Motion control method and system, storage medium, electronic device and program product

Abstract

The application provides a motion control method and system, a storage medium, an electronic device and a program product, and relates to the technical field of robot control. The method comprises the following steps: determining at least one behavior action corresponding to a target task and an execution sequence of the at least one behavior action, each behavior action comprising at least one execution unit, and the at least one execution unit being used for realizing specific operations of the behavior action; determining an execution sequence of the at least one execution unit included in each behavior action; and controlling robot motion based on the execution sequence of the at least one behavior action and the execution sequence of the at least one execution unit included in each behavior action. The application provides an orderly motion control process for the robot by defining the behavior action corresponding to the target task and the execution sequence thereof, and the execution sequence of the execution unit in each behavior action, thereby improving the accuracy and efficiency of the robot when performing the task.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot control, in particular to a motion control method and system, a storage medium, an electronic device and a program product. BACKGROUND

[0002] With the wide application of robots (such as robots) in industrial and service industries, the challenges they face in performing complex tasks are also increasing, especially in a single task that needs to complete multiple complex actions. However, the existing control method lacks flexible management of these behavior actions in the execution process, which makes it difficult to meet the diversified control needs of robots in different scenarios. SUMMARY

[0003] Therefore, the embodiments of the present application provide a motion control method and system, a storage medium, an electronic device and a program product.

[0004] In a first aspect, an embodiment of the present application provides a motion control method, comprising: determining at least one behavior action corresponding to a target task and an execution order of the at least one behavior action, each behavior action comprising at least one execution unit, and the at least one execution unit being used to implement a specific operation of the behavior action; determining an execution order of the at least one execution unit included in each behavior action; and controlling robot motion based on the execution order of the at least one behavior action and the execution order of the at least one execution unit included in each behavior action.

[0005] In combination with the first aspect, in some implementations of the first aspect, controlling robot motion based on the execution order of the at least one behavior action and the execution order of the at least one execution unit included in each behavior action comprises: in response to an action switching instruction, determining whether a current behavior action being executed by the robot and a target behavior action to be executed satisfy a switching condition; if the switching condition is not satisfied, determining an intermediate state behavior action; controlling the robot to switch from the current behavior action to the intermediate state behavior action, and then from the intermediate state behavior action to the target behavior action, and in the switching process, running the at least one execution unit included in the current behavior action, the intermediate state behavior action and the target behavior action according to the execution order of the at least one execution unit.

[0006] In combination with the first aspect, in some implementations of the first aspect, determining the intermediate state behavior action comprises: determining a shortest switching path between the current behavior action and the target behavior action; and determining the behavior actions other than the current behavior action and the target behavior action in the shortest switching path as the intermediate state behavior action.

[0007] With reference to the first aspect, in some implementations of the first aspect, determining the shortest switching path between the current behavior action and the target behavior action comprises: obtaining pre-computed shortest switching paths between a plurality of behavior actions in the robot; and determining the shortest switching path between the current behavior action and the target behavior action from the pre-computed shortest switching paths between the plurality of behavior actions.

[0008] With reference to the first aspect, in some implementations of the first aspect, the method further comprises: obtaining switching rules for the plurality of behavior actions, the switching rules comprising next behavior actions allowed to switch from the behavior action; and pre-computing the shortest switching paths between the plurality of behavior actions based on the switching rules for the plurality of behavior actions.

[0009] With reference to the first aspect, in some implementations of the first aspect, the method further comprises: determining a current control mode of the robot, the current control mode being one of an automatic control mode, a manual control mode, and a passive control mode; and determining the plurality of behavior actions in the robot based on the current control mode.

[0010] With reference to the first aspect, in some implementations of the first aspect, controlling the robot to switch from the current behavior action to the intermediate behavior action and then from the intermediate behavior action to the target behavior action comprises: when switching from the current behavior action to the intermediate behavior action, controlling the robot to exit an execution unit of the current behavior action that satisfies an exit condition and to start an execution unit of the intermediate behavior action that satisfies a start condition; and when switching from the intermediate behavior action to the target behavior action, controlling the robot to exit an execution unit of the intermediate behavior action that satisfies the exit condition and to start an execution unit of the target behavior action that satisfies the start condition.

[0011] With reference to the first aspect, in some implementations of the first aspect, the execution unit that satisfies the exit condition comprises an execution unit other than a common execution unit in the behavior action being executed and the behavior action to be executed, the common execution unit being an execution unit included in both the behavior action being executed and the behavior action to be executed; and the execution unit that satisfies the start condition comprises an execution unit other than the common execution unit in the behavior action to be executed.

[0012] With reference to the first aspect, in some implementations of the first aspect, determining whether the robot satisfies a switching condition between the current behavior action being executed and the target behavior action to be executed comprises: obtaining a switching rule corresponding to the current behavior action, the switching rule comprising a next behavior action allowed to switch from the behavior action; and determining whether the current behavior action and the target behavior action satisfy the switching condition based on the switching rule corresponding to the current behavior action.

[0013] In some implementations of the first aspect, the determining of the execution order of the at least one execution unit included in each behavior action comprises: obtaining configuration information corresponding to each execution unit, the configuration information containing parameters guiding the running rules of the execution unit; and determining the execution order of the at least one execution unit included in each behavior action based on the configuration information corresponding to each execution unit. Preferably, the configuration information can be adjusted based on control requirements.

[0014] In some implementations of the first aspect, the execution order of the at least one behavior action and the execution order of the at least one execution unit included in each behavior action comprise series and / or parallel.

[0015] In the second aspect, an embodiment of the present application provides a motion control system, comprising: a behavior action interface layer configured to implement standardized calling of behavior actions; and a control module configured to call the required behavior actions through the behavior action interface layer when the motion control method of the first aspect is executed.

[0016] In the third aspect, an embodiment of the present application provides a computer readable storage medium storing a computer program configured to execute the motion control method of the first aspect.

[0017] In the fourth aspect, an embodiment of the present application provides an electronic device, comprising: a processor; a memory configured to store processor-executable instructions; and the processor configured to execute the motion control method of the first aspect.

[0018] In the fifth aspect, an embodiment of the present application provides a computer program product comprising instructions configured to cause an electronic device to implement the motion control method of the first aspect when the instructions are executed on the electronic device.

[0019] In the present application, the execution unit is a component of the behavior action and is a specific calculation or control operation required to execute the behavior action. Through the hierarchical design method of behavior action and execution unit, the modularity and scalability of the motion control algorithm are improved, different behavior actions and execution units can be developed and scheduled independently, and the coupling degree between behavior actions and execution units is reduced. Then, by defining the behavior action and its execution order corresponding to the target task, and the execution order of the execution unit in each behavior action, an ordered motion control process is provided for the robot, and the accuracy and efficiency of the robot in executing the task are improved. BRIEF DESCRIPTION OF DRAWINGS

[0020] The above and other purposes, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0021] Figure 1 FIG2 is a flow chart of a motion control method provided in one embodiment of the present application.

[0022] Figure 2 The figure shows a flow chart of controlling the movement of a robot provided in one embodiment of the present application.

[0023] Figure 3 The figure shows a flow chart of determining an intermediate behavior action provided by an embodiment of the present application.

[0024] Figure 4a The figure shows a flow chart of determining the shortest switching path between the current action and the target action according to an embodiment of the present application.

[0025] Figure 4b The above is a schematic diagram of the corresponding figures for picking up, transporting and unloading provided in an embodiment of the present application.

[0026] Figure 5 The figure shows a hierarchical design diagram of the control mode, behavior action and execution unit provided in one embodiment of the present application.

[0027] Figure 6 The figure shows a flow chart of controlling a robot to switch from a current behavior action to an intermediate behavior action, and then switch from the intermediate behavior action to a target behavior action, provided by an embodiment of the present application.

[0028] Figure 7 The figure shows an overall flow chart of motion control of a robot provided by an embodiment of the present application.

[0029] Figure 8 The figure shows a flow chart of determining the execution order of at least one execution unit included in each behavior action provided by an embodiment of the present application.

[0030] Figure 9 Shown is a structural schematic diagram of a motion control system provided in one embodiment of the present application.

[0031] Figure 10 Shown is a structural schematic diagram of a motion control system provided by another embodiment of the present application.

[0032] Figure 11Fig. 1 shows a structural schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described in connection 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 the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0034] Figure 1 Fig. 2 shows a flowchart of a motion control method according to an embodiment of the present application. As an example, as shown in Fig. 2, the method comprises the following steps. Figure 1

[0035] In step S110, at least one behavior action corresponding to the target task and an execution order of the at least one behavior action are determined.

[0036] Specifically, the target task contains a specific sequence of behavior actions that the robot needs to complete, and these behavior actions are arranged together to achieve a specific work goal. Therefore, by obtaining the target task, at least one behavior action that needs to be executed by the robot and an execution order of the at least one behavior action can be determined.

[0037] A behavior action defines a specific operation that the robot needs to perform in a certain state, such as walking or standing. Optionally, the behavior action is divided into a resident behavior action and a switchable behavior action. The resident behavior action is a behavior action that the robot always maintains, and is mainly used to maintain the basic state and posture of the robot, such as basic data management and monitoring, etc. This kind of behavior action continuously runs in the entire motion control cycle of the robot and will not be exited, so as to ensure the stability of the robot. The switchable behavior action is a behavior action that can be dynamically loaded or unloaded according to the requirements of the target task. For example, the robot can switch from performing the behavior action of "walking" to performing the behavior action of "grabbing".

[0038] Each behavior action includes at least one execution unit, and the at least one execution unit is used to implement a specific operation of the behavior action. Specifically, the execution unit encapsulates a specific algorithm or instruction set, which can be regarded as a functional module or function running on the robot, and is responsible for performing a specific basic operation in the behavior action.

[0039] In step S120, an execution order of the at least one execution unit included in each behavior action is determined.

[0040] ​Optionally, the execution order of the at least one execution unit included in each behavior action is determined based on a predefined execution flow and rules in the behavior action. For example, in the scenario of an automated assembly line, a robot needs to perform an “assemble” behavior action, which includes three execution units of “pick up a part”, “move to an assembly position”, and “place the part”. In order to ensure that the parts can be assembled correctly, the execution order of the execution units must be “pick up a part”, “move to an assembly position”, and “place the part” in sequence.

[0041] At step S130, the robot motion is controlled based on the execution order of the at least one behavior action and the execution order of the at least one execution unit included in each behavior action.

[0042] Specifically, after determining the execution order of each behavior action and the execution unit included therein, the robot motion is specifically controlled according to the execution orders. That is, according to the established flow, the corresponding behavior actions and execution units are triggered and executed in sequence, thereby driving the robot to perform the expected motion.

[0043] In the present embodiment, the execution unit is a component of the behavior action and is a specific calculation or control operation required to execute the behavior action. Through the hierarchical design method of behavior actions and execution units, the modularity and scalability of the motion control algorithm are improved, so that different behavior actions and execution units can be independently developed and scheduled, and the coupling degree between behavior actions and execution units is reduced. Then, by defining the behavior action corresponding to the target task and the execution order thereof, as well as the execution order of the execution unit in each behavior action, an ordered motion control flow is provided for the robot, thereby improving the accuracy and efficiency of the robot when performing the task.

[0044] In order to ensure that the robot can efficiently and accurately perform the target task, the execution order of the behavior action and the execution unit thereof needs to be planned more meticulously. Specifically, in some embodiments, the execution order of the at least one behavior action and the execution order of the at least one execution unit included in each behavior action include serial and / or parallel.

[0045] First, the serial and / or parallel execution scheme of the behavioral action allows multiple behavioral actions to be run simultaneously when specific conditions are met to complete complex task requirements, while improving the execution efficiency of the target task and achieving better resource allocation and time management in a multi-tasking environment. In addition, at least one execution unit included in each behavioral action can be assigned to an independent thread to run, that is, in the same behavioral action, multiple execution units can also work in parallel or serially, thereby meeting the demand for real-time control of the robot and improving the robot's response speed and task processing capabilities. Overall, through the method in this embodiment, the robot can plan and execute target tasks more intelligently, whether in a simple single task or in a complex multi-tasking scenario.

[0046] Figure 2 The figure shows a flow chart of controlling the movement of a robot provided by an embodiment of the present application. Figure 1 Based on the embodiment shown, Figure 2 The embodiment shown is described below in detail. Figure 2 The embodiment shown and Figure 1 The differences and similarities between the illustrated embodiments are not described in detail.

[0047] like Figure 2 As shown, in this embodiment, controlling the movement of the robot based on the execution order of at least one behavioral action and the execution order of at least one execution unit included in each behavioral action includes the following steps.

[0048] Step S210 , in response to the action switching instruction, determining whether the current action being executed by the robot and the target action to be executed meet the switching condition.

[0049] Specifically, the switching condition refers to the prerequisite that must be met when the robot switches from one behavior action (such as the current behavior action) to another behavior action (such as the target behavior action) to ensure the safety, feasibility and logic of the switching.

[0050] For example, an industrial robot is currently performing the "welding" action of a car body component. During the welding process, the robot must maintain a stable posture, and the welding tool head must remain within a specific temperature range to ensure weld quality. Now, the robot receives an action switch instruction to switch from "welding" to "handling." The robot then checks whether the conditions for switching from "welding" to "handling" are met. For example, if the tool head is cooled and the component is secure, the conditions are considered met.

[0051] In an actual application scenario, if the switching condition is not met, step S220 is executed to determine an intermediate state behavior action.

[0052] The intermediate state behavior action refers to a behavior action temporarily performed by the robot during the process of switching from one behavior action (e.g., the current behavior action) to another behavior action (e.g., the target behavior action) to ensure a safe and smooth transition.

[0053] In step S230, the robot is controlled to switch from the current behavior action to the intermediate state behavior action, and then from the intermediate state behavior action to the target behavior action, and during the switching process, the execution sequence of at least one execution unit included in the current behavior action, the intermediate state behavior action, and the target behavior action is executed.

[0054] That is, the robot needs to be controlled to smoothly transition from the current behavior action to the intermediate state behavior action, and then from the intermediate state behavior action to the final target behavior action.

[0055] For example, a service robot whose current behavior action is "standing" needs to switch to a target behavior action of "walking". However, since the robot needs to adjust its center of gravity and posture to ensure the stability of walking, it needs to perform an intermediate state behavior action of "adjusting the center of gravity" first. Therefore, the robot is first controlled to transition from "standing" to "adjusting the center of gravity", and after the center of gravity is adjusted, it is switched from "adjusting the center of gravity" to "walking". During this process, the execution units (such as sensor data reading, motor control instructions, etc.) included in each behavior action will be activated and executed in a predetermined sequence to ensure the smoothness of the entire switching process and the stability of the service robot.

[0056] Optionally, before controlling the robot to switch from the current behavior action to the intermediate state behavior action, the state information of the current behavior state and the intermediate state behavior action is checked; if the state information of the current behavior state indicates that the current behavior state has been completed, and the state information of the intermediate state behavior action indicates that the intermediate state behavior action has not started, the robot is controlled to switch from the current behavior action to the intermediate state behavior action.

[0057] Optionally, before controlling the robot to switch from the intermediate state behavior action to the target behavior action, the state information of the intermediate state behavior action and the target behavior action is checked; if the state information of the intermediate state behavior action indicates that the intermediate state behavior action has been completed, and the state information of the target behavior action indicates that the target behavior action has not started, the robot is controlled to switch from the intermediate state behavior action to the target behavior action.

[0058] Optionally, the state information of the behavior action includes "not started", "running", "completed", "failed", and the like. The life cycle of each behavior action is managed through the state information to determine that each behavior action can be started and stopped in sequence.

[0059] In the present embodiment, in the case that the current behavior action and the target behavior action do not meet the switching condition, the intermediate state behavior action is determined to avoid the risks and problems that may be caused by direct switching, ensuring that the robot can safely and orderly convert between different behavior actions, improving the adaptability and flexibility of the robot, and enhancing the accuracy and reliability of task execution. In addition, by precisely controlling the order of the execution units, resource allocation is optimized, improving the overall efficiency and performance of the robot.

[0060] In Figure 2 In step S210, it is mentioned that in response to the action switching instruction, it is necessary to determine whether the robot meets the switching condition from the current behavior action to the target behavior action. Next, how this process is implemented is further discussed. Specifically, the switching rule corresponding to the current behavior action is first obtained; based on the switching rule corresponding to the current behavior action, it is determined whether the current behavior action and the target behavior action meet the switching condition.

[0061] In the present embodiment, the switching rule includes the next behavior action that the behavior action allows to switch. Optionally, the switching rule is implemented through a graph structure, in which the nodes represent various behavior actions that the robot can perform, and the directed edges between the nodes represent the allowed switching conditions from one behavior action to another. This graph structure can represent the relationship and conversion logic between different behavior actions in an intuitive way.

[0062] Optionally, the next behavior action that the behavior action allows to switch is configured based on switching safety. For example, the robot is performing "patrol", at this time, an action switching instruction is received, indicating switching to the "tracking" behavior action. In this case, the switching rule of the "patrol" behavior action is first checked, assuming that this switching rule specifies that the "patrol" can switch to the "tracking", "alert" or "standby" behavior actions, i.e., the "tracking" behavior action is included in the allowed switching list of "patrol", then it is determined that the "patrol" to "tracking" is a conditional switching, and the robot can perform the switching. On the contrary, if "tracking" is not in the allowed switching list, such as only allowed to switch to "alert" or "standby", then the "patrol" to "tracking" does not meet the switching condition, at this time, the robot will not be controlled to execute this switching instruction.

[0063] In this embodiment, switching rules are used to determine whether the current action and the target action meet the switching conditions. This ensures that the robot's behavioral transitions are orderly and controllable, avoiding confusion or errors caused by arbitrary switching. Secondly, switching rules can be configured based on switching safety standards, ensuring that the robot does not put itself in danger when switching between actions. Furthermore, switching rules, which clearly define the next action to which an action is allowed to switch, help optimize the robot's behavioral logic, allowing the robot to perform its target tasks more efficiently.

[0064] Figure 3 The figure shows a flow chart of determining intermediate state behavior actions provided by an embodiment of the present application. Figure 2 Based on the embodiment shown, Figure 3 The embodiment shown is described below in detail. Figure 3 The embodiment shown and Figure 2 The differences and similarities between the illustrated embodiments are not described in detail.

[0065] like Figure 3 As shown, in this embodiment, determining the intermediate state behavior action includes the following steps.

[0066] Step S310: determining the shortest switching path between the current action and the target action.

[0067] Specifically, the shortest switching path is the path with the fewest transitions from the current action to the target action. For example, if the robot's current action is A and its target action is B, the switching paths between these two actions include A-A1-A2-B, A-A3-B, and A-A1-A3-A4-B. In this example, the switching path A-A3-B has fewer transitions than the other two switching paths. Therefore, A-A3-B is the shortest switching path from the current action A to the target action B.

[0068] Step S320: Determine other behavior actions in the shortest switching path except the current behavior action and the target behavior action as intermediate behavior actions.

[0069] According to the example in step S310 , the intermediate behavior action between the current behavior action A and the target behavior action B is A3 .

[0070] In this embodiment, by determining the shortest switching path, the robot can transition from its current behavior to its target behavior in the fewest steps and time, improving operational efficiency and reducing resource consumption. Subsequently, the shortest switching path is used to determine the intermediate behaviors within this path, enhancing the stability and reliability of the self-moving device's motion. The methods in steps S310 and S320 collectively achieve efficient, orderly, and safe transitions between the robot's behaviors, improving the robot's overall performance.

[0071] Figure 4a The figure shows a flow chart of determining the shortest switching path between the current action and the target action according to an embodiment of the present application. Figure 3 Based on the embodiment shown, Figure 4a The embodiment shown is described below in detail. Figure 4a The embodiment shown and Figure 3 The differences and similarities between the illustrated embodiments are not described in detail.

[0072] like Figure 4a As shown, in this embodiment, determining the shortest switching path between the current behavior action and the target behavior action includes the following steps.

[0073] Step S410: Obtain the pre-calculated shortest switching path between multiple behavioral actions of the robot.

[0074] Pre-calculation means that when the motion control method of this embodiment is started, a specific algorithm is used to determine the shortest path between multiple action nodes, and the shortest switching paths between the multiple actions are stored in a target path for fast retrieval and use during runtime. Exemplarily, the target path is cached.

[0075] Multiple actions refer to all the different actions a robot can perform during operation. These actions are considered nodes in a graph, and the allowed switching conditions between nodes are considered directed edges in the graph. Optionally, each directed edge includes a weight, representing the cost of switching from one action to another.

[0076] It should be noted that the graph here refers to the graph in graph theory, which consists of nodes and edges and can represent a certain relationship between objects. For example, Figure 4b The above is a schematic diagram of the corresponding diagrams of pickup, transportation and unloading provided in one embodiment of the present application. Figure 4bAs shown, the behavior actions of picking, transporting and unloading each correspond to one node in the graph. The switching condition from picking to transporting is that the robot has finished picking the goods and needs to transport them to the unloading area; the switching condition from transporting to unloading is that the robot has arrived at the unloading area and needs to unload the goods; the switching condition from unloading to picking is that the robot has finished unloading the goods and needs to return to the shelf to pick the next batch of goods. Exemplarily, the weight of the directed edge from picking to transporting represents the time or distance required for transporting the goods to the unloading area after picking; the weight of the directed edge from transporting to unloading represents the time required for unloading the goods after arriving at the unloading area; the weight of the directed edge from unloading to picking represents the time or distance required for returning to the shelf to pick the goods after unloading.

[0077] In step S410, the switching of behavior actions is optimized by using the pre-computed shortest switching paths between the plurality of behavior actions. When it is necessary to switch from one behavior action to another, the required shortest switching path can be directly retrieved from the pre-computed shortest switching paths between the plurality of behavior actions.

[0078] In some embodiments, pre-computing the shortest switching paths between the plurality of behavior actions comprises: obtaining the switching rules of the plurality of behavior actions respectively; and pre-computing the shortest switching paths between the plurality of behavior actions based on the switching rules of the plurality of behavior actions respectively.

[0079] As mentioned before, the switching rule includes the next behavior action that the behavior action is allowed to switch to. That is, each behavior action has an explicit allowed switching list that lists all other behavior actions that can be directly and safely switched from this behavior action. In other embodiments, if the switching rule of a behavior action contains multiple next behavior actions that are allowed to switch, the switching rule also defines the switching priorities of the multiple next behavior actions that are allowed to switch.

[0080] Exemplarily, a graph search algorithm is used to record at least one path from behavior action A to each of the remaining switchable behavior actions. In addition, during the search process, the switching priorities of the multiple next behavior actions that are allowed to switch defined in the switching rule are also considered, that is, those behavior actions with high switching priorities are given priority. The algorithm continues to explore until it is determined that there is no other feasible path. In this process, the length of the path is updated to ensure that each new path found is shorter than the previously recorded path. Finally, the shortest path from behavior action A to a particular behavior action is obtained.

[0081] This method allows quick and accurate determination of safe and efficient switching from one behavior action to another when actually needed. By pre-computing and storing these shortest switching paths, the response speed and operation efficiency of the robot can be improved when controlling the movement of the robot to quickly respond to behavior switching requests.

[0082] In some embodiments, the method for determining the plurality of behavior actions in the robot comprises: determining a current control mode of the robot; and determining the behavior actions contained in the current control mode as the plurality of behavior actions in the robot. Optionally, the current control mode is one of an automatic control mode, a manual control mode and a passive control mode.

[0083] In the automatic control mode, the robot mainly relies on built-in algorithms and preset programs to perform tasks. In this mode, the robot can independently perceive the environment, make decisions and perform corresponding behavior actions without the direct intervention of the operator. The manual control mode requires the operator to directly control the behavior actions of the robot. In this mode, the operator guides the robot through a remote controller, control panel or other input devices. This mode is suitable for situations that require fine operation or immediate response to environmental changes, such as precise positioning and operation in complex or unpredictable environments. The passive control mode is a control mode between the automatic control mode and the manual control mode, in which the robot responds to external instructions, but the operator does not need to continuously control it. That is, the robot automatically performs certain behavior actions according to preset conditions, and the operator intervenes when necessary.

[0084] Each of the above control modes has its specific application scenarios and advantages. The automatic control mode is suitable for high-efficiency and repetitive tasks; the manual control mode is suitable for tasks that require high flexibility and immediate response; and the passive control mode is suitable for scenarios that require a balance between automation and human control.

[0085] Figure 5 As shown, the control mode, behavior action and execution unit are hierarchically designed according to an embodiment of the present application. As shown, each control mode contains corresponding behavior actions (ACTION), and each behavior action further contains corresponding execution units (Runner) to achieve complex motion control of the robot. Figure 5

[0086] ​Exemplarily, in the automatic control mode, ACTION 1 to ACTION n are set, each of which is composed of a group of Runners which are executed in specific threads. For example, ACTION 1 contains Runner 1, Runner 2, Runner 3, wherein Runner 1 and Runner 2 are executed in thread 1, and Runner 3 is executed in thread 2. In the manual control mode, ACTION 3 to ACTION x are set, each of which is also executed in different threads by different Runners (for example, ACTION 3 is executed by Runner 4 and Runner 5).

[0087] The passive control mode only involves one ACTION 8 and the corresponding Runner 8 of ACTION 8. The resident behavior action part sets ACTION 9 and ACTION 10 which are executed by Runner 9 to Runner 13, respectively, and these Runners are distributed in thread 3 and thread 4. This design allows different behavior actions to be flexibly called and executed in different control modes, while maintaining the scalability and modularity of the motion control algorithm.

[0088] By determining the current control mode of the robot and determining the behavior action contained in the current control mode as a plurality of behavior actions in the robot, a hierarchical and modular motion control method is realized. Specifically, the behavior action and the execution unit are hierarchically managed, which not only enhances the flexibility and efficiency of the motion control of the multi-control mode and multi-task robot, but also reduces the coupling degree between the algorithm modules of the behavior action and the execution unit. Moreover, the robot can be flexibly switched between the automatic control mode, the manual control mode and the passive control mode according to the current task demand and environmental condition to select the most suitable behavior action, thereby optimizing the performance and response speed of the robot.

[0089] In step S420, the shortest switching path between the current behavior action and the target behavior action is determined from the shortest switching paths between the plurality of behavior actions.

[0090] That is to say, the shortest switching path between each behavior action and each switchable behavior action has been calculated, and then the shortest switching path with the current behavior action as the starting point and the target behavior action as the end point can be determined from these shortest switching paths.

[0091] In this embodiment, when switching from the current action to the target action is necessary, the shortest switching path can be directly selected from a pre-calculated set of shortest switching paths between multiple actions, without the need for complex real-time path calculations. This reduces computing resource consumption and speeds up the decision-making process. This pre-calculation method is particularly suitable for robots with a limited number of actions and relatively fixed switching rules, as it allows all possible switching scenarios to be considered during the design phase and the optimal shortest switching path to be planned for each scenario. Furthermore, by reducing the need for online computation, this solution also reduces the complexity of the algorithm during runtime.

[0092] Figure 6 The figure shows a flow chart of controlling a robot to switch from a current action to an intermediate action, and then switch from the intermediate action to a target action, according to an embodiment of the present application. Figure 2 Based on the embodiment shown, Figure 6 The embodiment shown is described below in detail. Figure 6 The embodiment shown is Figure 2 The differences and similarities between the illustrated embodiments are not described in detail.

[0093] like Figure 6 As shown, in this embodiment, controlling the robot to switch from the current behavior action to the intermediate behavior action, and then switching from the intermediate behavior action to the target behavior action includes the following steps.

[0094] Step S610, when switching from the current behavior action to the intermediate behavior action, the robot is controlled to exit the execution unit of the current behavior action that meets the exit condition, and to start the execution unit of the intermediate behavior action that meets the start condition.

[0095] Specifically, the system first identifies the execution units in the current action that need to be exited. These execution units must meet specific exit conditions, such as completing a predetermined task, reaching a predetermined state, or receiving a specific exit instruction. It also identifies the execution units in the intermediate state that need to be started. These execution units must meet the start conditions.

[0096] This ensures that the robot can smoothly transition from its current action to the next intermediate action according to the predetermined logic and sequence, while maintaining the robot's stability and efficiency. Furthermore, this control method helps reduce potential errors during the robot's action switching process, improving its operational performance and reliability.

[0097] At step S620, when switching from the intermediate behavior action to the target behavior action, the robot exits the execution units included in the intermediate behavior action that satisfy the exit condition, and starts the execution units included in the target behavior action that satisfy the start condition.

[0098] Specifically, the execution units that need to be exited in the intermediate behavior action also need to satisfy specific exit conditions, such as task completion or receiving an exit signal. Only when the exit conditions are satisfied, the corresponding execution units will be exited to ensure that the intermediate behavior action can end safely and orderly. Then, the execution units in the target behavior action that satisfy the start condition are activated to ensure that they can be started in the predetermined procedure and order.

[0099] In this embodiment, only the execution units that satisfy the exit condition are exited and the execution units that satisfy the start condition are started, which allows the robot to reduce unnecessary restarts when switching behavior actions, thereby reducing energy consumption and start time. In addition, in this way, the robot can respond to new behavior action instructions more quickly, improving overall operation efficiency and response speed.

[0100] In some embodiments, the execution units that satisfy the exit condition include other execution units in the executed behavior action except the general execution units; and the execution units that satisfy the start condition include other execution units in the to-be-executed behavior action except the general execution units.

[0101] Specifically, the general execution units refer to the same execution units included in the executed behavior action and the to-be-executed behavior action. Correspondingly, the non-general execution units refer to the different execution units included in the executed behavior action and the to-be-executed behavior action. It should be noted that when switching from the current behavior to the intermediate behavior, the executed behavior is the current behavior and the to-be-executed behavior is the intermediate behavior; when switching from the intermediate behavior to the target behavior, the executed behavior is the intermediate behavior and the to-be-executed behavior is the target behavior.

[0102] In other embodiments, the exit condition further includes passing the exit security check; and the start condition further includes that the state information of the execution unit indicates that the execution unit has completed initialization.

[0103] That is, after determining that the quittable object is a non-general execution unit, a security check needs to be performed on the non-general execution unit. If no unsafe condition or potential risk is detected, the exit mechanism will be triggered. The state information of the execution unit indicates that the execution unit has completed initialization, which helps to avoid starting operation when not fully ready, thereby reducing the risk of errors and failures. At the same time, it can be ensured that once started, this part of the execution unit can work cooperatively, which helps to improve overall efficiency and performance.

[0104] Optionally, the state information of the execution unit includes "initialization", "running", "exit", etc. to dynamically manage the execution unit according to the needs of the behavior action.

[0105] In this embodiment, by distinguishing between general execution units and non-general execution units, efficient and orderly switching of the robot between different behavior actions is achieved. Specifically, when switching from one behavior action to another, only those execution units that exist in the executing behavior action but not in the to-be-executed behavior action need to be exited, and those execution units that exist in the to-be-executed behavior action but not in the executing behavior action need to be started, so that the general execution units that play a role in both the executing behavior action and the to-be-executed behavior action can remain running without restarting, thereby maintaining the continuity of the task and the stability of the control, while reducing energy consumption and startup time. In this way, the robot can flexibly switch between different behavior actions while ensuring the flexibility and reliability of motion control.

[0106] Figure 7 The overall flowchart of motion control of the robot provided by an embodiment of the present application is shown. As shown in Figure 7 After the robot is started, it enters "passive ACTION" by default, at which time no motion instruction is executed, and only a monitoring state is maintained to wait for external instructions.

[0107] When the action switching instruction to switch to "standing ACTION" is received, it is checked according to the method in the foregoing embodiment whether Runner 1 of "passive ACTION" can be exited, and whether Runner 2 and Runner 3 of "standing ACTION" can be run. When both conditions are met, switching is performed, Runner 1 is exited, and Runner 2 and Runner 3 of "standing ACTION" are loaded, so that the robot stands and maintains a stable posture.

[0108] After the robot is stabilized, if the task module sends a switching instruction to switch to the "walking ACTION", it is determined whether to switch directly or to switch through the "intermediate state ACTION". Assuming that direct switching is not supported, the method in the foregoing embodiment is used to determine the "intermediate state ACTION". The "intermediate state ACTION" and the "walking ACTION" include the general execution unit Runner 2, so only whether the non-general execution unit Runner 3 can exit and whether the non-general execution unit Runner 4 in the "intermediate state ACTION" can run are checked. When both conditions are met, Runner 3 is exited, and Runner 4 is loaded. At this time, under the "intermediate state ACTION", Runner 2 and Runner 4 are running. In addition, when the execution units to be exited and loaded are determined, the execution units to be exited can be further checked for exit safety, and the state information of the execution unit to be loaded is identified. Exemplarily, the leg movement control Runner and the posture balance Runner of Runner 2 can determine the gait and posture coordination of the robot under the "standing ACTION" and the "intermediate state ACTION".

[0109] From the "intermediate state ACTION" to the "walking ACTION", it is determined whether to load Runner 5. If yes, after switching to the "walking ACTION", Runner 2, Runner 4 and Runner 5 are running.

[0110] If a navigation instruction is received, the navigation module processes the instruction and sends a walking instruction to the Runner in the "walking ACTION" to control the robot to start walking. Moreover, the leg movement control Runner and the posture balance Runner included in Runner 2 work in parallel to determine that the robot walks according to the navigation instruction and maintains balance. If the navigation module continuously sends the navigation instruction, the robot will continuously adjust the path and posture to follow the navigation instruction until the target position is reached.

[0111] When the task module sends a behavior switching instruction to switch to the "grabbing ACTION", the switching path is determined according to the method in the foregoing embodiment, the unnecessary Runner is unloaded, and the required Runner is loaded. For example, it is checked whether Runner 4 and Runner 5 can exit and whether Runner 6 and Runner 7 can run. If the conditions are met, the robot is controlled to run Runner 2, Runner 6 and Runner 7 under the "grabbing ACTION". Exemplarily, Runner 6 and Runner 7 are an upper limb control Runner and a lower limb control Runner, respectively.

[0112] Figure 8 The figure shows a flow chart of determining the execution order of at least one execution unit included in each behavior action provided by an embodiment of the present application. Figure 1 Based on the embodiment shown, Figure 8 The embodiment shown is described below in detail. Figure 8 The embodiment shown is Figure 1 The differences and similarities between the illustrated embodiments are not described in detail.

[0113] like Figure 8 As shown, in this embodiment, determining the execution order of at least one execution unit included in each behavior action includes the following steps.

[0114] Step S810: Obtain configuration information corresponding to each execution unit.

[0115] The configuration information includes parameters that guide the execution rules of the execution unit to ensure that the execution unit executes in a predetermined manner and order. Exemplary parameters of the execution rules include the identification of the execution unit, execution conditions, the priority of the execution unit, the dependencies of the execution unit, the operating parameters of the execution unit, and the scheduling method of the execution unit (such as sequential execution or parallel execution).

[0116] Optionally, configuration information can be adjusted based on control needs to add or modify the behavior of execution units. This can include changing the execution order, adjusting execution conditions, modifying dependencies, or updating scheduling policies. These adjustments can be made by modifying configuration information without requiring deep dives into the code, increasing the configurability and adaptability of motion control algorithms.

[0117] Step S820: Determine the execution order of at least one execution unit included in each behavior action based on the configuration information corresponding to each execution unit.

[0118] Specifically, the system reads the configuration data for each execution unit and then, based on this configuration information, determines which execution units should run before others or which can be executed in parallel. The system then constructs an execution order for at least one execution unit in each action. This execution order takes into account the dependencies and priorities of all execution units, ensuring that each unit is activated at the correct time and under the correct conditions. This execution order is then used to schedule the execution units during robot motion control, ensuring that they are activated in the predetermined order.

[0119] In this embodiment, by obtaining the configuration information corresponding to each execution unit and determining the execution order of at least one execution unit in the behavior action based on these information, it can ensure that the execution unit is executed in the correct order and condition, and improve the accuracy and efficiency of task execution. In addition, this execution order management based on configuration information also simplifies the maintenance and upgrade process of the motion control algorithm, because the integration of new execution units or the optimization of the behavior of existing execution units can be realized by modifying the configuration information instead of the code itself.

[0120] Figure 9 Fig. 1 shows a structural schematic diagram of a motion control system provided by an embodiment of the present application. As shown in the figure, Figure 9 The motion control system 90 comprises:

[0121] The behavior action interface layer 910 is configured to implement standardized calling of the behavior action.

[0122] The control module 920 is configured to call the required behavior action through the behavior action interface layer 910 when executing the motion control method in this embodiment.

[0123] Standardized calling refers to the process of calling according to a predefined, unified standard or protocol. Specifically, the behavior action interface layer 910 serves as a bridge between the motion control system and specific behavior actions, providing a unified management interface that allows the motion control system to call behavior actions in a standardized manner, and also allows external modules to switch and query behavior actions in a standardized manner.

[0124] The control module 920 is responsible for calling the required behavior action through the behavior action interface layer 810 when executing the motion control method. This not only improves the scalability of the motion control system, but also makes the motion control system more flexible and compatible because different behavior actions can be called through a unified interface, allowing it to adapt to changing control requirements and environmental conditions.

[0125] Figure 10 Fig. 2 shows a structural schematic diagram of a motion control system provided by another embodiment of the present application. As shown in the figure, Figure 10 The motion control system 90 further comprises N execution units, and the control module 920 further comprises a behavior action rule manager, a behavior action rule scheduler, and an execution unit manager.

[0126] Specifically, the behavior action rule manager is responsible for the switching rule and switching condition management between behavior actions, ensuring that the corresponding safety and logic conditions are met when switching between different behavior actions. The behavior action rule manager can predefine the switching path between different behavior actions and calculate the optimal switching path from the current behavior action to the target behavior action.

[0127] The action scheduler manages the lifecycle and schedules actions, ensuring that actions are started or stopped in sequence during switching. It also supports parallel scheduling of multiple actions, allowing the motion control system to run multiple actions simultaneously when conditions are met to complete complex tasks.

[0128] The Execution Unit Manager manages the loading, initialization, scheduling, and unloading of execution units within each action. This allows the manager to adapt to the varying demands placed on execution units by different actions and improve resource utilization within the motion control system. Specifically, when an action is initiated, the Execution Unit Manager initializes the execution units required for the action and then exits them after the action completes.

[0129] The motion control system uses a behavior rule manager to dynamically manage switching between different behaviors and ensures task continuity and safety by defining intermediate behaviors. This flexible switching mechanism is particularly suitable for tasks requiring frequent action transitions, significantly improving the practicality and task response efficiency of the motion control system.

[0130] The motion control system uses a behavior rule manager to define multi-level switching rules for behavior actions. This supports not only direct switching but also gradual switching through intermediate behavior actions. This multi-level scheduling rule management enables the motion control system to flexibly adapt to different task requirements while ensuring the security of task switching.

[0131] The motion control system manages the loading, initialization, scheduling and unloading of the execution unit in each behavior action through the execution unit manager to adapt to the different requirements of different behavior actions for the execution unit and improve the resource utilization of the motion control system.

[0132] It should be understood that the description of the motion control method embodiment corresponds to the description of the motion control system embodiment. Therefore, for parts of the motion control system that are not described in detail, reference can be made to the previous method embodiment.

[0133] Below, reference Figure 11 To describe the electronic device according to the embodiment of the present application. Figure 11 Shown is a schematic structural diagram of an electronic device provided by an exemplary embodiment of the present application.

[0134] like Figure 11 As shown, the electronic device 110 includes one or more processors 1101 and a memory 1102 .

[0135] The processor 1101 can be a central processing unit (CPU) or other form of processing unit having data processing and / or instruction executing capabilities, and can control other components in the electronic device 110 to perform desired functions.

[0136] The memory 1102 can include one or more computer program products that can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory, for example, can include random access memory (RAM), cache memory, and / or the like. The non-volatile memory, for example, can include read-only memory (ROM), hard disk, flash memory, and / or the like. One or more computer program instructions can be stored on the computer-readable storage media, and the processor 1101 can run the program instructions to implement the motion control method according to various embodiments of the present application described above and / or other desired functions. Various contents such as an execution order including at least one behavior action, and an execution order of at least one execution unit included in each behavior action can also be stored in the computer-readable storage media.

[0137] In one example, the electronic device 110 can further include an input device 1103 and an output device 1104, which are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0138] The input device 1103 can include, for example, a keyboard, a mouse, and / or the like.

[0139] The output device 1104 can output various information to the outside, including an execution order of at least one behavior action, and an execution order of at least one execution unit included in each behavior action. The output device 1104 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and / or the like.

[0140] Of course, in order to simplify, Figure 11 Only some of the components in the electronic device 110 related to the present application are shown in the block diagram of FIG. 11, and components such as buses, input / output interfaces, and / or the like are omitted. In addition to this, the electronic device 110 can further include any other appropriate components according to specific application cases.

[0141] In addition to the above-described method and device, an embodiment of the present application can be a computer program product including computer program instructions that, when executed by a processor, cause the processor to perform the steps of the motion control method according to various embodiments of the present application described above in the specification.

[0142] The computer program product can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's computing device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server. The embodiments of the present application are not limited by the programming languages used to write the program code.

[0143] In addition, an embodiment of the present application can also be a computer readable storage medium, having stored thereon computer program instructions which, when executed by a processor, cause the processor to perform the steps described above in the motion control method according to various embodiments of the present application described in the specification.

[0144] The computer readable storage medium can be any combination of one or more computer readable media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the above. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0145] The above describes the basic principles of the present application in combination with specific embodiments, but it should be noted that the advantages, advantages, effects and the like mentioned in the present application are only examples and are not limiting, and these advantages, advantages, effects and the like cannot be considered as the basic principles of the present application. In addition, the above specific details are only for the purpose of example and understanding, and are not limited to the above specific details, and the above specific details are not limited to the above specific details.

[0146] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0147] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0148] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0149] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A motion control method, characterized in that: include: Determine at least one behavioral action corresponding to the target task and the execution order of the at least one behavioral action, each behavioral action includes at least one execution unit, and the at least one execution unit is used to implement a specific operation of the behavioral action; Determining an execution order of at least one execution unit included in each of the behavioral actions; Controlling the movement of the robot based on the execution order of the at least one behavioral action and the execution order of the at least one execution unit included in each behavioral action; The controlling the robot movement based on the execution order of the at least one behavioral action and the execution order of the at least one execution unit included in each behavioral action includes: In response to the action switching instruction, determining whether the current action being performed by the robot and the target action to be performed meet the switching condition; If the switching condition is not met, determining the intermediate state behavior action; When switching from the current behavior action to the intermediate behavior action, controlling the robot to exit the execution unit of the current behavior action that meets the exit condition, and to start the execution unit of the intermediate behavior action that meets the start condition; When switching from the intermediate state behavior action to the target behavior action, controlling the robot to exit the execution unit that meets the exit condition contained in the intermediate state behavior action, and to start the execution unit that meets the start condition contained in the target behavior action; During the switching process, the current behavior action, the intermediate behavior action, and the target behavior action are executed in the order of execution of at least one execution unit respectively included in the current behavior action, the intermediate behavior action, and the target behavior action.

2. The motion control method according to claim 1, wherein: The determining of the intermediate state behavior action includes: Determine the shortest switching path between the current action and the target action; Other behavior actions in the shortest switching path except the current behavior action and the target behavior action are determined as the intermediate behavior actions.

3. The motion control method according to claim 2, wherein: The determining the shortest switching path between the current action and the target action includes: Obtaining pre-calculated shortest switching paths between multiple behavioral actions in the robot; The shortest switching path between the current behavior action and the target behavior action is determined from the shortest switching paths between the multiple behavior actions.

4. The motion control method according to claim 3, wherein: Also includes: Obtaining a switching rule for each of the plurality of behavioral actions, wherein the switching rule includes a next behavioral action to which the behavioral action is allowed to switch; Based on the switching rules of the plurality of behavioral actions, the shortest switching paths between the plurality of behavioral actions are pre-calculated.

5. The motion control method according to claim 3, wherein: Also includes: determining a current control mode of the robot, wherein the current control mode is one of an automatic control mode, a manual control mode, and a passive control mode, wherein the passive control mode is a control mode between the automatic control mode and the manual control mode, and in which the robot responds to external commands but does not require continuous control by an operator; The behavioral actions included in the current control mode are determined as multiple behavioral actions in the robot.

6. The motion control method according to any one of claims 1 to 5, characterized in that: The execution units that meet the exit condition include other execution units in the executed behavior action except the general execution unit, and the general execution unit means the same execution unit included in the executed behavior action and the behavior action to be executed; The execution units that meet the start-up conditions include other execution units in the behavior actions to be executed except the general execution unit.

7. The motion control method according to any one of claims 1 to 5, characterized in that: The determining whether the current behavior action being executed by the robot and the target behavior action to be executed meet the switching condition includes: Obtaining a switching rule corresponding to the current action, wherein the switching rule includes the next action to which the action is allowed to switch; Based on the switching rule corresponding to the current behavior action, it is determined whether the current behavior action and the target behavior action meet the switching condition.

8. The motion control method according to any one of claims 1 to 5, characterized in that: Determining the execution order of at least one execution unit included in each of the behavioral actions includes: Obtaining configuration information corresponding to each execution unit, wherein the configuration information includes parameters guiding the operation rules of the execution unit; Based on the configuration information corresponding to each execution unit, an execution order of at least one execution unit included in each of the behavioral actions is determined.

9. The motion control method according to claim 8, characterized in that: The configuration information may be adjusted based on control requirements.

10. The motion control method according to any one of claims 1 to 5, characterized in that: The execution order of the at least one behavior action and the execution order of the at least one execution unit included in each behavior action include serial and / or parallel.

11. A motion control system, characterized in that: include: The behavior action interface layer is used to implement standardized calls to behavior actions; A control module is used to call required behavior actions through the behavior action interface layer when executing the motion control method according to any one of claims 1 to 10.

12. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and the computer program is used to execute the motion control method according to any one of claims 1 to 10.

13. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is used to execute the motion control method according to any one of claims 1 to 10.

14. A computer program product, characterized in that The computer program product comprises instructions, which, when executed on an electronic device, enable the electronic device to implement the motion control method according to any one of claims 1 to 10.

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