Robot control method, electronic equipment and storage medium

Abstract

The embodiment of the invention relates to the technical field of robots, and discloses a robot control method, electronic equipment and a storage medium. The method comprises the steps that a query request sent by a target robot is acquired, the query request is generated when the target robot is forced to be in butt joint with a charging pile, the query request is responded, a target electric quantity range is determined according to a forced pile loading identifier, different electric quantity ranges correspond to different scheduling types, and the scheduling type corresponding to the target electric quantity range is determined as a target scheduling type; and controlling the target robot according to the target scheduling type. According to the embodiment, the situation that the target robot is forced to be in butt joint with the charging pile is marked through the forced pile-on identifier, and the target scheduling type is automatically determined according to the target electric quantity in response to triggering of the forced pile-on identifier, so that the target robot is controlled; in this way, the target robot can be flexibly dispatched by adapting to the electric quantity of the target robot under the condition that the target robot is forced to be in butt joint with the charging pile, and the task execution efficiency is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of robotics technology, and in particular to a robot control method, electronic device, and storage medium. Background Art

[0002] With the development of robot technology, robots are widely used in various service places to provide customers with services such as guiding and delivering items. Before delivery, robots usually need to go to charging piles for charging. When the robot has enough power, it goes to the preset waiting area and waits for the cloud to send tasks. Robots in the preset waiting area are easily forced by users to be pushed onto charging piles for charging. When the cloud sends tasks to robots in the preset waiting area, the cloud can easily detect that there are no robots or only a small number of robots in the preset waiting area, resulting in a lack of many robots in the preset waiting area to undertake tasks sent by the cloud, thus reducing the efficiency of task execution. Summary of the invention

[0003] One purpose of the embodiments of the present application is to provide a robot control method, electronic device and storage medium to solve the technical problem of related technologies that the task execution efficiency is reduced after the robot is forced onto a pile.

[0004] In a first aspect, an embodiment of the present application provides a robot control method, comprising:

[0005] Acquire a query request sent by the target robot, where the query request is generated when the target robot is forced to dock with a charging pile, and the query request includes a forced docking identification and a target power level;

[0006] In response to the query request, determining a target power range matching the target power according to the mandatory charging identifier, where different power ranges correspond to different scheduling types;

[0007] Determine a dispatch type corresponding to the target power range as a target dispatch type;

[0008] The target robot is controlled according to the target scheduling type.

[0009] Optionally, the scheduling type includes a high priority scheduling type;

[0010] The controlling the target robot according to the target scheduling type comprises:

[0011] If the target scheduling type is a high priority scheduling type, a task set is obtained, wherein the task set includes a plurality of tasks in a waiting state;

[0012] Determine the number of tasks included in the task set;

[0013] Determining a target busyness level based on the number of tasks;

[0014] The target robot is controlled according to the target busyness.

[0015] Optionally, the busyness includes a high busyness and a normal busyness, and the high busyness is higher than the normal busyness;

[0016] The controlling the target robot according to the target busyness comprises:

[0017] If the target busyness is a high busyness, controlling the target robot to leave the charging pile and go to a preset waiting area;

[0018] If the target busyness is a normal busyness, the status information of the preset waiting area is obtained, and the target robot is controlled according to the status information and the number of tasks, wherein the status information is used to indicate the number of robots in the preset waiting area.

[0019] Optionally, the normal busyness includes a first busyness and a second busyness, the state information includes the waiting number of robots in a waiting state, and the first busyness is higher than the second busyness;

[0020] The controlling the target robot according to the state information and the number of tasks comprises:

[0021] If the target busyness is the first busyness, determining whether the waiting number is less than or equal to a first preset waiting threshold, if the waiting number is less than or equal to the first preset waiting threshold, controlling the target robot to leave the charging pile and go to a preset waiting area, if the waiting number is greater than the first preset waiting threshold, controlling the target robot to continue charging at the charging pile;

[0022] If the target busy level is the second busy level, it is determined whether the number of tasks is less than or equal to a preset task threshold. If the number of tasks is less than or equal to the preset task threshold, the target robot is controlled to continue charging at the charging pile. If the number of tasks is greater than the preset task threshold, the target robot is controlled to leave the charging pile and go to a preset waiting area.

[0023] Optionally, different busyness levels correspond to different task scopes;

[0024] Determining the target busyness according to the number of tasks includes:

[0025] Determine the task range corresponding to the task quantity as the target task range;

[0026] The busyness corresponding to the target task range is determined as the target busyness.

[0027] Optionally, the scheduling type includes a low priority scheduling type;

[0028] The controlling the target robot according to the target scheduling type comprises:

[0029] If the target scheduling type is a low priority scheduling type, obtaining status information of a preset waiting area, wherein the status information includes the number of robots waiting in the preset waiting area;

[0030] Determining whether the waiting quantity is less than or equal to a second preset waiting threshold;

[0031] If the waiting number is less than or equal to a second preset waiting threshold, controlling the target robot to leave the charging pile and go to a preset waiting area;

[0032] If the waiting number is greater than a second preset waiting threshold, the target robot is controlled to continue charging at the charging pile.

[0033] Optionally, the power range includes a high power range and a low power range, the high power range is larger than the low power range, and the scheduling type includes a high priority scheduling type and a low priority scheduling type;

[0034] The determining the scheduling type corresponding to the target power range as the target scheduling type includes:

[0035] If the target power range is a high power range, determining the high priority scheduling type as the target scheduling type;

[0036] If the target power range is a low power range, the low priority scheduling type is determined as the target scheduling type.

[0037] Optionally, the control method further includes:

[0038] Obtain a target task combination and at least one available robot, wherein the available robot is a robot that is in a state of being able to accept tasks, wherein the robot in the preset waiting area is an available robot, the target task combination includes at least one target task, and the walking paths of all target tasks in the target task combination meet the preset similarity condition;

[0039] According to the target task combination, determining an available robot that meets a preset screening condition from at least one of the available robots as a task robot;

[0040] Control the task robot to perform at least one of the target tasks.

[0041] In a second aspect, an embodiment of the present application provides an electronic device, comprising a memory and a processor, wherein the memory is connected to the processor, and the processor is used to execute one or more computer programs stored in the memory, and when the processor executes the one or more computer programs, the electronic device implements the above-mentioned robot control method.

[0042] In a third aspect, an embodiment of the present application provides a storage medium, characterized in that the storage medium stores a computer program, the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the above-mentioned robot control method.

[0043] The embodiments of the present application can achieve the following technical effects: First, the embodiments of the present application obtain a query request sent by the target robot, the query request is generated when the target robot is forced to dock with a charging pile, the query request includes a forced docking mark and a target power, and responds to the query request, determines a target power range that matches the target power according to the forced docking mark, different power ranges correspond to different scheduling types, determines the scheduling type corresponding to the target power range as the target scheduling type, and controls the target robot according to the target scheduling type. The embodiments of the present application use a forced docking mark to mark the situation where the target robot is forced to dock with a charging pile, and responds to the triggering of the forced docking mark to automatically determine the target scheduling type according to the target power so as to control the target robot, so that the target robot can be flexibly scheduled according to the power of the adaptive target robot when the target robot is forced to dock with a charging pile, so as to improve the efficiency of task execution. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] 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 of the present application 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 any creative labor.

[0045] Figure 1 A schematic diagram of the system architecture of a task scheduling system provided in an embodiment of the present application;

[0046] Figure 2 A schematic diagram of the structure of a robot provided in an embodiment of the present application;

[0047] Figure 3 A circuit principle block diagram of a robot provided in an embodiment of the present application;

[0048] Figure 4 A schematic diagram of an application scenario of a task scheduling system provided in an embodiment of the present application;

[0049] Figure 5 A schematic diagram of a flow chart of a robot control method provided in an embodiment of the present application;

[0050] Figure 6 A schematic diagram of the structure of a robot control device provided in an embodiment of the present application;

[0051] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0053] It should be noted that, if there is no conflict, the various features in the embodiments of the present application can be combined with each other, all within the scope of protection of the present application. In addition, although the functional module division is performed in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a sequence different from the module division in the device or the flow chart. Furthermore, the words "first", "second", "third", etc. used in this application do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0054] This application embodiment provides a task scheduling system. Figure 1 The task scheduling system 100 includes a server 200, a robot 300 and a charging pile 400. The server 200 is communicatively connected with the robot 300. The communication connection includes a wired connection or a wireless connection. The wired connection includes an Ethernet connection or an optical fiber connection. The wireless connection includes a WI FI connection or a 6G connection or a 5G connection or a 4G connection, etc.

[0055] The server 200 serves as the control core of the task scheduling system 100 and is used to send tasks to the robot 300 or schedule the robot 300 or receive data uploaded by the robot 300.

[0056] The robot 300 is used to perform tasks, wherein the robot 300 can be a delivery robot, a shopping guide robot, a guiding robot or a cleaning robot, etc.

[0057] The charging post 400 is used to provide charging service for the robot 300, wherein the charging post 400 can be set at any position in the activity space of the robot 300. When the power of the robot 300 is lower than the preset power threshold, the robot 300 automatically goes to the charging post 400 for docking and charging.

[0058] Please also read Figure 2 and Figure 3 The robot 300 includes a shell 31, a camera module 32, a laser radar 33, a display screen 34, a charging circuit 35, a walking component 36, a wireless communication module 37 and a microcontroller 38.

[0059] The housing 31 is configured to be able to carry items. Figure 2 As shown, the housing 31 includes a chassis structure 311 and a bearing structure 312, wherein the bearing structure 312 is mounted on the chassis structure 311. The bearing structure 312 includes at least two brackets 3121 and at least one tray 3122, wherein one end of the bracket 3121 is mounted on the chassis structure 311, and the other end of the bracket 3121 is arranged away from the chassis structure 311, and the tray 3122 is arranged between at least two brackets 3121. Food or other items can be placed on the tray 3122.

[0060] The camera module 32 is disposed on the housing 31 and is used to collect environmental images of the surrounding environment.

[0061] The laser radar 33 is disposed on the housing 31 and is used to collect radar data of the surrounding environment.

[0062] The display screen 34 is disposed on the housing 31 and is used for interacting with the user and presenting an interactive interface to the user. The interactive interface includes various UI buttons that can interact with the user.

[0063] The charging circuit 35 is provided on the housing 31 and is used to receive the power provided by the charging pile 400. The charging circuit 35 includes a charging electrode and a charging processing circuit. The charging electrode is used to dock with the supply electrode of the charging pile 400. The charging processing circuit is used to store the power provided by the charging pile 400 and provide it to various devices for operation. When the supply electrode of the charging pile 400 docks with the charging electrode, the power provided by the charging pile 400 can be provided to the robot 300 through the supply electrode and the charging electrode.

[0064] The travel assembly 36 is mounted on the chassis structure 311 of the housing 31, and is used to drive the chassis structure 311 to drive the bearing structure 312 to move. The travel assembly 36 includes wheels and a motor, and the motor is used to drive the wheels to rotate.

[0065] The wireless communication module 37 is installed in the housing 31 and is used for wireless communication with the server 200 .

[0066] The microcontroller 38 is respectively connected to the camera module 32, the laser radar 33, the display screen 34, the charging circuit 35, the walking component 36, and the wireless communication module 37. Among them, the microcontroller 37 serves as the control core of the robot 300 and is used to control the robot 300 to process and analyze various business logics.

[0067] When the robot 300 is forcibly pushed onto the charging pile 400, the robot 300 generates a forced charging pile flag, wherein the forced charging pile flag is used to indicate that the robot is forcibly pushed onto the charging pile for charging.

[0068] Understandably, there are many ways to generate mandatory stake markings.

[0069] In some embodiments, when the charging circuit 35 detects the charging current provided by the charging pile 400 to the robot 300, the current information of the charging current is sent to the microcontroller 38. The microcontroller 38 responds to the current information and detects that the current charging time is not within the specified charging time range, and generates a forced charging mark.

[0070] In some embodiments, when the microcontroller 38 receives the current information sent by the charging circuit 35, the microcontroller 38 calls the environmental image captured by the camera module 32, inputs the environmental image into the pre-trained machine posture model, and obtains the machine posture information. If the machine posture information is used to indicate that the robot is forced to be pushed onto the pile, the microcontroller 38 generates a forced pile identification.

[0071] In some embodiments, the robot 300 also includes an infrared transceiver, which is arranged at the bottom of the chassis structure 311, for transmitting infrared signals to the ground and receiving infrared signals reflected by the ground. The microcontroller 38 is electrically connected to the infrared transceiver, for receiving the infrared signal sent by the infrared transceiver, and determining the relative height of the robot from the ground according to the intensity of the infrared signal. In the case where the user picks up the robot and forcibly places it on the charging pile 400 for charging, when the user picks up the robot, the relative height of the robot from the ground becomes higher and higher, and the intensity of the infrared signal decreases as the relative height increases. When the user places the robot on the charging pile 400, the relative height of the robot from the ground becomes lower and lower, and the intensity of the infrared signal increases as the relative height decreases. Therefore, the microprocessor 38 detects that the intensity of the infrared signal first decreases and then increases, and detects the charging current, it can be determined that the robot is in a state of being forced to be pushed onto the charging pile for charging.

[0072] In order to elaborate on the working principle of the task scheduling system provided by the embodiment of the present application, the embodiment of the present application combines Figure 3 The detailed description is as follows:

[0073] See also Figure 4The task scheduling system provided in the embodiment of the present application is applied in the hotel delivery scenario. The hotel lobby is set with a preset waiting area 41 and a charging area 42. Multiple robots 300a are waiting in the preset waiting area 41. In addition, multiple robots 300b are charging on the charging piles 400 in the charging area 42. The server 200 can be set with a task set in advance, wherein the task set includes multiple tasks in a waiting state. Figure 4 In the figure, the white square shape is used to represent the charging station 400, and the gray circle is used to represent the robot.

[0074] When the server 200 receives a task trigger command, the server 200 responds to the task trigger command, selects a designated task from the task set, and detects whether there is a robot 300c suitable for performing the designated task in the preset waiting area 41. If there is, the server 200 sends a task execution command to the robot 300c, and the robot 300c responds to the task execution command and performs the designated task. If there is no such robot, the server 200 dispatches a suitable robot from the remaining robots to perform the designated task. For example, the designated task is: the server 200 notifies the robot 300c to deliver breakfast to room 206 on the second floor.

[0075] When the robot 300d is forcibly pushed onto the charging pile 400a by user A, the robot 300d generates a forced charging mark and uploads the forced charging mark and the target power of the robot 300d to the server 200. The server 200 can flexibly control the behavior of the robot 300d based on the forced charging mark and the target power.

[0076] As another aspect of the present application, the present application provides a method for controlling a robot. Figure 5 , the robot control method includes the following steps S51-S54:

[0077] S51: Obtain a query request sent by the target robot. The query request is generated when the target robot is forced to dock with a charging pile. The query request includes a forced docking mark and a target power level.

[0078] In this step, the forced charging mark is used to indicate that the target robot is forced to be pushed onto the charging pile for charging, wherein the forced charging mark can be represented by any suitable data, such as Arabic numerals, letters, symbols or strings. The target power is the power of the target robot. When the target robot detects that it is forced to be pushed onto the charging pile for charging, the target robot generates a forced charging mark, obtains the target power of the target robot, encapsulates the forced charging mark and the target power into a query request, and finally sends the query request to the server. After receiving the query request, the server parses the forced charging mark and the target power from the query request.

[0079] S52: In response to the query request, a target power range matching the target power is determined according to the mandatory charging mark, and different power ranges correspond to different scheduling types.

[0080] In this step, the power range includes a high power range and a low power range, wherein the high power range is greater than the low power range. When the target power falls within the high power range, the server determines the high power range as the target power range, and the target power matches the high power range. When the target power falls within the low power range, the server determines the low power range as the target power range, and the target power matches the low power range. It is understandable that the high power range and the low power range can be customized by the designer according to business needs, such as the high power range is 60%-100%, and the low power range is 0%-60%.

[0081] The server receives the query request, responds to the triggering of the forced charging mark, and automatically determines the target power range that matches the target power. For example, the target power of the robot is 80%, and the server determines the high power range as the target power range.

[0082] S53: Determine the scheduling type corresponding to the target power range as the target scheduling type.

[0083] In this step, the scheduling type includes a high priority scheduling type and a low priority scheduling type. The high priority scheduling type is used to instruct the high priority scheduling target robot to go to the preset waiting area, and the low priority scheduling type is used to instruct the low priority scheduling target robot to go to the preset waiting area. If the target power range is a high power range, the server determines the high priority scheduling type as the target scheduling type. If the target power range is a low power range, the server determines the low priority scheduling type as the target scheduling type.

[0084] For example, if the robot's target power is 80%, the high power range corresponds to the high priority scheduling type, and the server determines the high priority scheduling type as the target scheduling type. If the robot's target power is 30%, the low power range corresponds to the low priority scheduling type, and the server determines the low priority scheduling type as the target scheduling type.

[0085] S54: Control the target robot according to the target scheduling type.

[0086] In this step, when the target scheduling type is a high priority scheduling type, the server controls the target robot according to the high priority scheduling type. When the target scheduling type is a low priority scheduling type, the server controls the target robot according to the low priority scheduling type. In general, the embodiment of the present application uses a forced charging pile mark to mark the situation where the target robot is forced to dock with the charging pile, and responds to the triggering of the forced charging pile mark to automatically determine the target scheduling type according to the target power so as to control the target robot. In this way, the target robot can be flexibly scheduled according to the power of the adaptive target robot when the target robot is forced to dock with the charging pile, so as to improve the task execution efficiency.

[0087] In some embodiments, the scheduling type includes a high priority scheduling type, and controlling the target robot according to the target scheduling type includes the following steps:

[0088] S541: If the target scheduling type is a high priority scheduling type, a task set is obtained, where the task set includes a plurality of tasks in a waiting state;

[0089] S543: Determine the number of tasks included in the task set;

[0090] S545: Determine the target busyness according to the number of tasks;

[0091] S547: Control the target robot according to the target busyness.

[0092] In S541, the server maintains the tasks in the pending state and records the tasks in the pending state in the task pool.

[0093] In some embodiments, obtaining a task set includes the following steps: obtaining all tasks pre-stored in a task pool, and combining all tasks pre-stored in the task pool into a task set.

[0094] In some embodiments, obtaining a task set includes the following steps: determining the current time, and based on the current time, traversing the task pool to find tasks whose execution time is within a specified time range as candidate tasks, combining all candidate tasks to obtain a task set, wherein the specified time range is the range from the current time to the target time, and the target time is greater than the current time and is separated from the current time by a specified time interval.

[0095] For example, the current time is 9 o'clock and the target time is 13 o'clock. The time of each task in the task pool is shown in Table 1:

[0096] Table 1

[0097] Serial number Task Name Task Description Task execution time 1 Task A Deliver food to tenant 305 9:15 2 Task B Deliver food to tenant 402 9:30 3 Task C Deliver food to tenant 206 9:50 4 Task D Deliver food to tenant 602 10:00 ...... ...... ......

[0098] As shown in Table 1, the server combines the tasks whose execution time is between 9:00 and 13:00 to obtain a task set.

[0099] In S543, the server accumulates the tasks in the task set according to the number 1 to obtain the number of tasks. It is understandable that the task set can be an empty set, that is, the number of tasks is 0, which means that there are no tasks to be executed within the specified time from the current time. Alternatively, the task set is a non-empty set, that is, the number of tasks is greater than 0, which means that there are tasks to be executed within the specified time from the current time.

[0100] In some embodiments, determining the number of tasks contained in a task set includes the following steps: obtaining the walking path of the robot when executing each task in the task set, determining the similarity between any two walking paths, and placing the tasks in the task set that meet preset similarity conditions in a preset task combination according to the similarity between any two walking paths, and using the number of task combinations as the number of tasks.

[0101] It is understandable that after the above-mentioned task merging operation, among all tasks, the task combination may include two tasks or three tasks whose similarity meets the preset similarity condition, for example, the similarity between the walking path of task A1 and the walking path of task A2 meets the preset similarity condition, and the embodiment of the present application places task A1 and task A2 in the same task combination. The similarity between the walking path of task A2 and the walking path of task A3 meets the preset similarity condition, and the embodiment of the present application places task A2 and task A3 in the same task combination, so the task combination includes task A1, task A2 and task A3.

[0102] The robot is equipped with a task path table, which includes multiple task path combinations, each of which includes a task identifier and path information corresponding to the task identifier, and the path information is used to represent the walking path. Obtaining the walking path of the robot when executing each task in the task set includes the following steps: obtaining the task identifier of the task, traversing the path information corresponding to the task identifier in the preset task path table, and determining the walking path according to the path information.

[0103] Any two walking paths include a first walking path and a second walking path, and determining the similarity of any two walking paths includes the following steps: determining an overlapping section between the first walking path and the second walking path, calculating an overlapping distance of the overlapping section, obtaining a first ratio of the overlapping distance to the distance of the first walking path, obtaining a second ratio of the overlapping distance to the distance of the second walking path, selecting a maximum ratio between the first ratio and the second ratio, and using the maximum ratio as the similarity between the first walking path and the second walking path.

[0104] Placing tasks in a task set that meet preset similarity conditions in a preset task combination according to the similarity of any two walking paths includes the following steps: judging whether the similarity of any two walking paths is greater than or equal to a preset similarity threshold; if so, determining that the two walking paths meet the preset similarity condition, and merging the two walking paths into a task combination; if less than, determining that the two walking paths do not meet the preset similarity condition.

[0105] For example, before the task merging operation is performed, the task set includes 10 tasks. After the task merging operation, 2 tasks are merged into the first task combination, 3 tasks are merged into the second task combination, and the third task combination to the seventh task combination each include only one task. Therefore, the embodiment of the present application obtains 5 task combinations, and the number of tasks is 5. It can be understood that the embodiment of the present application schedules the same robot to perform tasks in the task combination. For example, the embodiment of the present application schedules robot B1 to perform two tasks in the first task combination, schedules robot B2 to perform three tasks in the second task combination, and schedules robot B3 to perform one task in the third task combination, and so on.

[0106] The embodiment of the present application can place the walking paths of at least two tasks that meet preset similarity conditions in the same task combination, and determine the number of tasks based on the task combination, so that the tasks in the task combination are performed by the same robot. This means reducing the number of robots that need to be scheduled and the busyness, thereby enabling more scientific and intelligent control of the target robot.

[0107] In S545, the busyness is used to indicate the number of robots required to execute the task set, and the target busyness is the busyness of the matching task set. The busyness includes a high busyness and a normal busyness, where the high busyness is higher than the normal busyness, and the high busyness is used to indicate that more robots are required to execute the task set, and the normal busyness is used to indicate that fewer robots are required to execute the task set.

[0108] Different busyness levels correspond to different task scopes. The task scope quantifies the busyness level. When the task scope is larger, the corresponding busyness level is larger, and more robots are needed to execute the task set. When the task scope is smaller, the corresponding busyness level is smaller, and fewer robots are needed to execute the task set.

[0109] In some embodiments, determining the target busyness according to the number of tasks includes the following steps: determining a task range corresponding to the number of tasks as a target task range, and determining the busyness corresponding to the target task range as a target busyness.

[0110] The task range includes a high task range and a low task range, wherein the high task range is larger than the low task range, wherein the high task range is used to match a large task quantity, and the low task range is used to match a small task quantity. If the task quantity falls within the high task range, the high task range is determined as the target task range, and if the task quantity falls within the low task range, the low task range is determined as the target task range.

[0111] If the target task range is a high task range, the high busyness corresponding to the target task range is determined as the target busyness. If the target task range is a low task range, the low busyness corresponding to the target task range is determined as the target busyness.

[0112] For example, the high task range is (30, +∞), the low task range is (0, 30], if the number of tasks in the task set is 40, then the target task range is the high task range, and the target busyness is the high busyness. If the number of tasks in the task set is 20, then the target task range is the low task range, and the target busyness is the normal busyness.

[0113] In S547, the embodiment of the present application flexibly determines the target busyness based on the number of tasks, which not only ensures that the robot with high power can connect to perform multiple tasks, which is beneficial to improving the efficiency of task execution, but also avoids the problem of abuse of scheduling when the robot has high power but there are not many tasks waiting to be executed. It also ensures that the robot with high power can continue to charge in this case so that the robot is fully charged, thereby avoiding the problem of frequent charging in the future.

[0114] In some embodiments, controlling the target robot according to the target busy level includes the following steps: if the target busy level is a high busy level, controlling the target robot to leave the charging pile and go to a preset waiting area; if the target busy level is a normal busy level, obtaining the status information of the preset waiting area, and controlling the target robot according to the status information and the number of tasks, wherein the status information is used to indicate the number of robots waiting in the preset waiting area.

[0115] Controlling the target robot to leave the charging pile and go to the preset waiting area includes the following steps: sending a leave command to the target robot, so that the target robot responds to the leave command to leave the charging pile and go to the preset waiting area. The leave command carries the location information of the preset waiting area, and the target robot parses the location information of the preset waiting area from the leave command and moves according to the location information of the preset waiting area.

[0116] The preset waiting area is configured with a maintenance list, which is used to record the machine information of each robot in the preset waiting area. When the robot arrives at the preset waiting area, the robot sends a heartbeat packet to the server, wherein the heartbeat packet includes the robot's position and machine information. After receiving the heartbeat packet sent by the robot, the server parses the robot's position and machine information from the heartbeat packet, and detects whether the robot's position is within the area of ​​the preset waiting area. If so, the robot's machine information is recorded in the maintenance list, and if not, the maintenance list status is maintained.

[0117] Obtaining the status information of the preset waiting area includes the following steps: obtaining a maintenance list of the preset waiting area, determining the number of robots recorded in the maintenance list, and obtaining the status information of the preset waiting area.

[0118] In the case of high busyness, the embodiment of the present application has a large number of tasks to be performed and a large target power of the target robot. Therefore, the embodiment of the present application does not need to combine the status information of the preset waiting area to quickly control the target robot to leave the charging pile and go to the preset waiting area, so as to be able to quickly respond to the tasks issued by the server and quickly control the robot to enter the task execution state, which is conducive to improving the efficiency of task execution. In addition, in the case of normal busyness, the embodiment of the present application has a small number of tasks to be performed and a small target power of the target robot. In order to meet the target robot's need for more charging, but not affecting the normal execution of the task, the embodiment of the present application flexibly controls the target robot in combination with the status information of the preset waiting area and the number of tasks, so as to find a balance between the charging power of the target robot and the normal execution of the task.

[0119] In some embodiments, the normal busyness includes a first busyness and a second busyness, the first busyness is higher than the second busyness. The low task range includes a first task range and a second task range, the first task range is larger than the second task range, the first task range corresponds to the first busyness, and the second task range corresponds to the second busyness.

[0120] If the number of tasks falls within the first task range, the first task range is determined to be the target task range, and the target busyness is the first busyness. If the number of tasks falls within the second task range, the second task range is determined to be the target task range, and the target busyness is the second busyness. For example, the first task range is (10, 30], and the second task range is [0, 10]. If the number of tasks is 20, the target task range is the first task range, and the target busyness is the first busyness. If the number of tasks is 5, the target task range is the second task range, and the target busyness is the second busyness.

[0121] The state information includes the waiting number of robots in the waiting state, where the waiting number is the number of robots in the preset waiting area. Controlling the target robot according to the state information and the task number includes the following steps:

[0122] S5471: If the target busyness is the first busyness, determine whether the waiting number is less than or equal to the first preset waiting threshold; if the waiting number is less than or equal to the first preset waiting threshold, control the target robot to leave the charging pile and go to the preset waiting area; if the waiting number is greater than the first preset waiting threshold, control the target robot to continue charging at the charging pile;

[0123] S5472: If the target busy level is the second busy level, determine whether the number of tasks is less than or equal to the preset task threshold. If the number of tasks is less than or equal to the preset task threshold, control the target robot to continue charging at the charging pile. If the number of tasks is greater than the preset task threshold, control the target robot to leave the charging pile and go to the preset waiting area.

[0124] In S5471, the first preset waiting threshold is customized by the designer according to business needs, for example, the first preset waiting threshold is 0 or 1 or 2 or 3, etc. In the case where the waiting number is less than or equal to the first preset waiting threshold, although the target power of the target robot is high, since there are fewer robots in the preset waiting area, in order to avoid the server issuing a task but failing to find a suitable robot to perform the task in the preset waiting area, the embodiment of the present application controls the target robot to leave the charging pile and go to the preset waiting area, so that it can perform the task issued by the server flexibly and at any time, which is conducive to improving the efficiency of task execution.

[0125] When the waiting number is greater than the first preset waiting threshold, since there are more robots in the preset waiting area that can respond to the tasks issued by the server at any time, the embodiment of the present application does not need to control the target robot to leave the charging pile and go to the preset waiting area. The target robot can be controlled to continue charging at the charging pile to ensure that the target robot has sufficient power and avoid frequent charging when performing subsequent tasks. This is beneficial to improving the endurance of the target robot.

[0126] In S5472, the preset task threshold is customized by the designer according to business needs, such as the preset task threshold is 0 or 1 or 2 or 3, etc. In the case where the number of tasks is less than or equal to the preset task threshold, since the target power of the target robot is small and the number of tasks pre-stored in the server is small, in order to improve the endurance of the target robot so as to perform subsequent tasks, the embodiment of the present application controls the target robot to continue charging at the charging pile. In the case where the number of tasks is greater than the preset task threshold, although the target power of the target robot is small, the number of tasks pre-stored in the server is not small. The embodiment of the present application needs to control the target robot to leave the charging pile and go to the preset waiting area so that it can respond to the tasks issued by the server at any time.

[0127] The embodiment of the present application can divide the first busyness and the second busyness in a more fine-grained manner according to the target power of the target robot. When the target power is low, the target robot can have more charging time without affecting the execution of the task.

[0128] In some embodiments, the scheduling type includes a low priority scheduling type. As described above, if the target power range is a low power range, the server determines the low priority scheduling type as the target scheduling type.

[0129] Controlling the target robot according to the target scheduling type includes the following steps:

[0130] S542: If the target scheduling type is a low priority scheduling type, obtaining status information of a preset waiting area, wherein the status information includes the number of robots waiting in the preset waiting area;

[0131] S544: Determine whether the waiting number is less than or equal to a second preset waiting threshold;

[0132] S546: If the waiting number is less than or equal to the second preset waiting threshold, control the target robot to leave the charging pile and go to the preset waiting area;

[0133] S548: If the waiting number is greater than the second preset waiting threshold, the target robot is controlled to continue charging at the charging pile.

[0134] In S542, the embodiment of the present application may adopt the method of obtaining the status information of the preset waiting area described in the above embodiment, which will not be repeated here.

[0135] In S544, the second preset waiting threshold is customized by the designer according to business requirements, for example, the second preset waiting threshold is 0 or 1 or 2 or 3, etc.

[0136] In S546, when the waiting number is less than or equal to the second preset waiting threshold, even if the target power of the target robot is low, since there are fewer robots in the preset waiting area, in order to avoid the server issuing a task but failing to find a suitable robot to perform the task in the preset waiting area, the embodiment of the present application controls the target robot to leave the charging pile and go to the preset waiting area so that it can execute the task issued by the server flexibly and at any time, which is conducive to improving the efficiency of task execution.

[0137] In S548, when the waiting number is greater than the second preset waiting threshold, since the preset waiting area has more robots that can respond to the tasks issued by the server at any time, the embodiment of the present application does not need to control the target robot to leave the charging pile and go to the preset waiting area. The target robot can be controlled to continue charging at the charging pile to ensure that the target robot has sufficient power and avoid frequent charging when performing subsequent tasks. This is beneficial to improving the endurance of the target robot.

[0138] In some embodiments, the robot control method further comprises the following steps:

[0139] S55: Acquire a target task combination and at least one available robot, where an available robot is a robot that is in a state of being able to accept tasks, wherein a robot in a preset waiting area is an available robot;

[0140] S56: determining, according to the target task combination, an available robot that meets a preset screening condition from at least one available robot as a task robot;

[0141] S57: Control the task robot to perform at least one target task.

[0142] In S55, the target task combination includes at least one target task, and the walking paths of all target tasks in the target task combination meet the preset similarity condition. The task-acceptable state is the state in which the task can be executed.

[0143] Obtaining a target task combination includes the following steps: obtaining a target task issued by a client, traversing a walking path in a task pool that satisfies a preset similarity condition with the walking path of the first target task as a target walking path, determining a task corresponding to the target walking path as another target task, and each target task forms a target task combination.

[0144] Acquiring at least one available robot comprises the following steps: acquiring a maintenance list of a preset waiting area, and determining that each robot recorded in the maintenance list is an available robot.

[0145] In some embodiments, the server is configured with an idle state table, which records all robots that are in a state where they can accept tasks. Obtaining at least one available robot includes the following steps: obtaining the idle state table, and determining that each robot recorded in the idle state table is an available robot.

[0146] When the robot completes the task, it returns a heartbeat packet to the server. The heartbeat packet includes the robot's machine information, location information and task completion status. The server parses the task completion status from the heartbeat packet. If the task completion status is the task completed status, the server records the robot's machine information and location information in the idle state table.

[0147] In S56, the target task includes the task type, the target location and the task execution time, and the preset filtering conditions are used to assist in filtering out the task robot from at least one available robot, wherein the connotation of the preset filtering conditions can be customized by the designer according to business needs.

[0148] Determining, according to a target task combination, an available robot that meets preset screening conditions as a task robot from at least one available robot includes the following steps: parsing each target task in the target task combination to obtain a target position, obtaining the current position of each available robot, planning a target combination path for the available robots to complete all target tasks from the current position in combination with a shortest path planning algorithm based on all target positions in the target task combination, determining power consumption based on the target combination path, and determining, according to the current power of each available robot and the corresponding power consumption, an available robot that meets the preset screening conditions as a task robot from at least one available robot.

[0149] The shortest path planning algorithms include A* algorithm, Dijkstra algorithm, or depth expansion algorithm.

[0150] Determining the power consumption according to the target combined path includes the following steps: determining the distance of the target combined path, and calculating the power consumption according to the distance and the power of each distance unit of the robot.

[0151] In some embodiments, based on the current power of each available robot and the corresponding power consumption, determining an available robot that meets preset filtering conditions among at least one available robot as a task robot includes the following steps: determining an available robot whose current power is greater than the power consumption as a candidate robot, and determining a candidate robot that meets the preset filtering conditions among at least one candidate robot as a task robot.

[0152] In some embodiments, determining a candidate robot that meets preset filtering conditions among at least one candidate robot as a task robot includes the following steps: determining a candidate robot with the largest current power among at least one candidate robot as a task robot, wherein the candidate robot with the largest current power meets the preset filtering conditions.

[0153] For example, the power consumption is 1000mAh, the current power of robot B1 is 500mAh, the current power of robot B2 is 1500mAh, the current power of robot B3 is 800mAh, the current power of robot B4 is 3000mAh, and the current power of robot B5 is 1200mAh. According to the above screening rules, robot B2, robot B4 and robot B5 are all candidate robots. Since the current power of robot B4 is the largest current power among the current power of robot B2, the current power of robot B4 and the current power of robot B5, robot B4 is the task robot. In the embodiment of the present application, the candidate robot with the largest current power is used as the task robot. When performing a task, if other abnormal situations are encountered, the current power of the task robot can support the task robot to overcome such abnormal situations, so that the task can be completed smoothly.

[0154] In some embodiments, determining a candidate robot that meets preset filtering conditions among at least one candidate robot as a task robot includes the following steps: determining a candidate robot with the smallest current power among at least one candidate robot as a task robot, wherein the candidate robot with the smallest current power meets the preset filtering conditions.

[0155] In S57, in some embodiments, the embodiment of the present application controls the task robot to perform the target task according to the walking path corresponding to the task robot. In some embodiments, the embodiment of the present application controls the task robot to perform all target tasks in the target task combination according to the target combination path corresponding to the task robot.

[0156] The embodiment of the present application adopts the above-mentioned method, which can find the best available robot as the task robot to perform the target task, thereby improving the execution efficiency and reliability of the target task.

[0157] It should be noted that, in each of the above-mentioned embodiments, there is not necessarily a certain order between the above-mentioned steps. A person skilled in the art can understand, based on the description of the embodiments of the present application, that in different embodiments, the above-mentioned steps may have different execution orders, that is, they may be executed in parallel, may be executed interchangeably, and so on.

[0158] As another aspect of the embodiment of the present application, the embodiment of the present application provides a control device for a robot. The control device for the robot can be a software module, which includes a number of instructions stored in a memory, and the processor can access the memory and call the instructions for execution to complete the robot control method described in each of the above embodiments.

[0159] In some embodiments, the control device of the robot can also be constructed by hardware devices, for example, the control device of the robot can be constructed by one or more chips, and each chip can work in coordination with each other to complete the control method of the robot described in each of the above embodiments. For another example, the control device of the robot can also be constructed by various logic devices, such as a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a single-chip microcomputer, an ARM (Acorn RISC Machine) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination of these components.

[0160] See also Figure 6 The robot control device 600 includes a request acquisition module 61, a power determination module 62, a type determination module 63 and a machine control module 64.

[0161] The request acquisition module 61 is used to obtain the query request sent by the target robot. The query request is generated when the target robot is forced to dock with the charging pile. The query request includes a forced docking mark and a target power. The power determination module 62 is used to respond to the query request, and determine the target power range that matches the target power according to the forced docking mark. Different power ranges correspond to different scheduling types. The type determination module 63 is used to determine that the scheduling type corresponding to the target power range is the target scheduling type. The machine control module 64 is used to control the target robot according to the target scheduling type. The embodiment of the present application uses a forced docking mark to mark the situation where the target robot is forced to dock with the charging pile, and responds to the triggering of the forced docking mark to automatically determine the target scheduling type according to the target power so as to control the target robot. In this way, the target robot can be flexibly scheduled according to the power of the adaptive target robot when the target robot is forced to dock with the charging pile, so as to improve the task execution efficiency.

[0162] In some embodiments, the scheduling type includes a high priority scheduling type, and the machine control module 64 is specifically used to: if the target scheduling type is a high priority scheduling type, obtain a task set, the task set includes multiple tasks in a waiting state, determine the number of tasks included in the task set, determine the target busyness according to the number of tasks, and control the target robot according to the target busyness.

[0163] In some embodiments, the busy level includes a high busy level and a normal busy level, the high busy level is higher than the normal busy level, and the machine control module 64 is also specifically used to: if the target busy level is a high busy level, control the target robot to leave the charging pile and go to a preset waiting area; if the target busy level is a normal busy level, obtain the status information of the preset waiting area, and control the target robot according to the status information and the number of tasks, wherein the status information is used to indicate the number of robots in the preset waiting area.

[0164] In some embodiments, the normal busy level includes a first busy level and a second busy level, the status information includes the waiting number of robots in the waiting state, the first busy level is higher than the second busy level, and the machine control module 64 is also specifically used to: if the target busy level is the first busy level, then determine whether the waiting number is less than or equal to the first preset waiting threshold; if the waiting number is less than or equal to the first preset waiting threshold, then control the target robot to leave the charging pile and go to the preset waiting area; if the waiting number is greater than the first preset waiting threshold, then control the target robot to continue charging at the charging pile; if the target busy level is the second busy level, then determine whether the number of tasks is less than or equal to the preset task threshold; if the number of tasks is less than or equal to the preset task threshold, then control the target robot to continue charging at the charging pile; if the number of tasks is greater than the preset task threshold, then control the target robot to leave the charging pile and go to the preset waiting area.

[0165] In some embodiments, different busyness levels correspond to different task ranges, and the machine control module 64 is further specifically used to: determine the task range corresponding to the task quantity as the target task range, and determine the busyness level corresponding to the target task range as the target busyness level.

[0166] In some embodiments, the scheduling type includes a low priority scheduling type, and the machine control module 64 is also specifically used to: if the target scheduling type is a low priority scheduling type, obtain status information of a preset waiting area, wherein the status information includes the waiting number of robots waiting in the preset waiting area, and determine whether the waiting number is less than or equal to a second preset waiting threshold. If the waiting number is less than or equal to the second preset waiting threshold, control the target robot to leave the charging pile and go to the preset waiting area. If the waiting number is greater than the second preset waiting threshold, control the target robot to continue charging at the charging pile.

[0167] In some embodiments, the power range includes a high power range and a low power range, the high power range is larger than the low power range, the scheduling type includes a high priority scheduling type and a low priority scheduling type, and the type determination module 63 is specifically used to: if the target power range is a high power range, then determine the high priority scheduling type as the target scheduling type; if the target power range is a low power range, then determine the low priority scheduling type as the target scheduling type.

[0168] In some embodiments, the robot control device 600 further includes a task execution module 65, which is used to obtain a target task combination and at least one available robot, wherein the available robot is a robot in a state where it can accept a task, wherein the robot in the preset waiting area is an available robot, the target task combination includes at least one target task, and the walking paths of all target tasks in the target task combination meet the preset similarity condition. According to the target task combination, the available robot that meets the preset screening condition is determined as a task robot in at least one available robot, and the task robot is controlled to perform at least one target task. .

[0169] It should be noted that the control device of the above robot can execute the control method of the robot provided in the embodiment of the present application, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not fully described in the embodiment of the control device of the robot, please refer to the control method of the robot provided in the embodiment of the present application.

[0170] See also Figure 7 , Figure 7 The structural diagram of an electronic device provided in an embodiment of the present application, which electronic device may be a server or other electronic product described in each of the above embodiments. The electronic device 700 includes one or more processors 71 and a memory 72. The memory 72 is connected to the one or more processors 71, for example, connected to the processor 71 via a bus.

[0171] The processor 71 is configured to support the electronic device to perform the corresponding functions in the method in the above method embodiment. The processor 71 can be a central processing unit (CPU), a network processor (NP), a hardware chip or any combination thereof. The above hardware chip can be an application specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above PLD can be a complex programmable logic device (CPLD), a field programmable gate array (FPGA), a general array logic (GAL) or any combination thereof.

[0172] The memory 72 is used to store program codes, etc. The memory may include a volatile memory (VM), such as a random access memory (RAM); the memory may also include a non-volatile memory (NVM), such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); the memory may also include a combination of the above types of memory.

[0173] The memory 72 can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the robot control method in the embodiment of the present application. The processor executes the robot control method and various functional applications and data processing of the robot control device by running the non-volatile software programs, instructions and modules stored in the memory, that is, realizes the functions of the robot control method and various modules or units of the robot control device provided in the above method embodiment.

[0174] The memory 72 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function. The data storage area may store data created according to the use of the robot's control device, etc. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the robot's control device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0175] The one or more modules are stored in the memory, and when executed by the one or more processors, they execute the robot control method in any of the above-mentioned method embodiments, for example, execute the method steps described in the above-mentioned method embodiments, and realize the functions of the modules described in the above-mentioned device embodiments.

[0176] An embodiment of the present application further provides a storage medium, wherein the storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by an electronic device, the electronic device executes the method as described in the above embodiment.

[0177] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0178] The above disclosure is only the preferred embodiment of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A robot control method, characterized in that: include: Acquire a query request sent by the target robot, where the query request is generated when the target robot is forced to dock with a charging pile, and the query request includes a forced docking identification and a target power level; In response to the query request, determining a target power range matching the target power according to the mandatory charging identifier, where different power ranges correspond to different scheduling types; Determine a dispatch type corresponding to the target power range as a target dispatch type; The target robot is controlled according to the target scheduling type.

2. The control method according to claim 1, characterized in that: The scheduling type includes a high priority scheduling type; The controlling the target robot according to the target scheduling type comprises: If the target scheduling type is a high priority scheduling type, a task set is obtained, wherein the task set includes a plurality of tasks in a waiting state; Determine the number of tasks included in the task set; Determining a target busyness level based on the number of tasks; The target robot is controlled according to the target busyness.

3. The control method according to claim 2, characterized in that: The busyness includes a high busyness and a normal busyness, wherein the high busyness is higher than the normal busyness; The controlling the target robot according to the target busyness comprises: If the target busyness is a high busyness, controlling the target robot to leave the charging pile and go to a preset waiting area; If the target busyness is a normal busyness, the status information of the preset waiting area is obtained, and the target robot is controlled according to the status information and the number of tasks, wherein the status information is used to indicate the number of robots in the preset waiting area.

4. The control method according to claim 3, characterized in that: The normal busyness includes a first busyness and a second busyness, the state information includes the waiting number of robots in a waiting state, and the first busyness is higher than the second busyness; The controlling the target robot according to the state information and the number of tasks comprises: If the target busyness is the first busyness, determining whether the waiting number is less than or equal to a first preset waiting threshold, if the waiting number is less than or equal to the first preset waiting threshold, controlling the target robot to leave the charging pile and go to a preset waiting area, if the waiting number is greater than the first preset waiting threshold, controlling the target robot to continue charging at the charging pile; If the target busy level is the second busy level, it is determined whether the number of tasks is less than or equal to a preset task threshold. If the number of tasks is less than or equal to the preset task threshold, the target robot is controlled to continue charging at the charging pile. If the number of tasks is greater than the preset task threshold, the target robot is controlled to leave the charging pile and go to a preset waiting area.

5. The control method according to claim 2, characterized in that: Different busyness levels correspond to different task scopes; Determining the target busyness according to the number of tasks includes: Determine the task range corresponding to the task quantity as the target task range; The busyness corresponding to the target task range is determined as the target busyness.

6. The control method according to any one of claims 1 to 5, characterized in that: The scheduling type includes a low priority scheduling type; The controlling the target robot according to the target scheduling type comprises: If the target scheduling type is a low priority scheduling type, obtaining status information of a preset waiting area, wherein the status information includes the number of robots waiting in the preset waiting area; Determining whether the waiting quantity is less than or equal to a second preset waiting threshold; If the waiting number is less than or equal to a second preset waiting threshold, controlling the target robot to leave the charging pile and go to a preset waiting area; If the waiting number is greater than a second preset waiting threshold, the target robot is controlled to continue charging at the charging pile.

7. The control method according to any one of claims 1 to 5, characterized in that: The power range includes a high power range and a low power range, the high power range is larger than the low power range, and the scheduling type includes a high priority scheduling type and a low priority scheduling type; The determining the scheduling type corresponding to the target power range as the target scheduling type includes: If the target power range is a high power range, determining the high priority scheduling type as the target scheduling type; If the target power range is a low power range, the low priority scheduling type is determined as the target scheduling type.

8. The control method according to any one of claims 1 to 5, characterized in that: Also includes: Obtain a target task combination and at least one available robot, wherein the available robot is a robot that is in a state of being able to accept tasks, wherein the robot in the preset waiting area is an available robot, the target task combination includes at least one target task, and the walking paths of all target tasks in the target task combination meet the preset similarity condition; According to the target task combination, determining an available robot that meets a preset screening condition from at least one of the available robots as a task robot; Control the task robot to perform at least one of the target tasks.

9. An electronic device, characterized in that: It includes a memory and a processor, the memory is connected to the processor, the processor is used to execute one or more computer programs stored in the memory, and when the processor executes the one or more computer programs, the electronic device implements the robot control method as described in any one of claims 1-8.

10. A storage medium, characterized in that: The 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 executes the robot control method according to any one of claims 1 to 8.

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