Humanoid robot control method and device, robot and medium

Abstract

The embodiment of the invention provides a control method and device of a humanoid robot, the robot and a medium, and belongs to the technical field of robots. The method comprises the steps that after the whole body state of the humanoid robot is updated, the target position of an operation object in whole body reachability space information of the humanoid robot is acquired; determining a target motion mode according to the target position and the reachability subspace information of each movable part; according to the target motion mode, the target movable part is controlled to execute the target operation, efficient decision making is conducted on the motion modes of the humanoid robot, the ability of the humanoid robot to flexibly switch the motion modes in the factory environment is improved, and the control accuracy of the humanoid robot is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a control method, device, robot and medium for a humanoid robot. Background Art

[0002] With the development of robotics technology, various types of robots have gradually emerged. In order to adapt to various scenarios, humanoid robots are provided to perform related operations. Since the application scenarios of humanoid robots are usually more complex, how to improve the control accuracy of robots has become an urgent problem to be solved. Summary of the invention

[0003] In order to solve the above technical problems, the embodiments of the present application provide a control method, device, robot and medium for a humanoid robot.

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

[0005] After the humanoid robot updates the whole body state, obtaining a target position of an operation object in the whole body reachability space information of the humanoid robot;

[0006] Determining a target motion mode according to the target position and the reachability subspace information of each movable component, wherein the target motion mode is one of a plurality of basic operation modes, and each of the basic operation modes corresponds to one of the movable components;

[0007] The target movable component is controlled to perform a target operation according to the target motion mode.

[0008] In one embodiment, the whole-body accessibility space information includes a whole-body accessibility graph, and the accessibility subspace information includes a accessibility subgraph;

[0009] The determining the target motion mode according to the target position and the reachability subspace information of each movable component includes:

[0010] Determine whether the target location has an intersection area with each of the reachability subgraphs;

[0011] If the intersection area exists, the target motion mode is determined according to the intersection area.

[0012] In one embodiment, determining the target motion mode according to the intersection area includes:

[0013] If the number of the intersection areas is 1, determining a target reachability subgraph having the intersection area with the target location;

[0014] Determining a target movable component corresponding to the target reachability subgraph;

[0015] The basic operation mode corresponding to the target movable component is determined as the target motion mode.

[0016] In one embodiment, determining the target motion mode according to the intersection area includes:

[0017] If the number of the intersection areas is greater than or equal to 2, then determining a plurality of target reachability subgraphs having the intersection areas with the target location;

[0018] Determining target movable parts corresponding to each of the target reachability subgraphs;

[0019] The target motion mode is determined according to the priority of each target movable component.

[0020] In one embodiment, the movable component includes a head component of the humanoid robot, and the reachability subspace information includes head motion space information; and the method further includes:

[0021] If there is no intersection area between the target position and the head movement space information, the shortest distance between the camera field of view center of the head component and the operation object is obtained, and the camera field of view center is controlled to align with the operation object according to the shortest distance.

[0022] In one embodiment, obtaining the head motion spatial information includes:

[0023] Determine the movable space of the head component and the field of view of the camera;

[0024] The movable space and the visual field space are superimposed to obtain the head movement space information.

[0025] In one embodiment, the method further comprises:

[0026] A corresponding basic operation mode is set for each movable part of the humanoid robot, and the basic operation mode includes at least one of the following: a bipedal movement mode, a waist movement mode, a bi-arm movement mode, a left arm movement mode, a right arm movement mode and a head movement mode.

[0027] In a second aspect, an embodiment of the present application provides a control device for a humanoid robot, the control device for the humanoid robot comprising:

[0028] an acquisition module, configured to acquire a target position of an operation object in the full body reachability space information of the humanoid robot after the humanoid robot updates its full body state;

[0029] A determination module, configured to determine a target motion mode according to the target position and the reachability subspace information of each movable component, wherein the target motion mode is one of a plurality of basic operation modes, and each of the basic operation modes corresponds to one of the movable components;

[0030] A control module is used to control the target movable component to perform a target operation according to the target motion mode.

[0031] In a third aspect, an embodiment of the present application provides a humanoid robot, comprising a memory and a processor, wherein the memory is used to store a computer program, and when the computer program is run by the processor, the control method of the humanoid robot provided in the first aspect is executed.

[0032] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, which, when running on a processor, executes the control method of the humanoid robot provided in the first aspect.

[0033] The control method of the humanoid robot provided by the present application obtains the target position of the operation object in the full-body reachability space information of the humanoid robot after the humanoid robot updates its full-body state; determines the target motion mode according to the target position and the reachability subspace information of each movable part; controls the target movable part to perform the target operation according to the target motion mode, and improves the ability of the humanoid robot to flexibly switch motion modes in a factory environment and the control accuracy of the humanoid robot by making efficient decisions on the motion mode of the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present application and should not be regarded as limiting the scope of protection of the present application. In each of the drawings, similar components are numbered similarly.

[0035] Figure 1 A schematic diagram of a process of controlling a humanoid robot provided by an embodiment of the present application is shown;

[0036] Figure 2 Another schematic diagram of the process of controlling a humanoid robot provided by an embodiment of the present application is shown;

[0037] Figure 3 Another schematic diagram of a process of controlling a humanoid robot provided in an embodiment of the present application is shown;

[0038] Figure 4 Another schematic diagram of a process of controlling a humanoid robot provided in an embodiment of the present application is shown;

[0039] Figure 5 A structural schematic diagram of a control device for a humanoid robot provided in an embodiment of the present application is shown.

[0040] Icon: 500: control device of humanoid robot, 501: acquisition module, 502: determination module, 503: control module. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0042] The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0043] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present application, are intended only to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing items or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations of the foregoing items.

[0044] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0045] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present application belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present application.

[0046] Example 1

[0047] The embodiment of the present application provides a control method for a humanoid robot, which can improve the control accuracy of the humanoid robot and improve the control effect of the humanoid robot.

[0048] See also Figure 1 The control method of the humanoid robot includes steps S101 to S103, which are applied to a humanoid robot. The humanoid robot may include multiple movable parts, for example, a single-leg part, a double-leg part, a waist part, a single-arm part, a double-arm part, and a head part, which are not limited here. The humanoid robot can complete various operations in industrial scenarios, including but not limited to vehicle appearance inspection, parts sorting, and heavy object handling, which are not limited here. Each step is described below.

[0049] Step S101, after the humanoid robot updates its whole body state, obtaining a target position of an operation object in the whole body reachability space information of the humanoid robot.

[0050] In this embodiment, the motion space can be divided according to the movable parts of the humanoid robot, and the corresponding basic operation mode can be set for each motion space or each movable part. The humanoid robot can receive the operation instruction input by the user, and determine the operation object according to the operation instruction. The operation object can be various parts to be operated, vehicles to be detected, etc., which are not limited here. The humanoid robot updates the whole body state, determines the whole body accessibility space information of the humanoid robot, and determines the target position of the operation object in the whole body accessibility space information. Among them, the whole body state represents the angle of all joints of the humanoid robot in one control cycle. The whole body accessibility space information represents the set of three-dimensional motion spaces that all joints of the humanoid robot can move. The elements in the set of the three-dimensional motion space represent the three-dimensional motion range that each moving part can move. After discretizing the configuration space (i.e., the range of motion angles corresponding to all joints of the robot), the set of each motion space is obtained by forward kinematics. The bipedal motion space is the forward, sideways and in-situ rotation, including the x-axis, y-axis and the rotation angle around the y-axis. The waist is the movement generated by the legs, including the x-axis, y-axis, z-axis, the rotation angle around the x-axis, the rotation angle around the y-axis and the rotation angle around the z-axis. The arm motion space refers to the motion space at the end of the arms, which is generated by the joint movement of the arms, and also includes the x-axis, y-axis, z-axis, the rotation angle around the x-axis, the rotation angle around the y-axis and the rotation angle around the z-axis. The reachability subspace information is the three-dimensional motion space in which each movable part can move.

[0051] In this embodiment, the humanoid robot may include a mode selector, which is traversed in each control cycle, and after the humanoid robot updates the whole body state, obtains the target position of the operation object in the whole body reachability space information of the humanoid robot.

[0052] Step S102: determining the target motion mode according to the target position and the reachability subspace information of each movable component.

[0053] In this embodiment, a mode selector is used to traverse whether there is an intersection area between the target position and each reachability subspace information. Based on the judgment result of whether there is an intersection area, a target motion mode is determined from multiple basic operation modes to improve the control accuracy of the humanoid robot.

[0054] In this embodiment, the target motion mode is one of a plurality of basic operation modes, and each of the basic operation modes corresponds to a movable component. For example, the bipedal movement mode corresponds to the bipedal component, the waist movement mode corresponds to the waist component, the dual arm motion mode corresponds to the dual arm component, and the head motion mode corresponds to the head component.

[0055] In one embodiment, the method further comprises:

[0056] A corresponding basic operation mode is set for each movable part of the humanoid robot, and the basic operation mode includes at least one of the following: a bipedal movement mode, a waist movement mode, a bi-arm movement mode, a left arm movement mode, a right arm movement mode and a head movement mode.

[0057] Exemplarily, for a humanoid robot, multiple basic operation modes M can be defined, namely, a bipedal movement mode M1, a waist movement mode M2, a bi-arm movement mode M3, and a head movement mode M4. In this embodiment, the humanoid robot includes a mode selector, and the mode can be switched by the mode selector. In this way, a corresponding basic operation mode can be defined for each movable component, so as to facilitate the subsequent precise control of each movable component according to the needs.

[0058] In this embodiment, the whole-body accessibility spatial information includes a whole-body accessibility graph, and the accessibility subspace information includes a accessibility subgraph. Exemplarily, the target position G of the operation object in the whole-body accessibility graph R of the humanoid robot is determined, wherein the whole-body accessibility graph R is a discrete three-dimensional sequence, representing the points in the space that the humanoid robot can reach in the humanoid robot body coordinate system. A reachability subgraph Ri is established according to each movable component of the robot, wherein i is a positive integer greater than or equal to 1. Exemplarily, the reachability subgraph Ri includes: a bipedal motion space graph R1, a waist motion space graph R2, a double-arm motion space graph R3, a left arm motion space graph R4, a right arm motion space graph R5, and a head motion space graph R6. The head motion space graph R6 is obtained by superimposing the movable space of the head component on the field of view space of the camera. It should be noted that the field of view space of the camera is a tetrahedral pyramid.

[0059] See also Figure 2 , step S102 includes:

[0060] Step S1021, determining whether there is an intersection area between the target location and each of the reachability subgraphs;

[0061] Step S1022: If the intersection area exists, determine the target motion mode according to the intersection area.

[0062] It should be noted that if the target position does not have an intersection area with each of the reachability subgraphs, it is determined that the humanoid robot is completely unreachable to the operation object, and the humanoid robot needs to be controlled to move toward the humanoid robot, and step S101 is re-entered.

[0063] For example, if the operation object is at the target position G in the full-body reachability graph R of the humanoid robot, the reachability subgraph R i Including: bipedal motion space map R1, waist motion space map R2, biarm motion space map R3, left arm motion space map R4, right arm motion space map R5 and head motion space map R6, then judge As a result, the G∩Ri results will be discussed in this category below, where Represents a humanoid robot that can manipulate objects that are not reachable by two feet; Represents the waist unreachable operation object, Represents the unreachable operation object of the dual arms. Represents the unreachable operation object of the left arm, Indicates that the right arm cannot reach the operation object. If It means that the operation object is lost in the robot's field of view. For each reachable situation, the following discussion will be conducted, where G It means that the humanoid robot can reach the object by moving its two feet. It means that the humanoid robot can reach the object by moving its waist. It means that the humanoid robot can reach the object by moving its arms. It means that the humanoid robot can reach the object by moving its left arm. Indicates that the humanoid robot can reach the object by moving its right arm if It means that the operation object is in the robot's field of view. It should be noted that if there are multiple intersection areas, it means that the humanoid robot can reach the operation object by moving multiple movable parts. For example, It means that the robot can reach the operation object by moving its two feet or by moving its waist.

[0064] See also Figure 3 , step S1022 includes:

[0065] Step S10221, if the number of the intersection areas is 1, determining a target reachability subgraph having the intersection area with the target location;

[0066] Step S10222, determining the target movable component corresponding to the target reachability subgraph;

[0067] Step S10223: determine the basic operation mode corresponding to the target movable component as the target motion mode.

[0068] For example, if Then the bipedal motion space graph R1 is the target reachability subgraph, the target movable part is the bipedal part, and the bipedal movement mode M1 is the target motion mode.

[0069] In this way, the target motion mode can be quickly determined, improving the control accuracy of the movable parts.

[0070] See also Figure 4 , step S1022 includes:

[0071] Step S10224, if the number of the intersection areas is greater than or equal to 2, determining a plurality of target reachability subgraphs having the intersection areas with the target location;

[0072] Step S10225, determining the target movable components corresponding to each of the target reachability subgraphs;

[0073] Step S10226, determining the target motion mode according to the priority of each target movable component.

[0074] In this embodiment, the priority of each target movable component can be determined according to the degree of influence of the movable component on the stability of the humanoid robot. For example, the priority of the two-foot component is the highest, the priority of the waist component is lower, and the priority of the two-arm component is the lowest, which is not limited here. Exemplary, exemplary, if Then the biped motion space graph R1 and the waist motion space graph R2 are both target reachability subgraphs, the target movable parts are the biped parts and the waist parts, and the biped movement mode M1 and the waist movement mode M2 ​​are candidate motion modes. The biped part has the highest priority, so the biped movement mode M1 is determined as the target motion model. In this way, the target motion mode is quickly determined while ensuring the stability of the humanoid robot, and the control accuracy of the movable parts is improved.

[0075] In one embodiment, the movable component includes a head component of the humanoid robot, and the reachability subspace information includes head motion space information; and the method further includes:

[0076] If there is no intersection area between the target position and the head movement space information, the shortest distance between the camera field of view center of the head component and the operation object is obtained, and the camera field of view center is controlled to align with the operation object according to the shortest distance.

[0077] In this embodiment, the corresponding movement is performed according to the result of the intersection between the target position G and each reachability subgraph Ri. Specifically, the results of the intersection between the target position G and the reachability subgraphs R1, R2, R3, R4, R5 and R6 are sequentially put into a stack, and then popped out of the stack in sequence. If the pop result is Then the next step is to pop the stack until the bottom of the stack. The corresponding motion mode M is determined based on the pop result. For example, when The humanoid robot directly enters the bipedal motion mode M1. For example, when The humanoid robot enters the waist motion mode M2. When both are empty, it means that the robot cannot reach the target position G at all. The shortest distance between the center of the camera field of view of the head component and the target position G is calculated, and then the center of the field of view of the head component is controlled to align to the target position G through an interpolation algorithm. The difference algorithm may be a polynomial difference algorithm, which will not be described in detail here.

[0078] In one embodiment, obtaining the head motion spatial information includes:

[0079] Determine the movable space of the head component and the field of view of the camera;

[0080] The movable space and the visual field space are superimposed to obtain the head movement space information.

[0081] In this embodiment, the head movement space information may include a head movement space map, which is obtained by superimposing a movable space map of the head component on a field of view space map of the camera to ensure that the movable space of the head component is consistent with the actual situation.

[0082] Step S103: controlling the target movable component to perform a target operation according to the target motion mode.

[0083] In this embodiment, the advantages of the humanoid robot are fully utilized to provide a universal and flexible humanoid robot control method to achieve autonomous switching of the robot's whole body movement. The target operation can be a series of operations, and the humanoid robot can be controlled to complete various operations in industrial scenarios, including but not limited to vehicle appearance inspection, parts sorting, and heavy object handling.

[0084] The control method of a humanoid robot provided in the present embodiment obtains the target position of an operation object in the full-body reachability space information of the humanoid robot after the humanoid robot updates its full-body state; determines the target motion mode according to the target position and the reachability subspace information of each movable component; controls the target movable component to perform the target operation according to the target motion mode, and improves the ability of the humanoid robot to flexibly switch motion modes in a factory environment and the control accuracy of the humanoid robot by making efficient decisions on the motion mode of the humanoid robot.

[0085] Example 2

[0086] In addition, an embodiment of the present application provides a control device for a humanoid robot.

[0087] like Figure 5 As shown, the control device 500 of the humanoid robot includes:

[0088] An acquisition module 501 is used to acquire a target position of an operation object in the full body reachability space information of the humanoid robot after the humanoid robot updates the full body state;

[0089] A determination module 502 is used to determine a target motion mode according to the target position and the reachability subspace information of each movable component, wherein the target motion mode is one of a plurality of basic operation modes, and each of the basic operation modes corresponds to one of the movable components;

[0090] The control module 503 is used to control the target movable component to perform a target operation according to the target motion mode.

[0091] In one embodiment, the whole-body accessibility space information includes a whole-body accessibility graph, and the accessibility subspace information includes an accessibility subgraph; the determination module 502 is further used to determine whether there is an intersection area between the target position and each of the accessibility subgraphs;

[0092] If the intersection area exists, the target motion mode is determined according to the intersection area.

[0093] In one embodiment, the determination module 502 is further configured to determine a target reachability subgraph having the intersection area with the target location if the number of the intersection areas is 1;

[0094] Determining a target movable component corresponding to the target reachability subgraph;

[0095] The basic operation mode corresponding to the target movable component is determined as the target motion mode.

[0096] In one embodiment, the determination module 502 is further configured to determine, if the number of the intersection regions is greater than or equal to 2, a plurality of target reachability subgraphs having the intersection regions with the target location;

[0097] Determining target movable parts corresponding to each of the target reachability subgraphs;

[0098] The target motion mode is determined according to the priority of each target movable component.

[0099] In one embodiment, the movable part includes the head part of the humanoid robot, and the reachability subspace information includes head motion space information; the control device 500 of the humanoid robot also includes: a first processing module, which is used to obtain the shortest distance between the center of the camera field of view of the head part and the operation object if there is no intersection area between the target position and the head motion space information, and control the alignment of the center of the camera field of view and the operation object according to the shortest distance.

[0100] In one embodiment, the control device 500 of the humanoid robot further includes:

[0101] A second processing module is used to determine the movable space of the head component and the field of view of the camera;

[0102] The movable space and the visual field space are superimposed to obtain the head movement space information.

[0103] In one embodiment, the control device 500 of the humanoid robot further includes:

[0104] A setting module is used to set a corresponding basic operation mode for each movable part of the humanoid robot, and the basic operation mode includes at least one of the following: bipedal movement mode, waist movement mode, dual arm movement mode, left arm movement mode, right arm movement mode and head movement mode.

[0105] The control device 500 of the humanoid robot provided in this embodiment can implement the control method of the humanoid robot provided in Example 1, and will not be described again here to avoid repetition.

[0106] The control device of the humanoid robot provided in the present embodiment obtains the target position of the operation object in the full-body reachability space information of the humanoid robot after the humanoid robot updates its full-body state; determines the target motion mode according to the target position and the reachability subspace information of each movable part; controls the target movable part to perform the target operation according to the target motion mode, and improves the ability of the humanoid robot to flexibly switch motion modes in a factory environment and the control accuracy of the humanoid robot by making efficient decisions on the motion mode of the humanoid robot.

[0107] Example 3

[0108] In addition, an embodiment of the present application provides a humanoid robot, including a memory and a processor, wherein the memory stores a computer program, and when the computer program runs on the processor, the control method of the humanoid robot provided in Example 1 is executed.

[0109] The humanoid robot provided in this embodiment can implement the control method of the humanoid robot provided in Example 1, and will not be described again here to avoid repetition.

[0110] Example 4

[0111] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the control method of the humanoid robot provided in Example 1 is implemented.

[0112] In this embodiment, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0113] The computer-readable storage medium provided in this embodiment can implement the control method of the humanoid robot provided in Example 1, and will not be described again here to avoid repetition.

[0114] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or terminal including the element.

[0115] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0116] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A control method for a humanoid robot, characterized in that: The method comprises: After the humanoid robot updates the whole body state, obtaining a target position of an operation object in the whole body reachability space information of the humanoid robot; Determining a target motion mode according to the target position and the reachability subspace information of each movable component, wherein the target motion mode is one of a plurality of basic operation modes, and each of the basic operation modes corresponds to one of the movable components; The target movable component is controlled to perform a target operation according to the target motion mode.

2. The method according to claim 1, characterized in that The whole-body reachability space information includes a whole-body reachability graph, and the reachability subspace information includes a reachability subgraph; The determining the target motion mode according to the target position and the reachability subspace information of each movable component includes: Determine whether the target location has an intersection area with each of the reachability subgraphs; If the intersection area exists, the target motion mode is determined according to the intersection area.

3. The method according to claim 2, characterized in that The determining the target motion mode according to the intersection area includes: If the number of the intersection areas is 1, determining a target reachability subgraph having the intersection area with the target location; Determining a target movable component corresponding to the target reachability subgraph; The basic operation mode corresponding to the target movable component is determined as the target motion mode.

4. The method according to claim 2, characterized in that: The determining the target motion mode according to the intersection area includes: If the number of the intersection areas is greater than or equal to 2, then determining a plurality of target reachability subgraphs having the intersection areas with the target location; Determining target movable parts corresponding to each of the target reachability subgraphs; The target motion mode is determined according to the priority of each target movable component.

5. The method according to any one of claims 1 to 4, characterized in that: The movable part includes a head part of the humanoid robot, and the reachability subspace information includes head motion space information; the method further includes: If there is no intersection area between the target position and the head movement space information, the shortest distance between the camera field of view center of the head component and the operation object is obtained, and the camera field of view center is controlled to align with the operation object according to the shortest distance.

6. The method according to claim 5, characterized in that Acquiring the head movement space information includes: Determine the movable space of the head component and the field of view of the camera; The movable space and the visual field space are superimposed to obtain the head movement space information.

7. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: A corresponding basic operation mode is set for each movable part of the humanoid robot, and the basic operation mode includes at least one of the following: a bipedal movement mode, a waist movement mode, a bi-arm movement mode, a left arm movement mode, a right arm movement mode and a head movement mode.

8. A control device for a humanoid robot, characterized in that: The device comprises: an acquisition module, configured to acquire a target position of an operation object in the full body reachability space information of the humanoid robot after the humanoid robot updates its full body state; A determination module, configured to determine a target motion mode according to the target position and the reachability subspace information of each movable component, wherein the target motion mode is one of a plurality of basic operation modes, and each of the basic operation modes corresponds to one of the movable components; A control module is used to control the target movable component to perform a target operation according to the target motion mode.

9. A humanoid robot, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the control method of the humanoid robot according to any one of claims 1 to 7 is executed.

10. A computer-readable storage medium, characterized in that: The computer program stores a computer program, which executes the control method of the humanoid robot according to any one of claims 1 to 7 when running on a processor.

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