset safety interval threshold, so as to complete one loading; the m target objects are moved into the camping cart through at least one loading; the camping cart is used to load and transport the m target objects back and forth multiple times.

[0070] Specifically, the visual sensor of the humanoid robot can identify m target objects and classify them into n stackable objects and mn non-stackable objects according to the characteristics of each object, so as to facilitate different loading methods. For example, sleeping bags and camping mats are made of soft materials and are not easily damaged, so they can be classified as stackable objects, while tableware is generally porcelain, which is easily damaged during the stacking process and should be classified as non-stackable objects.

[0071] In one possible embodiment, when loading n stackable objects, at least one of the n stackable objects is loaded in a camping cart in a multi-layer stacking manner. Among them, parameter information of each stackable object in the n stackable objects can be obtained, and the parameter information includes but is not limited to the length, width, and height of the object. Then, stacking planning is performed according to the parameter information of the object, so as to make full use of the loading space of the camping cart and improve the efficiency of transportation. It should be noted that if the object can be folded, such as a camping mat, it can also be folded and loaded according to the maximum folding limit to facilitate loading more objects. Finally, the first height of the multi-layer stacking of at least one stackable object is obtained, and it is determined that the first height is less than or equal to a preset loading height threshold to complete one loading. Among them, the loading height threshold is the maximum loading height of the camping cart, which can be set according to the structure and design safety standards of the camping cart. If the maximum loading height is exceeded, the camping cart may tip over or the objects may slip during transportation.

[0072] It can be seen that effective stacking planning based on the parameter information of stackable items can maximize the loading space utilization of the camping cart and improve the handling efficiency, thereby completing the task of transporting items more effectively.

[0073] In one possible embodiment, when loading mn non-stackable items, at least one of the mn non-stackable items is loaded in a camping cart in a single-layer flat manner. Among them, the first interval between any two non-stackable items can be obtained to obtain at least one first interval, and it is determined that at least one first interval is greater than or equal to a preset safety interval threshold to complete one loading. Among them, placing the non-stackable items according to the safety interval threshold can avoid collision and damage of the items during transportation. It should be noted that the humanoid robot can also be controlled to use straps, ropes or special fixing devices to fix the items in the camping cart to ensure that the items will not move during transportation.

[0074] It can be seen that placing non-stackable items in a single layer at set intervals can improve the safety and stability of item loading and avoid the risk of collision during transportation.

[0075] It should be noted that if the camping cart cannot load the m target items at one time, the m target items can be loaded in multiple times and transported to the target transport location to facilitate effective item transportation while maintaining the safety and efficiency of the transportation process.

[0076] Step S304: determining initial gait parameters of the humanoid robot according to the target transport position.

[0077] Wherein, the initial gait parameters include initial step speed and initial step span. The current position of the humanoid robot can be obtained; multiple transport routes between the current position and the target transport position can be determined; obstacle information corresponding to each of the multiple transport routes can be obtained to obtain multiple obstacle information; the obstacle information includes obstacle volume and obstacle quantity; path planning is performed according to the multiple obstacle information to determine the transport route with the obstacle volume less than a preset volume threshold and the least number of obstacles among the multiple transport routes as the target transport route; the target distance of the target transport route is calculated; the initial gait parameters corresponding to the target distance can be determined according to the mapping relationship between the preset distance and the gait parameters; the longer the distance, the faster the step speed and the larger the step span.

[0078] Specifically, first, the current position of the humanoid robot is obtained, and preliminary path planning is performed according to the current position and the target transport position to obtain multiple transport routes. Then, the obstacle information corresponding to each transport route in the multiple transport routes is obtained through the visual sensor of the humanoid robot to obtain multiple obstacle information. Among them, the obstacle information includes the obstacle volume and the number of obstacles. Then, it is judged whether the volume of the obstacle in each route is less than the preset volume threshold. If the obstacle volume is less than the preset volume threshold, it proves that the humanoid robot can push the camping cart through the obstacle, and the route is marked as an alternative route; if the obstacle volume is greater than or equal to the preset volume threshold, it proves that the humanoid robot cannot push the camping cart through the obstacle, and the route is marked as an unselectable route. Then, the transport route with the least number of obstacles in the alternative routes is used as the target transport route to reduce the risk of accidental collision and damage to goods, thereby improving the efficiency and reliability of transportation. Finally, the target distance of the target transport route is calculated, and the initial gait parameters corresponding to the target distance are determined according to the mapping relationship between the preset distance and the gait parameters. Among them, the longer the target distance is, the faster the step speed in the initial gait parameters is, and the larger the step span is.

[0079] It can be seen that by planning the path, the optimal delivery route can be selected to reduce the risk of accidental collisions and damage to items, thereby improving the efficiency and reliability of transportation. In addition, determining the initial gait parameters based on the length of the journey can improve the transportation efficiency of the humanoid robot during the transportation process and reduce energy consumption and mechanical wear.

[0080] Step S305, obtaining the current weight of the camping cart.

[0081] First, the body weight of the camping cart can be obtained according to the specification information of the camping cart. Then, the weight of the items in the camping cart can be obtained through the pressure sensor installed on the camping cart. Finally, the body weight and the item weight are added together to obtain the current weight of the camping cart.

[0082] Step S306, adjusting the initial gait parameters according to the current weight to obtain the first gait parameters.

[0083] Among them, if the current weight is less than a preset first weight threshold, the difference between the first weight threshold and the current weight is calculated to obtain a first difference; a first adjustment factor is determined based on the first difference; the first adjustment factor is used to increase the step speed and increase the step span; the initial gait parameter is adjusted according to the first adjustment factor to obtain the first step parameter; if the current weight is greater than or equal to the first weight threshold, and less than or equal to the preset second weight threshold, no adjustment is made, and the first step parameter is determined to be the initial gait parameter; if the current weight is greater than the second weight threshold, the difference between the current weight and the second weight threshold is calculated to obtain a second difference; a second adjustment factor is determined based on the second difference; the second adjustment factor is used to reduce the step speed and reduce the step span; the initial gait parameter is adjusted according to the second adjustment factor to obtain the first step parameter.

[0084] Specifically, if the current weight is less than the preset first weight threshold, it is determined that the load of the camping cart is light, and the gait parameters of the humanoid robot can be appropriately increased. Among them, the difference between the first weight threshold and the current weight can be calculated to obtain the first difference. Then the first adjustment factor is determined according to the first difference, and the first adjustment factor is used to increase the step speed and increase the step span. Finally, the initial gait parameters are adjusted according to the first adjustment factor to obtain the first step parameters. If the current weight is greater than or equal to the first weight threshold, and less than or equal to the preset second weight threshold, it is determined that the load of the camping cart is moderate, and the gait parameters of the humanoid robot do not need to be adjusted, and the first step parameters are determined as the initial gait parameters. If the current weight is greater than the second weight threshold, it is determined that the load of the camping cart is heavy, and the gait parameters of the humanoid robot can be appropriately reduced. Among them, the difference between the current weight and the second weight threshold can be calculated to obtain the second difference. Then the second adjustment factor is determined according to the second difference, and the second adjustment factor is used to reduce the step speed and reduce the step span. Finally, the initial gait parameters are adjusted according to the second adjustment factor to obtain the first step parameters.

[0085] It can be seen that automatically adjusting the gait parameters according to the load condition of the camping cart can enable the humanoid robot to maintain stable and efficient object transportation under different weight conditions.

[0086] Step S307, controlling the humanoid robot to push the camping cart to transport items according to the first posture parameter, and obtaining ground environment information within a preset sensing range during the transportation process.

[0087] The humanoid robot is equipped with an intelligent controller, which can automatically control the humanoid robot to push the camping cart to transport items according to the first step parameters. During the transportation process, the ground environment information of the preset perception range can be obtained through the visual sensor. The preset perception range can be set according to the perception range of the humanoid robot or user needs, and is not specifically limited here.

[0088] Step S308: adjusting the first gait parameter according to the ground environment information to obtain a second gait parameter.

[0089] Wherein, the ground environment information includes a first tilt angle and a first friction coefficient, and the first step parameter includes a first step speed and a first step span. First, the safety friction coefficient corresponding to the first tilt angle can be determined according to the preset mapping relationship between the tilt angle and the friction coefficient; the safety friction coefficient represents the minimum friction coefficient at which the humanoid robot is not easy to slip under the first tilt angle; when the first friction coefficient is less than the safety friction coefficient, it is determined that the humanoid robot may slip, and the first step speed is adjusted according to the first friction coefficient to obtain a second step speed; then, the reference step span range corresponding to the first tilt angle is determined; the larger the first tilt angle, the smaller the reference step span range; and the first step span is adjusted according to the reference step span range to obtain a second step span, so as to ensure that the second step span is within the reference step span range; finally, the second gait parameter is determined according to the second step speed and the second step span.

[0090] Specifically, at different inclination angles, the minimum friction coefficient at which the humanoid robot is not easy to slip is different, and the safety friction coefficient corresponding to the first inclination angle can be determined according to the mapping relationship between the preset inclination angle and the friction coefficient. Wherein, the safety friction coefficient represents the minimum friction coefficient at which the humanoid robot is not easy to slip at the first inclination angle. When the humanoid robot is on a slope or ground with a certain inclination angle, the size of the first friction coefficient can be determined according to the roughness of the contact surface. For example, the friction coefficient corresponding to wet grass or soft sand is small, while the friction coefficient corresponding to dry land is large. When the first friction coefficient is less than the safety friction coefficient, it can be determined that the humanoid robot may slip, and the first step speed is adjusted according to the first friction coefficient to obtain the second step speed. Wherein, the smaller the first friction coefficient, the smaller the corresponding second step speed. Then, the reference step span range corresponding to the first inclination angle is determined, wherein the larger the first inclination angle, the smaller the reference step span range. Then, the first step span is adjusted according to the reference step span range to obtain the second step span, so as to ensure that the second step span is within the reference step span range. Finally, the second gait parameter is determined according to the second step speed and the second step span. It should be noted that if the second step span of the humanoid robot is always within the reference step span range, the risk of the humanoid robot slipping can be greatly reduced, ensuring that the humanoid robot can remain stable during transportation.

[0091] It can be seen that adjusting the step speed and step span of the humanoid robot according to the friction coefficient can ensure that the humanoid robot can maintain stable movement at different tilt angles, thereby greatly improving the safety of the transportation process, as well as the ability and flexibility to cope with complex environments.

[0092] In a possible embodiment, first, a first thrust and a first resistance can be obtained; the first thrust is the thrust used by the humanoid robot to push the camping cart; the first resistance is the friction between the camping cart and the ground; then, the first weight of the humanoid robot is obtained; and a safety thrust threshold is determined based on the first weight and the first friction coefficient; the smaller the first friction coefficient, the smaller the safety thrust threshold; the safety thrust threshold is used to prevent the humanoid robot from slipping due to excessive thrust; if the first thrust is less than the first resistance, the first thrust is adjusted according to the first resistance to ensure that the first thrust is greater than the first resistance and the first thrust is less than the safety thrust threshold.

[0093] For easier understanding, see Figure 4 , Figure 4A schematic diagram of a humanoid robot pushing a camping cart provided in an embodiment of the present application. Among them, the first thrust is the thrust used by the humanoid robot to push the camping cart, the first resistance is the friction between the camping cart and the inclined ground, and the safety thrust threshold is the friction between the humanoid robot and the inclined ground. The inclined ground is the area where the humanoid robot passes through when transporting items. The area can be slippery grass, soft sand, and hard ground, which is not specifically limited here. It should be noted that different types of areas have different corresponding friction coefficients, and when the humanoid robot moves in different areas, the corresponding safety thrust threshold is also different. When the humanoid robot pushes the camping cart forward, it is necessary to control the first thrust of the humanoid robot to be greater than the first resistance to ensure that the humanoid robot can push the camping cart. It is also necessary to ensure that the first thrust is less than the safety thrust threshold to avoid the first thrust being greater than the friction between the humanoid robot and the inclined ground, thereby causing insufficient friction and slipping.

[0094] Step S309: Control the humanoid robot to push the camping cart to transport items according to the second gait parameters to reach the target transport position.

[0095] Specifically, the intelligent controller can be used to control the humanoid robot to push the camping cart to transport items according to the second gait parameter to reach the target transport location.

[0096] The humanoid robot comprises a mechanical arm, through which objects can be grasped and placed.

[0097] In a possible embodiment, when the humanoid robot pushes the camping cart to the target transport position, the first object is grabbed by the robotic arm; the first object is any one of the m target objects; the first object is placed at the target transport position, and a first image of the first object at a first moment is obtained; a first state of the first object is determined based on the first image; the robotic arm is slowly released based on a preset reference time to ensure that the first object does not fall or move due to sudden release; a second image of the first object at a second moment is obtained; the second moment is later than the first moment, and the time interval between the second moment and the first moment is greater than or equal to the reference time; the second state of the first object is determined based on the second image; if the first state and the second state are consistent, it is determined that the transport of the first object is completed.

[0098] It should be noted that the state of an item includes but is not limited to the position, shape, and volume of the item. Whether the item is placed stably can be determined based on whether the state of the item is consistent at different times to avoid the risk of damage to the item.

[0099] The above mainly introduces the scheme of the embodiment of the present application from the perspective of the execution process on the method side. It is understandable that, in order to realize the above functions, the electronic device includes a hardware structure and / or software module corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware 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 the present application.

[0100] The embodiment of the present application can divide the electronic device into functional units according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0101] In the case of dividing each functional module into corresponding functional modules, Figure 5 The functional module composition block diagram of a humanoid robot-based camping goods transporting device provided in an embodiment of the present application, the humanoid robot-based camping goods transporting device 500 includes an acquisition module 510, a determination module 520, a loading module 530, an adjustment module 540, and a control module 550, wherein:

[0102] An acquisition module 510 is used to acquire a camping item information list and a target transport location;

[0103] The determination module 520 is used to determine m target items that successfully match the camping item information list among all items in the target vehicle; m is a positive integer;

[0104] A loading module 530, configured to move the m target objects into the camping cart according to a preset object loading plan;

[0105] The determination module 520 is further used to determine the initial gait parameters of the humanoid robot according to the target transport position;

[0106] The acquisition module 510 is further used to acquire the current weight of the camping cart;

[0107] An adjustment module 540, configured to adjust the initial gait parameters according to the current weight to obtain the first gait parameters;

[0108] A control module 550 is used to control the humanoid robot to push the camping cart to transport items according to the first posture parameter, and to obtain ground environment information within a preset sensing range during the transportation process;

[0109] The adjustment module 540 is further configured to adjust the first gait parameter according to the ground environment information to obtain a second gait parameter;

[0110] The control module 550 is further configured to control the humanoid robot to push the camping cart to transport items according to the second gait parameter, so as to reach the target transport position.

[0111] Optionally, in the aspect of moving the m target objects into the camping cart according to the preset object loading scheme, the loading module 530 is specifically used for:

[0112] The m target objects are identified and divided into n stackable objects and mn non-stackable objects, so as to perform different loading methods; n is a positive integer less than or equal to m;

[0113] When loading the n stackable objects, at least one stackable object among the n stackable objects is loaded into the camping cart in a multi-layer stacking manner;

[0114] Obtaining a first height of a multi-layer stack of the at least one stackable object;

[0115] Determining that the first height is less than or equal to a preset loading height threshold to complete one loading;

[0116] When loading the mn non-stackable objects, at least one non-stackable object among the mn non-stackable objects is loaded into the camping cart in a single-layer flat manner;

[0117] Obtaining a first interval between any two non-stackable objects in the at least one non-stackable object to obtain at least one first interval;

[0118] Determining that the at least one first interval is greater than or equal to a preset safety interval threshold to complete a loading;

[0119] The m target objects are moved into the camping cart by at least one loading; the camping cart is used to load and transport the m target objects back and forth multiple times.

[0120] Optionally, the initial gait parameters include an initial step speed and an initial step span. In determining the initial gait parameters of the humanoid robot according to the target transport position, the determination module 520 is specifically used to:

[0121] Obtaining the current position of the humanoid robot;

[0122] determining a plurality of transport routes between the current location and the target transport location;

[0123] Obtaining obstacle information corresponding to each of the plurality of transport routes to obtain a plurality of obstacle information; the obstacle information includes obstacle volume and obstacle quantity;

[0124] Performing path planning according to the plurality of obstacle information to determine a transportation route with an obstacle volume less than a preset volume threshold and the least number of obstacles among the plurality of transportation routes as a target transportation route;

[0125] Calculating a target distance of the target delivery route;

[0126] According to the mapping relationship between the preset distance and gait parameters, the initial gait parameters corresponding to the target distance are determined; the longer the distance, the faster the step speed and the larger the step span.

[0127] Optionally, in the aspect of adjusting the initial gait parameter according to the current weight to obtain the first gait parameter, the adjustment module 540 is specifically used to:

[0128] If the current weight is less than a preset first weight threshold, calculating the difference between the first weight threshold and the current weight to obtain a first difference;

[0129] Determine a first adjustment factor according to the first difference; the first adjustment factor is used to increase the pace speed and increase the pace span;

[0130] Adjusting the initial gait parameter according to the first adjustment factor to obtain the first gait parameter;

[0131] If the current weight is greater than or equal to the first weight threshold and less than or equal to a preset second weight threshold, no adjustment is made and the first gait parameter is determined as the initial gait parameter;

[0132] If the current weight is greater than the second weight threshold, calculating the difference between the current weight and the second weight threshold to obtain a second difference;

[0133] Determine a second adjustment factor according to the second difference; the second adjustment factor is used to reduce the pace speed and the step span;

[0134] The initial gait parameter is adjusted according to the second adjustment factor to obtain the first gait parameter.

[0135] Optionally, the ground environment information includes a first inclination angle and a first friction coefficient, and the first gait parameter includes a first step speed and a first step span. In terms of adjusting the first gait parameter according to the ground environment information to obtain the second gait parameter, the adjustment module 540 is specifically used to:

[0136] Determine a safety friction coefficient corresponding to the first tilt angle according to a preset mapping relationship between the tilt angle and the friction coefficient; the safety friction coefficient represents a minimum friction coefficient at which the humanoid robot is not likely to slip at the first tilt angle;

[0137] When the first friction coefficient is less than the safety friction coefficient, it is determined that the humanoid robot may slip, and the first step speed is adjusted according to the first friction coefficient to obtain a second step speed;

[0138] Determine a reference step span range corresponding to the first inclination angle; the larger the first inclination angle is, the smaller the reference step span range is;

[0139] Adjusting the first step span according to the reference step span range to obtain a second step span, so as to ensure that the second step span is within the reference step span range;

[0140] The second gait parameter is determined according to the second step speed and the second step span.

[0141] Optionally, the adjustment module 540 is further specifically configured to:

[0142] Obtaining a first thrust and a first resistance; the first thrust is the thrust used by the humanoid robot to push the camping cart; the first resistance is the friction between the camping cart and the ground;

[0143] obtaining a first weight of the humanoid robot;

[0144] determining a safety thrust threshold according to the first weight and the first friction coefficient; the smaller the first friction coefficient, the smaller the safety thrust threshold; the safety thrust threshold is used to prevent the humanoid robot from slipping due to excessive thrust;

[0145] If the first thrust is less than the first resistance, the first thrust is adjusted according to the first resistance to ensure that the first thrust is greater than the first resistance and the first thrust is less than the safety thrust threshold.

[0146] Optionally, the humanoid robot includes a mechanical arm, and the control module 550 is further specifically used for:

[0147] When the humanoid robot pushes the camping cart to the target transport position, the robot arm grabs a first object; the first object is any one of the m target objects;

[0148] placing the first object at the target transport position, and acquiring a first image of the first object at a first moment;

[0149] determining a first state of the first object based on the first image;

[0150] Slowly releasing the robotic arm according to a preset reference time to ensure that the first object does not fall or move due to the sudden release;

[0151] Acquire a second image of the first object at a second moment; the second moment is later than the first moment, and a time interval between the second moment and the first moment is greater than or equal to the reference time length;

[0152] determining a second state of the first object based on the second image;

[0153] If the first state and the second state are consistent, it is determined that the first item is transported completely.

[0154] It can be seen that classifying and loading camping items according to stackable and non-stackable items improves the efficiency of item loading on the one hand, and improves the safety and stability of item loading on the other hand, thereby improving transportation efficiency and ensuring item safety while reducing the possibility of accidents. The gait parameters of the humanoid robot can be dynamically adjusted to adapt to complex ground environments, and the humanoid robot can be controlled to efficiently and safely complete the handling of camping items.

[0155] It should be noted that the specific implementation of each operation can adopt the corresponding description of the method embodiment shown above. The camping goods transporting device 500 based on the humanoid robot can be used to execute the above method embodiment of the present application, which will not be described in detail.

[0156] An embodiment of the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps of any method recorded in the above method embodiments, and the above computer includes an electronic device.

[0157] The embodiment of the present application also provides a computer program product, the computer program product includes a non-transitory computer-readable storage medium storing a computer program, the computer program is operable to cause a computer to execute some or all of the steps of any method described in the method embodiment. The computer program product may be a software installation package, and the computer includes an electronic device.

[0158] It should be noted that, for the above-mentioned various embodiments, for the sake of simple description, they are all expressed as a series of action combinations. Those skilled in the art should be aware that the present application is not limited by the described order of actions, because some steps in the embodiments of the present application can be performed in other orders or simultaneously. In addition, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions, steps, modules or units involved are not necessarily required by the embodiments of the present application.

[0159] In the above embodiments, the embodiments of the present application have different focuses on the description of each embodiment. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0160] Those skilled in the art can understand that to implement all or part of the processes in the above-mentioned embodiments, the processes can be completed by computer programs to instruct related hardware, and the programs can be stored in computer-readable storage media. When the programs are executed, they can include the processes of the above-mentioned method embodiments. The aforementioned storage media include: ROM or random access memory RAM, magnetic disk or optical disk and other media that can store program codes.

[0161] The steps of the method or algorithm described in the embodiments of the present application can be implemented in hardware or by executing software instructions by a processor. The software instructions can be composed of corresponding software modules, and the software modules can be stored in RAM, flash memory, ROM, EPROM, electrically erasable programmable read-only memory (electrically EPROM, EEPROM), registers, hard disks, mobile hard disks, read-only compact disks (CD-ROMs) or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a terminal device or a management device. Of course, the processor and the storage medium can also exist in a terminal device or a management device as discrete components.

[0162] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server, or data center to another website site, computer, server, or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital video disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0163] The modules / units included in the devices and products described in the above embodiments may be software modules / units or hardware modules / units, or may be partially software modules / units and partially hardware modules / units. For example, for the devices and products applied to or integrated in the chip, the modules / units included therein may all be implemented in the form of hardware such as circuits, or at least some of the modules / units may be implemented in the form of software programs, which run on the processor integrated inside the chip, and the remaining (if any) modules / units may be implemented in the form of hardware such as circuits; for the devices and products applied to or integrated in the chip module, the modules / units included therein may all be implemented in the form of hardware such as circuits, and different modules / units may be located in the same component (such as chip, circuit module, etc.) or different components of the chip module, or at least some of the modules / units may be implemented in the form of software programs. It is implemented in the form of a software program that runs on a processor integrated inside the chip module, and the remaining (if any) modules / units can be implemented in hardware such as circuits; for various devices and products applied to or integrated in the terminal equipment, the various modules / units contained therein can be implemented in hardware such as circuits, and different modules / units can be located in the same component (for example, chip, circuit module, etc.) or different components in the terminal equipment, or at least some of the modules / units can be implemented in the form of a software program that runs on a processor integrated inside the terminal equipment, and the remaining (if any) modules / units can be implemented in hardware such as circuits.

[0164] The specific implementation methods described above further illustrate the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above description is only the specific implementation method of the embodiments of the present application and is not intended to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A method for carrying camping items based on a humanoid robot, characterized in that: include: Get a list of camping items and their destination; Determine m target items among all items in the target vehicle that successfully match the camping item information list; m is a positive integer; Moving the m target items into the camping cart according to a preset item loading plan; determining initial gait parameters of the humanoid robot according to the target transport position; Get the current weight of the camping cart; Adjusting the initial gait parameter according to the current weight to obtain the first gait parameter; Controlling the humanoid robot to push the camping cart to transport items according to the first posture parameter, and obtaining ground environment information within a preset sensing range during the transportation process; Adjusting the first gait parameter according to the ground environment information to obtain a second gait parameter; The humanoid robot is controlled to push the camping cart to transport items according to the second gait parameter to reach the target transport position.

2. The method according to claim 1, characterized in that The step of moving the m target objects into the camping cart according to a preset object loading plan includes: The m target objects are identified and divided into n stackable objects and mn non-stackable objects, so as to perform different loading methods; n is a positive integer less than or equal to m; When loading the n stackable objects, the n stackable objects are loaded into the camping cart in a multi-layer stacking manner; Obtaining a first height of a multi-layer stack of the n stackable objects; Determining that the first height is less than or equal to a preset loading height threshold to complete one loading; When loading the mn non-stackable objects, the mn non-stackable objects are loaded into the camping cart in a single-layer flat manner; Obtaining a first interval between any two non-stackable objects among the mn non-stackable objects to obtain at least one first interval; Determining that the at least one first interval is greater than or equal to a preset safety interval threshold to complete a loading; The m target objects are moved into the camping cart by at least one loading; the camping cart is used to load and transport the m target objects back and forth multiple times.

3. The method according to claim 1, characterized in that The initial gait parameters include an initial step speed and an initial step span, and the initial gait parameters of the humanoid robot are determined according to the target transport position, including: Obtaining the current position of the humanoid robot; determining a plurality of transport routes between the current location and the target transport location; Obtaining obstacle information corresponding to each of the plurality of transport routes to obtain a plurality of obstacle information; the obstacle information includes obstacle volume and obstacle quantity; Performing path planning according to the plurality of obstacle information to determine a transportation route with an obstacle volume less than a preset volume threshold and the least number of obstacles among the plurality of transportation routes as a target transportation route; Calculating a target distance of the target delivery route; According to the mapping relationship between the preset distance and gait parameters, the initial gait parameters corresponding to the target distance are determined; the longer the distance, the faster the step speed and the larger the step span.

4. The method according to claim 1, characterized in that The step of adjusting the initial gait parameter according to the current weight to obtain the first gait parameter includes: If the current weight is less than a preset first weight threshold, calculating the difference between the first weight threshold and the current weight to obtain a first difference; Determine a first adjustment factor according to the first difference; the first adjustment factor is used to increase the pace speed and increase the pace span; Adjusting the initial gait parameter according to the first adjustment factor to obtain the first gait parameter; If the current weight is greater than or equal to the first weight threshold and less than or equal to a preset second weight threshold, no adjustment is made and the first gait parameter is determined as the initial gait parameter; If the current weight is greater than the second weight threshold, calculating the difference between the current weight and the second weight threshold to obtain a second difference; Determine a second adjustment factor according to the second difference; the second adjustment factor is used to reduce the pace speed and the step span; The initial gait parameter is adjusted according to the second adjustment factor to obtain the first gait parameter.

5. The method according to any one of claims 1 to 4, characterized in that: The ground environment information includes a first inclination angle and a first friction coefficient, the first gait parameter includes a first step speed and a first step span, and the first gait parameter is adjusted according to the ground environment information to obtain the second gait parameter, including: Determine a safety friction coefficient corresponding to the first tilt angle according to a preset mapping relationship between the tilt angle and the friction coefficient; the safety friction coefficient represents a minimum friction coefficient at which the humanoid robot is not likely to slip at the first tilt angle; When the first friction coefficient is less than the safety friction coefficient, it is determined that the humanoid robot may slip, and the first step speed is adjusted according to the first friction coefficient to obtain a second step speed; Determine a reference step span range corresponding to the first inclination angle; the larger the first inclination angle is, the smaller the reference step span range is; Adjusting the first step span according to the reference step span range to obtain a second step span, so as to ensure that the second step span is within the reference step span range; The second gait parameter is determined according to the second step speed and the second step span.

6. The method according to claim 5, characterized in that The method further comprises: Obtaining a first thrust and a first resistance; the first thrust is the thrust used by the humanoid robot to push the camping cart; the first resistance is the friction between the camping cart and the ground; obtaining a first weight of the humanoid robot; determining a safety thrust threshold according to the first weight and the first friction coefficient; the smaller the first friction coefficient, the smaller the safety thrust threshold; the safety thrust threshold is used to prevent the humanoid robot from slipping due to excessive thrust; If the first thrust is less than the first resistance, the first thrust is adjusted according to the first resistance to ensure that the first thrust is greater than the first resistance and the first thrust is less than the safety thrust threshold.

7. The method according to claim 1, characterized in that The humanoid robot includes a mechanical arm, and the method further includes: When the humanoid robot pushes the camping cart to the target transport position, the robot arm grabs a first object; the first object is any one of the m target objects; placing the first object at the target transport position, and acquiring a first image of the first object at a first moment; determining a first state of the first object based on the first image; Slowly releasing the robotic arm according to a preset reference time to ensure that the first object does not fall or move due to the sudden release; Acquire a second image of the first object at a second moment; the second moment is later than the first moment, and a time interval between the second moment and the first moment is greater than or equal to the reference time length; determining a second state of the first object based on the second image; If the first state and the second state are consistent, it is determined that the first item is transported completely.

8. A camping goods carrying device based on a humanoid robot, characterized in that: It includes an acquisition module, a determination module, a loading module, an adjustment module, and a control module, among which: The acquisition module is used to acquire a camping item information list and a target transport location; The determination module is used to determine m target items that successfully match the camping item information list among all items in the target vehicle; m is a positive integer; The loading module is used to move the m target objects into the camping cart according to a preset object loading plan; The determination module is further used to determine the initial gait parameters of the humanoid robot according to the target transport position; The acquisition module is further used to acquire the current weight of the camping cart; The adjustment module is used to adjust the initial gait parameter according to the current weight to obtain the first gait parameter; The control module is used to control the humanoid robot to push the camping cart to transport items according to the first posture parameter, and to obtain ground environment information within a preset sensing range during the transportation process; The adjustment module is further used to adjust the first gait parameter according to the ground environment information to obtain a second gait parameter; The control module is further used to control the humanoid robot to push the camping cart to transport items according to the second gait parameter to reach the target transport position.

9. An electronic device, characterized in that: include: A processor, a memory, and one or more programs; the one or more programs are stored in the memory and are configured to be executed by the processor, the programs comprising instructions for executing the steps in the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 7.

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