Robot movement control method, device, equipment, storage medium and positioning system

Abstract

The application discloses a robot movement control method, device, equipment and storage medium, and relates to the technical field of robots. The technical scheme provided by the application comprises the following steps: receiving a first signal, the first signal being used for determining a current position of a robot, the position comprising a second region which is arranged adjacent to a first region, and the danger degree of the second region being smaller than that of the first region; in the case that the first signal is determined to be an invalid signal and the current position of the robot is the second region, controlling the robot to perform a safety operation; and in the case that the first signal is determined to be a valid signal and the current position of the robot is the second region, controlling the robot to move according to a preset path and perform a cleaning operation. Through the above technical means, the problem that whether the robot enters a forbidden area cannot be accurately determined in the prior art is solved, and the operation safety and operation efficiency of the robot are ensured.

Description

Robot movement control methods, devices, equipment, storage media, and positioning systems Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a robot motion control method, apparatus, device, storage medium, and positioning system. Background Technology

[0002] With the rapid development of robotics technology, various service robots are now used in large spaces such as shopping malls, office buildings, and other commercial venues, as well as public places like transportation hubs. These service robots can include large cleaning robots responsible for cleaning shopping malls. Commercial scenarios often have restricted areas such as escalators and stairs that robots cannot access. If a robot moves into such a restricted area, there is a risk of it falling, potentially causing a serious safety accident.

[0003] In existing technologies, a restricted area is defined, and the robot uses global positioning to determine whether it has entered that area. However, during the design, research, and implementation process, the applicant discovered that when the robot's global positioning deviates, it becomes difficult to accurately determine whether the robot has moved into the restricted area. This can lead to accidents as the robot continues to move even after entering the restricted area. Alternatively, the robot may mistakenly believe it has entered a restricted area while in a safe working area and stop working, thus affecting its operational efficiency. Summary of the Invention

[0004] This application provides a robot movement control method, device, equipment, and storage medium to solve the problem in the prior art of not being able to accurately determine whether a robot has entered a restricted area, thereby ensuring the robot's operational safety and efficiency.

[0005] In a first aspect, this application provides a robot movement control method, including:

[0006] The robot receives a first signal to determine its current location, which includes a second region adjacent to the first region, the second region being less dangerous than the first region.

[0007] If it is determined that the first signal is invalid and the robot is currently located in the second area, the robot is controlled to perform a safety operation.

[0008] If the first signal is determined to be valid and the robot is currently located in the second area, the robot is controlled to move along a preset path and perform cleaning operations.

[0009] Secondly, this application provides a robot movement control device, comprising:

[0010] A first positioning module is configured to receive a first signal, which is used to determine the current position of the robot. The position includes a second region adjacent to the first region, and the danger level of the second region is less than that of the first region.

[0011] The first control module is configured to control the robot to perform a safety operation when it is determined that the first signal is an invalid signal and the robot is currently located in the second area;

[0012] The second control module is configured to control the robot to move along a preset path and perform cleaning operations when it is determined that the first signal is a valid signal and the robot is currently located in the second area.

[0013] Thirdly, this application provides a robot movement control device, comprising:

[0014] One or more processors; a memory storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the robot movement control method as described in the first aspect.

[0015] Fourthly, this application provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the robot movement control method as described in the first aspect.

[0016] Fifthly, this application provides a positioning system, including an ultra-wideband base station and a robot, wherein the robot is equipped with an ultra-wideband tag, wherein:

[0017] The ultra-wideband base station is used to send a first signal to the ultra-wideband tag;

[0018] The robot is configured to: receive a first signal, the first signal being used to determine the robot's current location, the location including a second area adjacent to the first area, the second area having a lower degree of danger than the first area; if the first signal is determined to be invalid and the robot's current location is the second area, control the robot to perform a safety operation; if the first signal is determined to be valid and the robot's current location is the second area, control the robot to move along a preset path and perform a cleaning operation.

[0019] In this application, the robot's current location is determined based on a received first signal. This location includes a first area and a second area adjacent to the first area, where the danger level of the second area is lower than that of the first area. If the robot's current location is in the second area and the first signal is invalid, the robot's current location is considered inaccurate; its true location may be the first area, which includes the potential danger zone. Therefore, the robot is controlled to perform safe operations to prevent it from moving to the danger zone within the first area, ensuring operational safety. If the robot's current location is in the second area and the first signal is valid, the robot's current location is considered accurate; its true location is the second area, which does not include the potential danger zone. Therefore, the robot is controlled to move along a preset path and perform cleaning operations, ensuring operational efficiency. Thus, this solution ensures both safety and improved cleaning efficiency. Attached Figure Description

[0020] Figure 1 is a flowchart of a robot movement control method provided in an embodiment of this application;

[0021] Figure 2 is a schematic diagram of one of the first and second regions provided in an embodiment of this application;

[0022] Figure 3 is a second schematic diagram of the first and second regions provided in the embodiments of this application;

[0023] Figure 4 is one of the schematic diagrams of the robot and the first and second regions provided in the embodiments of this application;

[0024] Figure 5 is a second schematic diagram of the robot and the first and second regions provided in the embodiments of this application;

[0025] Figure 6 is a flowchart of determining whether a first signal is an invalid or valid signal according to an embodiment of this application;

[0026] Figure 7 is a flowchart of determining the robot's subsequent operations based on multiple first signals according to an embodiment of this application;

[0027] Figure 8 is a schematic diagram of the structure of a robot movement control device provided in an embodiment of this application;

[0028] Figure 9 is a schematic diagram of the structure of a robot mobile control device provided in an embodiment of this application. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. A process can be terminated when its operation is completed, but it may also have additional steps not included in the drawings. A process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0030] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and are not limited in number; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, the character " / " generally indicates that the preceding and following objects are in an "or" relationship, and "multiple" can be understood as at least two.

[0031] In common existing implementations, the robot obtains the location range of the restricted area on the map. During movement, the robot uses global positioning (GPS) to acquire its own position information and compares it with the restricted area's location range to determine if it has entered the restricted area. However, GPS suffers from position drift issues caused by inaccurate or failed positioning. This means the robot's position information deviates, making it difficult to accurately determine if the robot has moved into the restricted area. This can lead to accidents as the robot continues moving even after entering the restricted area, or it may mistakenly believe it has entered a restricted area while in a safe working area and stop working, impacting the robot's efficiency.

[0032] To address the aforementioned issues, this embodiment provides a robot movement control method to ensure the robot's operational safety and efficiency.

[0033] The robot mobility control method provided in this embodiment can be executed by a robot mobility control device, which can be implemented through software and / or hardware. The robot mobility control device can consist of two or more physical entities, or it can consist of a single physical entity. For example, the robot mobility control device can be the robot itself, or it can be the robot's processor.

[0034] The robot mobile control device is equipped with at least one operating system, including but not limited to Android, Linux, and Windows. The robot mobile control device can install at least one application based on the operating system; the application can be a built-in application of the operating system or an application downloaded from a third-party device or server. In this embodiment, the robot mobile control device has at least one application capable of executing robot mobile control methods.

[0035] For ease of understanding, this embodiment uses a robot as the main entity executing the robot movement control method. Furthermore, this embodiment describes a robot performing cleaning operations within a large scene. This scene contains at least a first area and a second area. The first area includes the location of a potential hazard, and the second area is adjacent to the first area but less dangerous; the second area does not contain the location of the potential hazard. Moreover, given that the robot is in motion and / or the scene contains moving people and / or objects, various objects will be present along the transmission path of the received signals.

[0036] Figure 1 shows a flowchart of a robot mobility control method provided in an embodiment of this application. Referring to Figure 1, the robot mobility control method specifically includes:

[0037] S110. Receive a first signal. The first signal is used to determine the current position of the robot. The position includes a second area that is adjacent to the first area. The danger level of the second area is less than that of the first area.

[0038] In this context, the first signal refers to a wireless signal transmitted between the signal transmitting and receiving ends. When the signal receiving end receives the first signal, its position relative to the signal transmitting end can be determined based on the characteristic information of the first signal itself and / or the information it carries. For example, the first signal can be a Bluetooth signal, a Wi-Fi (Wireless Fidelity) signal, a UWB (Ultra Wide Band) signal, or other wireless signals whose location can be achieved through their characteristic information and / or the information they carry. In one embodiment, the characteristic information of the first signal includes signal strength. The distance between the signal transmitting end and the signal receiving end can be determined based on the signal strength emitted by the first signal from the signal transmitting end and the signal strength received by the signal receiving end. In another embodiment, the information carried by the first signal includes a timestamp of the first signal emitted by the signal transmitting end and a timestamp of the first signal received by the signal receiving end. The distance between the signal transmitting end and the signal receiving end is determined based on the difference between the two timestamps.

[0039] This embodiment uses a UWB signal as an example for description. For instance, a robot is equipped with an ultra-wideband tag, and an ultra-wideband base station is located within the robot's activity area. The robot can receive the first signal sent by the ultra-wideband base station through the ultra-wideband tag, process the characteristic information and / or information carried by the first signal itself, and obtain the distance between the robot and the ultra-wideband base station.

[0040] As for the first and second regions, they can be regions divided by coordinate ranges or regions centered on ultra-wideband base stations.

[0041] This embodiment describes a robot performing cleaning operations in a shopping mall / transportation hub as an example. When the first area and the second area are areas divided by coordinate ranges, the coordinate range of the first area, including the location of dangerous accidents such as escalators in the mall, and the coordinate range of the second area adjacent to the first area are planned in advance. At least two ultra-wideband base stations are installed in the mall. The ultra-wideband base stations send a first signal to the robot. After receiving the first signal, the robot processes the first signal to obtain the distance between the robot and the ultra-wideband base station. The robot determines its coordinates based on the distance to each ultra-wideband base station and the coordinates of the ultra-wideband base station. The robot's coordinates are compared with the coordinate ranges of the first area and the second area to determine whether the robot is located in the first area or the second area. Figure 2 is a schematic diagram of the first area and the second area provided in this embodiment. As shown in Figure 2, the first area 11 is a square area, and the second area 13 surrounds the first area 11. It should be noted that the first area can be square or any shape. The shape and position of the first area can be set according to actual needs. After setting the shape and position of the first area, the shape and position of the second area are set around the first area.

[0042] When the first and second regions are defined by an ultra-wideband (UWB) base station, an UWB base station is installed near potential accident sites such as escalators in the shopping mall. A circular area encompassing the accident site is planned with this UWB base station as the center. This circular area is designated as the first region, and the adjacent outer ring area is designated as the second region. The UWB base station sends a first signal to the robot. After receiving the first signal, the robot processes it to determine the distance between the robot and the UWB base station. If the distance between the robot and the UWB base station is less than or equal to the radius of the first region, the robot is located within the first region. If the distance is greater than the first region but less than or equal to the radius of the second region, the robot is located within the second region. The radius of the second region is equal to the sum of the width of the corresponding outer ring area and the radius of the first region.

[0043] In situations where dangerous accident sites such as escalators in shopping malls are shaped like strips, using a single ultra-wideband (UWB) base station to define the first area encompassing the accident site would result in a large first area containing a significant cleaning zone. This first area would be inaccessible to the robot, hindering its cleaning effectiveness. To address this, multiple UWB base stations can be installed near the accident site, with the circular area formed by these base stations serving as the first area. In this embodiment, the first area includes multiple circular areas centered on the UWB base stations, with adjacent outer ring areas. The second area includes regions within the outer ring areas that do not overlap with the circular areas. A first signal is used to indicate the distance between the robot and the UWB base station sending the first signal, thus determining the robot's current location. Figure 3 is a schematic diagram of the first and second areas provided in this embodiment. As shown in Figure 3, two UWB base stations 12 are installed within the first area 11 (gray area), each corresponding to a circular area. The union of these two circular areas constitutes the first area 11. The outer ring region is adjacent to the circular region corresponding to the ultra-wideband base station 12. The union of the regions in the two outer ring regions that do not overlap with the circular region is the second region 13 (white region).

[0044] As can be seen from the above, when an ultra-wideband base station corresponds to a circular region and an outer annular region, the first region includes at least one circular region centered on the ultra-wideband base station. Correspondingly, when the first region includes a single circular region centered on the ultra-wideband base station, the first region is the circular region corresponding to that ultra-wideband base station, and the second region is the outer annular region corresponding to that ultra-wideband base station. When the first region includes multiple circular regions centered on the ultra-wideband base station, the first region is the union of the circular regions corresponding to the multiple ultra-wideband base stations, and the second region is the union of the regions in the outer annular regions corresponding to the multiple ultra-wideband base stations that do not overlap with the circular region.

[0045] In one embodiment, a third region is adjacent to the second region. The danger level of the third region is lower than that of the second region; that is, the distance between the third region and the location of the dangerous incident is greater than the distance between the second region and the location of the dangerous incident. The third region can also be considered as a region other than the first and second regions. Similarly, the third region can be a region defined by a coordinate range or a region centered on an ultra-wideband base station. When the third region is defined by a coordinate range, the robot is determined to be within the third region if its coordinates fall within the coordinate range of the third region. When the third region is defined by an ultra-wideband base station, the robot is determined to be within the third region if the distance between the robot and the ultra-wideband base station is greater than the radius of the second region.

[0046] In one embodiment, when the first region includes at least two circular regions centered on an ultra-wideband base station, and the second region includes an outer ring region that does not overlap with the circular regions, the received multiple first signals are processed to determine the distance between the robot and the ultra-wideband base station that sent the first signal. Based on the distance between the robot and each ultra-wideband base station, the radius of the circular region formed by the ultra-wideband base station, and the radius of the outer ring, the robot is determined to be located in the first region, the second region, or the third region. Specifically, the robot is determined to be located in the first region when the distance between the robot and any ultra-wideband base station is less than the radius of the corresponding circular region; the robot is determined to be located in the second region when the distance between the robot and each ultra-wideband base station is greater than the radius of the corresponding circular region, and the distance between the robot and any ultra-wideband base station is less than the radius of the corresponding outer ring region; and the robot is determined to be located in the third region when the distance between the robot and each ultra-wideband base station is greater than the radius of the corresponding outer ring region.

[0047] Referring to Figure 3, the radius of the circular area corresponding to UWB base station A is pre-planned based on the location of the hazardous accident. The radius of the adjacent outer ring area is R2a, the radius of the circular area corresponding to UWB base station B is R1b, and the radius of the adjacent outer ring area is R2b. The robot stores the radii of the circular areas and outer ring areas corresponding to each UWB base station. The radius of the outer ring area is equal to the sum of the radius of the corresponding circular area and the width of the outer ring. When the robot receives the first signal from the UWB base station, it can parse the first signal to obtain the device identifier of the UWB base station that sent the first signal. Based on this device identifier, the UWB base station that sent the first signal can be identified. When the robot receives the first signals from both UWB base station A and UWB base station B, it determines the distance between the robot and UWB base station A, and the distance between the robot and UWB base station B, based on the received first signals. If the distance between the robot and UWB base station A is less than R1a, or the distance between the robot and UWB base station B is less than R1b, it can be determined that the robot is located within the circular area corresponding to UWB base station A or the circular area corresponding to UWB base station B, thus determining that the robot is located in the first area 11. If the distance between the robot and UWB base station A is greater than R1a and less than R2a, or the distance between the robot and UWB base station B is greater than R1b and less than R2b, it can be determined that the robot is located within the outer ring area corresponding to UWB base station A, in an area that does not overlap with other ring areas, or the robot is located within the outer ring area corresponding to UWB base station B, in an area that does not overlap with other ring areas, thus determining that the robot is located in the second area 13. If the distance between the robot and UWB base station A is greater than R2a and the distance between the robot and UWB base station B is greater than R2b, it can be determined that the robot is neither located in the outer ring area nor in any of the ring areas, thus determining that the robot is located in the third area.

[0048] In one embodiment, the process of processing the first signal to obtain the distance between the robot and the ultra-wideband (UWB) base station includes: the robot is equipped with an UWB tag; the UWB tag simultaneously transmits multiple radio frequency (RF) signals to the UWB base station; the UWB base station calculates the distance between the UWB tag and the UWB base station based on the time of receiving the RF signals and the transmission time parsed from the RF signals, and writes the distance and device identifier in the RF signals and returns them to the UWB tag. Among a batch of RF signals simultaneously transmitted by the UWB tag and received by the same UWB base station, the stronger the strength or the earlier the time of receiving the RF signal returned by the UWB base station, the closer the distance between the UWB tag and the UWB base station obtained by processing the RF signals is to the actual distance between the UWB base station and the UWB tag. When the UWB tag receives a batch of RF signals simultaneously transmitted by the same UWB base station, it filters out RF signals with signal strength exceeding a preset strength threshold, and takes the optimal RF signal with the earliest reception time among the filtered RF signals as the first signal. The distance value carried by the first signal is then parsed as the distance between the robot and the UWB base station that transmitted the first signal. In another embodiment, when the ultra-wideband base station receives a radio frequency signal, it adds a receiving timestamp and a device identifier to the radio frequency signal and then returns the radio frequency signal to the ultra-wideband tag. The ultra-wideband tag filters out the first signal from the received radio frequency signal, obtains the receiving timestamp and the sending timestamp from the first signal, and determines the distance between the robot and the ultra-wideband base station that sent the first signal based on the time difference between the receiving timestamp and the sending timestamp and the speed of light.

[0049] S120: If the first signal is determined to be invalid and the robot is currently located in the second area, control the robot to perform a safety operation; if the first signal is determined to be valid and the robot is currently located in the second area, control the robot to move along a preset path and perform a cleaning operation.

[0050] In this embodiment, an invalid signal refers to a wireless signal whose processed distance value is greater than the actual distance between the signal transmitter and receiver, while a valid signal refers to a wireless signal whose processed distance value is approximately equal to the actual distance between the signal transmitter and receiver. For example, when the first signal is a wireless signal with low anti-interference capability, such as a Bluetooth signal or a Wi-Fi signal, it is easily affected by noise interference from nearby devices, which can affect the transmission rate or signal attenuation, resulting in a processed distance value for the first signal that is greater than the actual distance between the signal transmitter and receiver. Therefore, when the first signal is a wireless signal with low anti-interference capability, such as a Bluetooth signal or a Wi-Fi signal, it can be determined whether the first signal is affected by noise interference from nearby devices. If the first signal is affected by noise interference, it is determined to be an invalid signal; if the first signal is not affected by noise interference, it is determined to be a valid signal.

[0051] UWB signals have strong anti-interference capabilities. This means that when the first signal is a UWB signal or other wireless signal with strong anti-interference capabilities, it is less susceptible to noise interference from auxiliary devices, unless a high-power wireless transmitter, such as a mobile communication base station, is placed near the ultra-wideband base station. However, such devices are generally avoided when deploying ultra-wideband base stations. However, during the implementation of this embodiment, it was found that when such wireless signals encounter obstacles with significant thickness or strong signal isolation during transmission, their transmission rate or signal attenuation is affected, resulting in a distance value obtained from processing the first signal that is greater than the actual distance between the signal transmitter and receiver. For example, Figures 4 and 5 are schematic diagrams of the robot and the first and second regions provided in this embodiment. As shown in Figure 4, the first region 11 is the circular region corresponding to the ultra-wideband base station 12, and the second region 13 is the outer ring region adjacent to the circular region. When there are no obstacles 17 on the straight path 16 between the ultra-wideband tag 14 and the ultra-wideband base station 12, at least one of the multiple radio frequency signals sent by the ultra-wideband tag 14 is transmitted to the ultra-wideband base station 12 via the straight path 16. The first signal, acting as an ultra-wideband tag, receives the optimal radio frequency (RF) signal from the ultra-wideband base station. The RF signal corresponding to the first signal is transmitted to the ultra-wideband base station 12 via a straight path 16. The distance value obtained by processing the first signal is approximately equal to the actual distance between the robot 15 and the ultra-wideband base station 12. As shown in Figure 5, when there is an obstacle 17 in the straight path 16 between the ultra-wideband tag 14 and the ultra-wideband base station 12, the multiple RF signals sent by the ultra-wideband tag 14 will be transmitted to the ultra-wideband base station 12 via an obstacle-avoidance path 18 when encountering the obstacle 17. In this case, the RF signal corresponding to the first signal is not transmitted to the ultra-wideband base station 12 via the straight path 16, and the distance value obtained by processing the first signal is greater than the actual distance between the robot 15 and the ultra-wideband base station 12. It should be noted that it is possible that the RF signal corresponding to the first signal may pass through an obstacle in the straight path 16 and be transmitted to the ultra-wideband base station 12. If the obstacle on the straight path 16 is thin and made of a material with poor signal isolation, the radio frequency signal can quickly pass through the obstacle. Consequently, the error between the distance value obtained by processing the first signal and the actual distance is negligible. In this case, the distance value obtained by processing the first signal is approximately equal to the actual distance between the robot 15 and the ultra-wideband base station 12. If the obstacle on the straight path 16 is thick or made of a material with strong signal isolation, the radio frequency signal corresponding to the first signal will take longer to pass through the obstacle. Consequently, the error between the distance value obtained by processing the first signal and the actual distance will be larger, and the distance value obtained by processing the first signal will be greater than the actual distance between the robot 15 and the ultra-wideband base station 12.

[0052] Therefore, when the first signal is a wireless signal with strong anti-interference capabilities, such as a UWB signal, it can be determined whether the first signal is invalid or valid by judging whether it encounters obstacles with large thickness or strong signal isolation capabilities during transmission. In this embodiment, if there is a first obstacle on the straight transmission path of the first signal, the first signal is determined to be invalid; if there is no obstacle or a second obstacle on the straight transmission path of the first signal, the first signal is valid; wherein, the signal penetration capability of the second obstacle is greater than that of the first obstacle. Referring to Figures 4 and 5, the straight transmission path of the first signal refers to the straight path 16 between the robot 15 and the ultra-wideband base station 12. The first obstacle can be understood as an object with large thickness or strong signal isolation capabilities, and the second obstacle can be understood as an object with small thickness and poor signal isolation capabilities. It should be noted that the understanding of the signal penetration capability of an obstacle is not limited by special conditions. Under the same conditions (such as environment, signal, equipment performance, etc.), if an obstacle placed on a straight transmission path causes the robot 15 to perform a safe operation in the second area after receiving the first signal, then the signal penetration capability of that obstacle can be understood as the signal penetration capability of the first obstacle mentioned above. Similarly, if an obstacle placed on a straight transmission path causes the robot 15 to still move along a preset path and perform a cleaning operation after receiving the first signal, then the signal penetration capability of that obstacle can be understood as the signal penetration capability of the second obstacle mentioned above.

[0053] When a first obstacle exists on the straight path 16, the radio frequency signal corresponding to the first signal will either be transmitted to the ultra-wideband base station 12 via the obstacle bypass path 18, or it will take a relatively long time to pass through the first obstacle to reach the ultra-wideband base station 12. In either case, the distance value obtained by processing the first signal is greater than the actual distance between the robot 15 and the ultra-wideband base station 12. When a second obstacle exists or there is no obstacle on the straight path 16, the radio frequency signal corresponding to the first signal will quickly pass through the second obstacle along the straight path 16 to reach the ultra-wideband base station 12. The distance value obtained by processing the first signal is approximately equal to the actual distance between the robot 15 and the ultra-wideband base station 12.

[0054] However, the robot needs sensors such as cameras or lasers to determine whether there is a first obstacle, a second obstacle, or no obstacle on the straight path between it and the ultra-wideband base station. Installing these sensors increases the robot's cost. Therefore, this embodiment proposes determining whether the currently received first signal is a valid or invalid signal based on the stability of the distance value corresponding to the most recently received first signal and the attenuation of the intensity of the currently received first signal.

[0055] It should be noted that when the robot or an obstacle moves, the obstacle may relatively move onto the straight path between the UWB tag and the UWB base station, causing a sudden change in the distance detected by the UWB tag. Generally, if no obstacle with significant thickness or strong signal isolation capabilities has moved relative to the straight path between the UWB tag and the UWB base station in the recent time period, the distance value corresponding to the most recently received first signal is relatively stable with a small fluctuation range. Specifically, if the robot is stationary, the fluctuation range is approximately within ten centimeters; if the robot moves, due to the high signal transmission frequency of the UWB tag, the signal transmission cycle generally only moves a few centimeters, meaning the fluctuation range is approximately within a dozen centimeters. If an obstacle with significant thickness or strong signal isolation capabilities has recently moved relative to the straight path between the UWB tag and the UWB base station, depending on the obstacle's material, the fluctuations of multiple distance values ​​corresponding to the time sliding window are larger, reaching tens of centimeters or even tens of meters. Based on this, the stability of the distance value corresponding to the most recently received first signal reflects whether an obstacle with significant thickness or strong signal isolation capabilities has moved relative to the straight path between the UWB tag and the UWB base station in the time period corresponding to the first signal.

[0056] However, it cannot be ruled out that there may be obstacles with significant thickness or strong signal isolation capabilities in the straight-line path between the UWB tag and the UWB base station in the recent period. In this case, the distance value corresponding to the most recently received first signal is relatively stable. That is, independently determining whether the first signal is valid based on the distance value corresponding to the most recently received first signal can meet the identification and detection accuracy in certain scenarios. However, for scenarios where there are always obstacles with significant thickness or strong signal isolation capabilities in the straight-line path between the UWB tag and the UWB base station, the accuracy is difficult to guarantee. Therefore, this embodiment can also combine the attenuation degree corresponding to the intensity of the currently received first signal to determine whether the first signal is valid.

[0057] The attenuation of the first signal can be understood as the attenuation between the first signal and the second signals in the same batch. Here, the radio frequency (RF) signals corresponding to the second signals in the same batch and the RF signals corresponding to the first signal refer to RF signals that are simultaneously emitted by the UWB tag and arrive at the same UWB base station. The RF signals emitted simultaneously by the UWB tag carry the same identifier. When the UWB base station receives the RF signal, it adds its own device identifier to the RF signal before returning it to the UWB tag. Therefore, for the robot 15, it can filter out the second signals from the remaining received signals based on the signal identifier and device identifier of the first signal. If there are no obstacles with large thickness or strong signal isolation capabilities in the straight path between the current UWB tag and the UWB base station, the attenuation between the first signal and the second signals in the same batch will be small, generally less than 6 dB. If there are obstacles with significant thickness or strong signal isolation capabilities in the straight-line path between the UWB tag and the UWB base station, other simultaneously transmitted radio frequency signals will have to travel a greater distance around or through the obstacle before reaching the UWB base station compared to the radio frequency signal corresponding to the first signal. The attenuation between the first signal and the second signals in the same batch will be significant, generally exceeding 6 dB. Therefore, the attenuation of the first signal can reflect the presence of obstacles with significant thickness or strong signal isolation capabilities in the straight-line path between the UWB tag and the UWB base station. However, when an obstacle with significant thickness or strong signal isolation capabilities has just moved into the straight-line path between the UWB tag and the UWB base station, the attenuation between the first signal and the second signals in the same batch will also be smaller. That is, independently determining whether the first signal is valid solely by the attenuation between the first signal and the second signals in the same batch can meet certain detection accuracy requirements, but for scenarios where obstacles with significant thickness or strong signal isolation capabilities have just moved into the straight-line path between the UWB tag and the UWB base station, accuracy is difficult to guarantee.

[0058] Figure 6 is a flowchart illustrating the process of determining whether a first signal is an invalid or valid signal according to an embodiment of this application. As shown in Figure 6, the step of determining whether the first signal is an invalid or valid signal specifically includes S1201-S1203:

[0059] S1201. Process the first signal to obtain the corresponding distance value, and obtain multiple consecutive distance values ​​before receiving the first signal.

[0060] For example, a preset time period is used as the length of the time sliding window, and the time when the UWB tag currently receives the first signal is used as the end time point of the time sliding window. The start time point of the time sliding window is determined based on the length of the time sliding window and the end time point. The first signal received by the UWB tag within the time sliding window is determined based on the start time point and the end time point, and then the distance value obtained by processing these first signals is obtained. For example, if the preset time period is ΔT, and the time when the UWB tag currently receives the first signal is T10, then the time period from T10-ΔT to T10 is used as the time sliding window. Assuming that the UWB tag receives the first signal at ten consecutive time points T1, T2, ..., T9 and T10 within the time period from T10-ΔT to T10 (where T1, T2, ..., T9 correspond to historical first signals, and T10 corresponds to the currently received first signal), the distance value obtained by processing the first signals received at these ten time points is obtained. The multiple distance values ​​corresponding to the time sliding window include the distance value obtained by processing the currently received first signal and the continuous distance values ​​obtained by processing before receiving the first signal.

[0061] S1202. If the stability corresponding to the obtained distance value does not meet the stability condition and / or the attenuation corresponding to the intensity of the first signal does not meet the attenuation condition, the first signal is determined to be an invalid signal.

[0062] S1203. If the stability of the distance value obtained satisfies the stability condition and the attenuation of the intensity of the first signal satisfies the attenuation condition, the first signal is determined to be a valid signal.

[0063] For example, the stability condition determination process is as follows: From the obtained distance values, the maximum and minimum distance values ​​are selected. The stability of the obtained distance values ​​is determined by the fluctuation range between the maximum and minimum distance values. If the fluctuation range between the maximum and minimum distance values ​​is large, the stability of the obtained distance values ​​is determined not to meet the stability condition; if the fluctuation range between the maximum and minimum distance values ​​is small, the stability of the obtained distance values ​​is determined to meet the stability condition. Alternatively, the stability of the obtained distance values ​​can be determined based on the variance of the obtained distance values. If the variance of the obtained distance values ​​is small, the stability of the obtained distance values ​​is determined to meet the stability condition; if the variance of the obtained distance values ​​is large, the stability of the obtained distance values ​​is determined not to meet the stability condition.

[0064] Since the relative movement of an obstacle onto the straight path between the UWB tag and the UWB base station occurs instantaneously, the UWB tag detects a sudden change in distance at two adjacent time points, meaning the distance values ​​corresponding to two consecutively received first signals differ significantly. The fluctuation amplitude between the maximum and minimum distance values, or the variance of the acquired distance values, characterizes the global change in the acquired distance values ​​and cannot accurately characterize the change in the distance values ​​corresponding to two consecutively received first signals. Therefore, this embodiment proposes determining the fluctuation amplitude between every two consecutive distance values ​​based on the acquired distance values; if each fluctuation amplitude is less than or equal to a preset fluctuation threshold, the stability of the acquired distance value is determined to meet the stability condition. For example, the difference between the distance value acquired at time sliding window T10 and the distance value acquired at time T9 is calculated, the difference between the distance value acquired at time T9 and the distance value acquired at time T8 is calculated, and so on, to obtain the fluctuation amplitude between the distance values ​​acquired between two consecutive time points within the ten consecutive time points T1, T2, ..., T9 and T10. The preset fluctuation threshold can be understood as the maximum fluctuation amplitude between the distance value obtained by processing the currently received first signal and the distance value obtained by processing the previously received first signal when an obstacle with large thickness or strong signal isolation capability initially moves onto the straight path between the UWB tag and the UWB base station. If the fluctuation amplitudes generated for T1, T2, ..., T9 and T10 are all less than or equal to the preset fluctuation threshold, it can be determined that the multiple distance values ​​corresponding to the time sliding window are relatively stable, and thus the stability of the obtained distance values ​​meets the stability condition. If any fluctuation amplitude generated for T1, T2, ..., T9 and T10 is greater than the preset fluctuation threshold, it can be determined that the multiple distance values ​​corresponding to the time sliding window are unstable, and thus the stability of the obtained distance values ​​does not meet the stability condition.

[0065] For example, the attenuation condition determination process is as follows: the second signal with the highest intensity is obtained from the second signals in the same batch corresponding to the first signal, and the difference between the intensity of the first signal and the intensity of the second signal is determined as the attenuation degree corresponding to the intensity of the first signal; if the attenuation degree corresponding to the intensity of the first signal is small, it is determined that the attenuation degree corresponding to the intensity of the first signal satisfies the attenuation condition; if the attenuation degree corresponding to the intensity of the first signal is large, it is determined that the attenuation degree corresponding to the intensity of the first signal does not satisfy the attenuation condition.

[0066] Since the intensity difference between the first signal and the second signal with the highest intensity cannot accurately characterize the intensity attenuation between the first signal and the other second signals, this embodiment proposes to determine the average intensity of the second signals from the same batch as the first signal, and to determine the attenuation degree corresponding to the intensity of the first signal based on the difference between the average intensity and the intensity value of the first signal. Because the average intensity characterizes the intensity of all second signals, the difference between the average intensity and the intensity value of the first signal can accurately characterize the intensity attenuation between the first signal and all second signals. In this embodiment, the difference between the average intensity and the intensity value of the first signal can be directly determined as the attenuation degree corresponding to the intensity of the first signal to improve computational efficiency. In another embodiment, the variance of each second signal can be determined by the intensity value of each second signal. When the variance of the second signal is greater than a certain threshold, it indicates that the intensity variation between the second signals is large, meaning there is a high probability that there is a thick obstacle or a material with strong signal isolation capability on the straight path between the robot and the ultra-wideband base station. In this case, the difference between the average intensity and the intensity value of the first signal can be multiplied by a weighting coefficient greater than one, and the difference after multiplying by the weighting coefficient can be determined as the attenuation degree corresponding to the intensity of the first signal. When the variance of the second signal is less than a certain threshold, it indicates that the intensity variation among the various second signals is small, meaning that the possibility of obstacles with large thickness or strong signal isolation capabilities in the straight path between the robot and the ultra-wideband base station is small. In this case, the difference between the average intensity and the intensity value of the first signal can be multiplied by a weighting coefficient less than one, and the difference after multiplication by the weighting coefficient is determined as the attenuation degree corresponding to the intensity of the first signal. Further, after determining the attenuation degree corresponding to the intensity of the first signal, it is compared with a preset signal attenuation threshold to determine whether the attenuation degree corresponding to the intensity of the first signal meets the attenuation condition. The preset signal attenuation threshold can be understood as the maximum difference between the intensity value of the first signal and the intensity of the second signals in the same batch when there are no obstacles or the obstacles are thin and the materials have poor signal isolation capabilities in the straight path. If the attenuation degree corresponding to the intensity of the first signal is less than or equal to the preset signal attenuation threshold, it is determined that the attenuation degree corresponding to the intensity of the first signal meets the attenuation condition. If the attenuation degree corresponding to the intensity of the first signal is greater than the preset signal attenuation threshold, it is determined that the attenuation degree corresponding to the intensity of the first signal does not meet the signal attenuation condition.

[0067] It should be noted that the attenuation condition determination process and the stability condition determination process can be performed simultaneously, or one of the determination processes can be executed first, followed by the other. For example, the attenuation condition determination process can be executed first, followed by the stability condition determination process, or the stability condition determination process can be executed first, followed by the linear attenuation condition determination process. If the first determination process does not meet the corresponding condition, the first signal can be directly determined as an invalid signal without continuing to the next determination process. If both determination processes meet the corresponding conditions, the first signal can be determined as a valid signal.

[0068] When the first signal is valid, the robot's current position can be interpreted as its true position. To ensure the robot's operational safety, when the robot's true position is determined to be within a first area containing the location of a potential hazard, the robot can be controlled to perform safe operations. To ensure the robot's operational efficiency, when the robot's true position is determined to be within a second or third area that does not contain the location of a potential hazard, the robot can be controlled to move along a preset path and perform cleaning operations.

[0069] When the first signal is valid and the robot is currently in the second area, it indicates that the robot's true location is within the second area, which does not contain the location of the dangerous accident. The robot can then move along the preset path and perform cleaning operations to clean the second area, thus avoiding expanding the danger zone and preventing some areas from being left uncleaned, and ensuring the robot's cleaning effect.

[0070] When the first signal is invalid and the robot is currently located in the second area, it indicates that the robot's true location may be either in the first area or the second area. If the robot's true location is in the first area and the robot continues to perform cleaning operations, the robot may move to a dangerous area and cause a safety accident. Therefore, when it is uncertain whether the robot's true location is in the first or second area, the robot is controlled to perform a safety operation first, and a radio frequency signal is transmitted via an ultra-wideband tag to receive a new first signal. The robot's true location is then re-determined based on the new first signal. In this embodiment, the robot can be controlled to temporarily stop moving or move in the opposite direction. A radio frequency signal is transmitted via an ultra-wideband tag to receive a new first signal. If the new first signal is valid and the robot's current location is determined to be in the second area based on the new first signal, the robot's true location is confirmed to be in the second area. The robot's cleaning operation is then resumed to avoid expanding the danger zone and causing some areas to remain uncleaned, thus ensuring the cleaning effect of the robot. If the new first signal is valid and the robot's current location is determined to be in the first area based on the new first signal, the robot's true location is confirmed to be in the first area. The robot then stops moving and reports a warning message that the robot has entered a restricted area, so that staff can manually control the robot to move it away from the danger zone.

[0071] It should be noted that regardless of whether the first signal is invalid or valid, the distance resolved from the first signal is generally not less than the actual distance between the robot and the UWB base station that sent the first signal. When it is confirmed that the robot is located within the first area based on the distance between the robot and the UWB base station being less than the radius of the circular area corresponding to the UWB base station, the actual distance between the robot and the UWB base station will also be less than or equal to the radius of the circular area corresponding to the UWB base station. Therefore, it can be determined that the robot's true position is within the first area. Accordingly, when it is determined that the robot's current position is within the first area, the robot is controlled to perform safe operations. When the robot's true position is within the first area, which includes areas where dangerous accidents may occur, the robot can be controlled to stop moving to prevent it from continuing to move to dangerous accident areas and causing safety accidents such as falls, thus ensuring the safe operation of the cleaning robot. After the robot stops moving, a warning message indicating that the robot has entered a restricted area can be reported so that staff can manually control the robot to move it away from the first area.

[0072] When the second region consists of an outer ring region corresponding to an ultra-wideband (UWB) base station, the width of this outer ring region can be understood as the maximum difference between the distance resolved from the first signal and the actual distance between the robot and the UWB base station that sent the first signal. Regardless of whether the first signal is invalid or valid, when the robot is confirmed to be located in the third region based on the distance between the robot and the UWB base station being greater than the radius of the outer ring region corresponding to the UWB base station, the actual distance between the robot and the UWB base station will still be greater than the radius of the circular region corresponding to the UWB base station. Therefore, it can be determined that the robot's true position is located in the second or third region, which does not contain areas where dangerous accidents may occur. Accordingly, when it is determined that the robot's current position is in the third region, the robot is controlled to move along a preset path and perform cleaning operations. When the robot's true position is located in the second or third region, which does not contain areas where dangerous accidents may occur, the robot can be controlled to continue performing cleaning operations to improve the robot's cleaning efficiency and cleaning area.

[0073] In one embodiment, the robot's current position can be determined first, followed by a determination of whether the first signal is valid or invalid. When the robot's current position is within the first or third region, it can be controlled to perform safety or cleaning operations without further determination of the first signal's validity, significantly improving the robot's processing efficiency. In another embodiment, the robot's current position can also be determined first, following the determination of whether the first signal is valid. This is because if the first signal is valid, the acquired distance value can be smoothed to obtain a smoothed distance value. If the smoothed distance value is less than the distance value obtained by processing the first signal, determining the robot's current position using the smoothed distance value improves the robot's positional accuracy. For example, Kalman filtering can be used to filter out abnormally sharp distance values ​​from multiple distance values ​​corresponding to a time sliding window, resulting in a relatively smooth distance value. The smoothed distance value may be larger than the distance corresponding to the current first signal. Considering the ranging principle of ultra-wideband technology, the measured value will be larger than the true value. Therefore, the smoothed distance value is compared with the distance value corresponding to the current first signal, and the smaller value is selected as the current distance between the robot and the ultra-wideband base station. This distance is then compared with the radius of the circular area corresponding to the ultra-wideband base station and the radius of the outer ring area to determine the current position of the robot.

[0074] In one embodiment, when multiple ultra-wideband (UWB) base stations are set up in the shopping mall, multiple UWB base stations will send first signals. If the robot is located in a second area based on the distance corresponding to the received first signals, the first signal sent by the UWB base station corresponding to the outer ring area where the robot is located can be selected from the multiple received first signals. The subsequent execution operation of the robot is determined according to whether the first signal is invalid or valid. Figure 7 is a flowchart of determining the subsequent execution operation of the robot based on multiple first signals according to an embodiment of this application. As shown in Figure 7, the steps of determining the subsequent execution operation of the robot based on multiple first signals specifically include S1301-S1303:

[0075] S1301. When the robot is currently located in the second region, the first signal whose distance is greater than the radius of the circular region corresponding to the ultra-wideband base station and less than the radius of the outer ring region is determined to be the first signal sent by the ultra-wideband base station corresponding to the outer ring region where the robot is located.

[0076] Referring to Figure 3, if the distance corresponding to the first signal transmitted by UWB base station A is greater than the radius of the circular area of ​​UWB base station A but less than the radius of the outer ring area, it can be determined that the robot is located within the outer ring area of ​​UWB base station A. Similarly, if the distance corresponding to the first signal transmitted by UWB base station B is greater than the radius of the circular area of ​​UWB base station B but less than the radius of the outer ring area, it can be determined that the robot is located within the outer ring area of ​​UWB base station B. As shown in Figure 3, the robot can be located within the outer ring areas of multiple UWB base stations simultaneously.

[0077] It's easy to understand that if a robot is located in the outer ring region of UWB base station A and outside the outer ring region of UWB base station B, then from the perspective of UWB base station B, the robot is positioned far from its corresponding circular region. The robot is safe relative to the circular region of UWB base station B. Therefore, it's not necessary to determine whether the first signal sent by UWB base station B is valid or invalid to verify whether the robot's true position is far from the circular region of UWB base station B. That is, only the validity of the first signal sent by UWB base station A needs to be determined to verify whether the robot's true position is within the circular region or the outer ring region of UWB base station A, thus determining whether the robot's true position is in the first region or the second region.

[0078] S1302. If any of the first signals sent by the ultra-wideband base station corresponding to the outer ring area where the robot is located is invalid, then control the robot to perform a safe operation.

[0079] Referring to Figure 3, assuming the robot is currently located within the outer ring area of ​​UWB base station A and the outer ring area of ​​UWB base station B, if the first signal sent by UWB base station A is invalid, it indicates that the robot's true position may be located within either the circular area or the outer ring area of ​​UWB base station A. Similarly, if the first signal sent by UWB base station B is invalid, it indicates that the robot's true position may be located within either the circular area or the outer ring area of ​​UWB base station B. Therefore, when it is uncertain whether the robot's true position is in the first or second area, the robot is controlled to stop moving or move in the opposite direction, and a radio frequency signal is transmitted via the UWB tag to receive a new first signal, and the robot's true position is re-determined based on the new first signal.

[0080] S1303. If the first signals sent by the ultra-wideband base station corresponding to the outer ring area where the robot is located are all valid signals, then control the robot to move along the preset path and perform cleaning operations.

[0081] Referring to Figure 3, assuming the robot is currently located within the outer ring area of ​​UWB base station A and the outer ring area of ​​UWB base station B, if the first signals sent by UWB base station A and UWB are both valid signals, then the robot's true position can be determined to be within the outer ring area of ​​UWB base station A and UWB. Furthermore, the robot's true position can be determined to be within the second area. The robot can then move along a preset path and perform cleaning operations to clean the second area, avoiding the expansion of the danger zone and ensuring the cleaning effect of the robot.

[0082] In one embodiment, when the robot is far from the first area, the robot's ultra-wideband (UWB) tag transmits radio frequency (RF) signals at a lower signal transmission frequency to reduce the UWB tag's power consumption. Specifically, when the distance between the robot and each UWB base station is greater than a preset distance threshold, the UWB tag's signal transmission frequency is adjusted to a first frequency value; when the distance between the robot and any UWB base station is less than or equal to the preset distance threshold, the UWB tag's signal transmission frequency is adjusted to a second frequency value, which is greater than the first frequency value. The preset distance threshold is the distance between the robot and the UWB base station when the robot is far from the first area, as set in this embodiment. Regardless of whether the first signal is valid or invalid, if the currently detected first distance is greater than the preset distance threshold, it indicates that the robot is far from the first area and will not move to the vicinity of the first area in the short term. In this case, the UWB tag transmits RF signals at the first frequency value. If the detected distance is less than or equal to a preset distance threshold, it indicates that the robot is close to the first area and may be about to move to the vicinity of the first area. At this point, the ultra-wideband tag is switched from a first frequency value to a second frequency value. The ultra-wideband tag sends radio frequency signals to the ultra-wideband base station at a higher frequency, enabling the robot to accurately determine its relative position to the restricted area during movement, thus ensuring positioning accuracy. Therefore, the solution in this embodiment can reduce system power consumption while ensuring positioning accuracy, thereby improving the robot's endurance.

[0083] In summary, the robot movement control method provided in this application determines the robot's current location based on a received first signal. The location includes a first area and a second area adjacent to the first area, where the danger level of the second area is lower than that of the first area. If the robot's current location is in the second area and the first signal is invalid, it is confirmed that the robot's current location is inaccurate, meaning the robot's true location may be in the first area, which includes the location of a dangerous accident. Therefore, the robot is controlled to perform safe operations to prevent it from moving to the location of a dangerous accident in the first area, ensuring the robot's operational safety. If the robot's current location is in the second area and the first signal is valid, it is confirmed that the robot's current location is accurate, meaning the robot's true location is in the second area, which does not include the location of a dangerous accident. Therefore, the robot is controlled to move along a preset path and perform cleaning operations, ensuring the robot's operational efficiency.

[0084] Based on the above embodiments, Figure 8 is a structural schematic diagram of a robot motion control device provided in this application embodiment. Referring to Figure 8, the robot motion control device provided in this embodiment specifically includes: a first positioning module 21, a first control module 22, and a second control module 23.

[0085] The first positioning module 21 is configured to receive a first signal, which is used to determine the current position of the robot. The position includes a second area adjacent to the first area, and the danger level of the second area is less than that of the first area.

[0086] The first control module 22 is configured to control the robot to perform a safety operation when it is determined that the first signal is an invalid signal and the robot is currently located in the second area.

[0087] The second control module 23 is configured to control the robot to move along a preset path and perform cleaning operations when the first signal is determined to be a valid signal and the robot is currently located in the second area.

[0088] Based on the above embodiments, the robot movement control device further includes: a third control module configured to control the robot to perform a safe operation when it is determined that the robot's current location is a first area; and / or a fourth control module configured to control the robot to move along a preset path and perform a cleaning operation when it is determined that the robot's current location is a third area, wherein the third area is adjacent to the second area, and the danger level of the third area is less than that of the second area.

[0089] Based on the above embodiments, the robot mobile control device includes a first signal determination module, which includes: a first invalid signal determination unit, configured to determine the first signal as invalid when there is a first obstacle on the straight transmission path of the first signal; and / or, a first valid signal determination unit, configured to determine the first signal as valid when there is no obstacle or a second obstacle on the straight transmission path of the first signal; wherein the signal penetration capability of the second obstacle is greater than that of the first obstacle.

[0090] Based on the above embodiments, the robot mobile control device includes a second signal judgment module, which includes: a distance value acquisition unit configured to process a first signal to obtain a corresponding distance value, and to acquire multiple consecutive distance values ​​before receiving the first signal; a second invalid signal determination unit configured to determine the first signal as an invalid signal if the stability corresponding to the acquired distance value does not meet the stability condition and / or the attenuation corresponding to the intensity of the first signal does not meet the attenuation condition; and a second valid signal determination unit configured to determine the first signal as a valid signal if the stability corresponding to the acquired distance value meets the stability condition and the attenuation corresponding to the intensity of the first signal meets the attenuation condition.

[0091] Based on the above embodiments, the second signal judgment module includes: a fluctuation amplitude determination unit, configured to determine the fluctuation amplitude between every two consecutive distance values ​​based on the acquired distance values; and a stability condition judgment unit, configured to determine that the stability corresponding to each acquired distance value meets the stability condition when each fluctuation amplitude is less than or equal to a preset fluctuation threshold.

[0092] Based on the above embodiments, the second signal determination module includes: an attenuation determination unit, configured to determine the average intensity of the second signal that is in the same batch as the first signal, and determine the attenuation corresponding to the intensity of the first signal based on the difference between the average intensity and the intensity value of the first signal; and an attenuation condition determination unit, configured to determine that the attenuation corresponding to the intensity of the first signal satisfies the attenuation condition when the attenuation corresponding to the intensity of the first signal is less than or equal to a preset signal attenuation threshold.

[0093] Based on the above embodiments, the attenuation determination unit includes: an attenuation determination subunit, configured to determine the difference between the average intensity value and the intensity value of the first signal as the attenuation corresponding to the intensity of the first signal.

[0094] Based on the above embodiments, the first positioning module 21 includes: a smoothing processing unit, configured to smooth the acquired distance value when the first signal is a valid signal, to obtain a smoothed distance value; and a first positioning unit, configured to determine the current position of the robot by the smoothed distance value when the smoothed distance value is less than the distance value obtained by processing the first signal.

[0095] Based on the above embodiments, the first region includes multiple circular regions centered on the ultra-wideband base station, with an outer ring region adjacent to each circular region, and the second region includes a region in the outer ring region that does not overlap with the circular regions; wherein, the first signal is used to indicate the distance between the robot and the ultra-wideband base station that sends the first signal, so as to determine the current position of the robot.

[0096] Based on the above embodiments, the first positioning module 21 includes: a second positioning unit configured to determine that the robot is located in a first region when the distance between the robot and any ultra-wideband base station is less than the radius of the corresponding circular region; a third positioning unit configured to determine that the robot is located in a second region when the distance between the robot and each ultra-wideband base station is greater than the radius of the corresponding circular region and the distance between the robot and any ultra-wideband base station is less than the radius of the corresponding outer ring region; and a fourth positioning unit configured to determine that the robot is located in a third region when the distance between the robot and each ultra-wideband base station is greater than the radius of the corresponding outer ring region.

[0097] Based on the above embodiments, the robot movement control device includes: a signal filtering module, configured to, when the robot's current location is in the second region, identify a first signal whose corresponding distance is greater than the radius of the circular region corresponding to the ultra-wideband base station but less than the radius of the outer ring region as a first signal sent by the ultra-wideband base station corresponding to the outer ring region where the robot is located; a fifth control module, configured to, if any of the first signals sent by the ultra-wideband base station corresponding to the outer ring region where the robot is located is an invalid signal, control the robot to perform a safety operation; and a sixth control module, configured to, if all the first signals sent by the ultra-wideband base station corresponding to the outer ring region where the robot is located are valid signals, control the robot to move along a preset path and perform a cleaning operation.

[0098] Based on the above embodiments, the robot is equipped with an ultra-wideband tag, and the robot receives a first signal sent by an ultra-wideband base station through the ultra-wideband tag; correspondingly, the robot motion control device includes: a first frequency adjustment module, configured to adjust the signal transmission frequency of the ultra-wideband tag to a first frequency value when the distance between the robot and each ultra-wideband base station is greater than a preset distance threshold; and a second frequency adjustment module, configured to adjust the signal transmission frequency of the ultra-wideband tag to a second frequency value, wherein the second frequency value is greater than the first frequency value, when the distance between the robot and any ultra-wideband base station is less than or equal to the preset distance threshold.

[0099] The robot movement control device provided in this application, as described above, determines the robot's current location based on a received first signal. The location includes a first area and a second area adjacent to the first area, where the danger level of the second area is lower than that of the first area. If the robot's current location is in the second area and the first signal is invalid, it is confirmed that the robot's current location is inaccurate, meaning the robot's true location may be in the first area, which includes the location of a dangerous accident. Therefore, the robot is controlled to perform safe operations to prevent it from moving to the location of a dangerous accident in the first area, ensuring the robot's operational safety. If the robot's current location is in the second area and the first signal is valid, it is confirmed that the robot's current location is accurate, meaning the robot's true location is in the second area, which does not include the location of a dangerous accident. Therefore, the robot is controlled to move along a preset path and perform cleaning operations, ensuring the robot's operational efficiency.

[0100] The robot motion control device provided in this application embodiment can be used to execute the robot motion control method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0101] Figure 9 is a schematic diagram of a robot mobility control device according to an embodiment of this application. Referring to Figure 9, the robot mobility control device includes: a processor 31, a memory 32, a communication device 33, an input device 34, and an output device 35. The number of processors 31 and the number of memories 32 in the robot mobility control device can be one or more. The processor 31, memory 32, communication device 33, input device 34, and output device 35 of the robot mobility control device can be connected via a bus or other means.

[0102] The memory 32, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the robot mobility control method in any embodiment of this application (e.g., the first positioning module 21, the first control module 22, and the second control module 23 in the robot mobility control device). The memory 32 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the device, etc. Furthermore, the memory 32 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0103] The communication device 33 is used for data transmission.

[0104] The processor 31 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 32, thereby realizing the robot movement control method described above.

[0105] Input device 34 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the device. Output device 35 may include display devices such as a display screen.

[0106] The robot mobility control device provided above can be used to execute the robot mobility control method provided in the above embodiments, and has corresponding functions and beneficial effects.

[0107] This application embodiment also provides a positioning system, which includes an ultra-wideband (UWB) base station and a robot, the robot being equipped with an UWB tag. The UWB base station is used to send a first signal to the UWB tag; the robot is used to receive the first signal, which determines the robot's current location, including a second area adjacent to the first area, the second area having a lower level of danger than the first area; if the first signal is determined to be invalid and the robot's current location is in the second area, the robot is controlled to perform a safety operation; if the first signal is determined to be valid and the robot's current location is in the second area, the robot is controlled to move along a preset path and perform cleaning operations.

[0108] The robot in the positioning system described above can be used to execute the robot movement control method provided in the above embodiments, and has corresponding functions and beneficial effects.

[0109] This application embodiment also provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to execute a robot movement control method. The robot movement control method includes: receiving a first signal, the first signal being used to determine the current position of the robot, the position including a second region adjacent to the first region, the second region having a lower degree of danger than the first region; if it is determined that the first signal is invalid and the current position of the robot is the second region, controlling the robot to perform a safety operation; if it is determined that the first signal is valid and the current position of the robot is the second region, controlling the robot to move along a preset path and perform a cleaning operation.

[0110] Storage medium – any type of memory device or storage device. The term “storage medium” is intended to include: mounting media, such as CD-ROM, floppy disk, or magnetic tape devices; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. Storage medium may also include other types of memory or combinations thereof. Furthermore, storage medium may reside in a first computer system in which the program is executed, or it may reside in a different second computer system connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term “storage medium” can include two or more storage media residing in different locations (e.g., in different computer systems connected via a network). Storage medium may store program instructions (e.g., specifically implemented as a computer program) executable by one or more processors.

[0111] Of course, the computer-executable instructions provided in the embodiments of this application are not limited to the robot movement control method described above, but can also execute related operations in the robot movement control method provided in any embodiment of this application.

[0112] The robot motion control device, storage medium, positioning system, and robot motion control equipment provided in the above embodiments can execute the robot motion control method provided in any embodiment of this application. For technical details not described in detail in the above embodiments, please refer to the robot motion control method provided in any embodiment of this application.

[0113] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application. The scope of this application is determined by the scope of the claims.

Claims

1. A robot movement control method, characterized in that, include: The robot receives a first signal to determine its current location, which includes a second region adjacent to the first region, the second region being less dangerous than the first region. The first signal is processed to obtain a corresponding distance value, and multiple consecutive distance values ​​prior to receiving the first signal are obtained. If the stability corresponding to the obtained distance value does not meet the stability condition and / or the attenuation corresponding to the intensity of the first signal does not meet the attenuation condition, the first signal is determined to be an invalid signal. If the stability corresponding to the obtained distance value meets the stability condition and the attenuation corresponding to the intensity of the first signal meets the attenuation condition, the first signal is determined to be a valid signal. If the first signal is determined to be an invalid signal and the robot is currently located in the second area, the robot is controlled to perform a safety operation. If the first signal is determined to be a valid signal and the robot is currently located in the second area, the robot is controlled to move along a preset path and perform a cleaning operation.

2. The robot movement control method according to claim 1, characterized in that, Also includes: If the robot's current location is determined to be the first area, control the robot to perform a safety operation; And / or, if it is determined that the robot is currently in a third area, the robot is controlled to move along a preset path and perform cleaning operations, wherein the third area is adjacent to the second area and the danger level of the third area is less than that of the second area.

3. The robot movement control method according to claim 1, characterized in that, The stability of the obtained distance value is confirmed to meet the stability condition by determining the fluctuation range between every two consecutive distance values ​​based on the obtained distance value. If the fluctuation amplitude is less than or equal to a preset fluctuation threshold, the stability corresponding to the obtained distance value is determined to meet the stability condition.

4. The robot movement control method according to claim 1, characterized in that, The attenuation degree corresponding to the intensity of the first signal is confirmed to meet the attenuation condition in the following manner: the average intensity of the second signal that is in the same batch as the first signal is determined, and the attenuation degree corresponding to the intensity of the first signal is determined based on the difference between the average intensity and the intensity value of the first signal; if the attenuation degree corresponding to the intensity of the first signal is less than or equal to a preset signal attenuation threshold, the attenuation degree corresponding to the intensity of the first signal is determined to meet the attenuation condition.

5. The robot movement control method according to claim 4, characterized in that, Determining the attenuation degree corresponding to the intensity of the first signal based on the difference between the average intensity value and the intensity value of the first signal includes: determining the difference between the average intensity value and the intensity value of the first signal as the attenuation degree corresponding to the intensity of the first signal.

6. The robot movement control method according to claim 2, characterized in that, The method further includes: when the first signal is a valid signal, smoothing the acquired distance value to obtain a smoothed distance value; when the smoothed distance value is less than the distance value obtained by processing the first signal, determining the current position of the robot through the smoothed distance value.

7. The robot movement control method according to claim 1 or 2, characterized in that, The first region includes at least one circular region centered on an ultra-wideband base station, with an outer ring region adjacent to the circular region. The second region includes a region in the outer ring region that does not overlap with the circular region. The first signal is used to indicate the distance between the robot and the ultra-wideband base station that sends the first signal, in order to determine the current position of the robot.

8. The robot movement control method according to claim 7, characterized in that, The number of ultra-wideband base stations is at least two. Determining the current position of the robot includes: determining that the robot is located in the first region when the distance between the robot and any of the ultra-wideband base stations is less than the radius of the corresponding circular region; determining that the robot is located in the second region when the distance between the robot and each of the ultra-wideband base stations is greater than the radius of the corresponding circular region, and the distance between the robot and any of the ultra-wideband base stations is less than the radius of the corresponding outer ring region; and determining that the robot is located in the third region when the distance between the robot and each of the ultra-wideband base stations is greater than the radius of the corresponding outer ring region.

9. The robot movement control method according to claim 8, characterized in that, The method further includes: when the robot is currently located in the second region, determining the first signal whose corresponding distance is greater than the radius of the circular region corresponding to the ultra-wideband base station but less than the radius of the outer ring region as the first signal sent by the ultra-wideband base station corresponding to the outer ring region where the robot is located; if any of the first signals sent by the ultra-wideband base station corresponding to the outer ring region where the robot is located is an invalid signal, then controlling the robot to perform a safety operation; if all the first signals sent by the ultra-wideband base station corresponding to the outer ring region where the robot is located are valid signals, then controlling the robot to move along a preset path and perform a cleaning operation.

10. The robot movement control method according to claim 7, characterized in that, The robot is equipped with an ultra-wideband (UWB) tag, and the robot receives a first signal sent by the UWB base station through the UWB tag. Correspondingly, the method further includes: when the distance between the robot and each of the UWB base stations is greater than a preset distance threshold, adjusting the signal transmission frequency of the UWB tag to a first frequency value; when the distance between the robot and any of the UWB base stations is less than or equal to the preset distance threshold, adjusting the signal transmission frequency of the UWB tag to a second frequency value, wherein the second frequency value is greater than the first frequency value.

11. A robot movement control device, characterized in that, include: A first positioning module is configured to receive a first signal, which is used to determine the current position of the robot. The position includes a second region adjacent to the first region, and the danger level of the second region is less than that of the first region. The second signal judgment module is configured to process the first signal to obtain a corresponding distance value, and to obtain multiple consecutive distance values ​​prior to receiving the first signal; if the stability corresponding to the obtained distance value does not meet the stability condition and / or the attenuation corresponding to the intensity of the first signal does not meet the attenuation condition, the first signal is determined to be an invalid signal; if the stability corresponding to the obtained distance value meets the stability condition and the attenuation corresponding to the intensity of the first signal meets the attenuation condition, the first signal is determined to be a valid signal; the first control module is configured to control the robot to perform a safety operation when the first signal is determined to be an invalid signal and the robot is currently located in the second area; the second control module is configured to control the robot to move along a preset path and perform a cleaning operation when the first signal is determined to be a valid signal and the robot is currently located in the second area.

12. A robot movement control device, characterized in that, include: One or more processors; A memory that stores one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the robot motion control method as described in any one of claims 1-10.

13. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the robot motion control method as described in any one of claims 1-10.

14. A positioning system, characterized in that, The system includes an ultra-wideband (UWB) base station and a robot, the robot being equipped with an UWB tag. The UWB base station is used to send a first signal to the UWB tag; the robot is used to receive the first signal, which determines the robot's current location, including a second area adjacent to a first area, the second area having a lower level of danger than the first area; process the first signal to obtain a corresponding distance value, and obtain multiple consecutive distance values ​​prior to receiving the first signal; determine the first signal as invalid if the stability of the obtained distance value does not meet a stability condition and / or if the attenuation of the first signal's intensity does not meet an attenuation condition; determine the first signal as valid if the stability of the obtained distance value meets a stability condition and the attenuation of the first signal's intensity meets an attenuation condition; control the robot to perform a safety operation if the first signal is determined to be invalid and the robot's current location is in the second area; and control the robot to move along a preset path and perform cleaning operations if the first signal is determined to be valid and the robot's current location is in the second area.

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