Motion control system and method of intelligent robot

Abstract

The invention relates to the technical field of robots, and discloses a motion control system and method of an intelligent robot, and the method comprises the following steps: a task processing module receives task information and generates a task execution container according to the task information, and the task execution container obtains task attributes according to the task information; the task type is judged according to the obtained task attribute, if the task attribute is a single-robot task, a first motion track is generated according to the task information, if the task attribute is a multi-robot cooperative task, a second motion track is generated according to the task information, and a motion control instruction string is obtained according to the first motion track and a motion control atomic instruction; and obtaining a second motion control instruction string according to the second motion track and the motion control atomic instruction, and completing motion control of the intelligent robot after the task robot executes the control instruction. According to the method, the task attributes are deeply analyzed, corresponding control strategies are adopted according to different characteristics of the tasks, and the task processing efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, in particular to a motion control system and method for an intelligent robot. Background Art

[0002] With the rapid development of science and technology, intelligent robots have been widely used in many fields such as industrial manufacturing, logistics distribution, and service industries. However, the motion control of intelligent robots has always been one of the key factors restricting their further development.

[0003] In terms of single robot tasks, existing motion control methods are often relatively simple, usually just moving according to a preset path, lacking in-depth analysis and flexible processing of task attributes. For example, in some complex industrial scenarios, the robot's task starting point and end point may be affected by a variety of factors, such as obstacles, changes in the working environment, etc. Existing control methods are difficult to adjust the motion trajectory in real time according to these actual conditions, resulting in low robot motion efficiency, and may even fail to complete the task.

[0004] In terms of multi-robot collaborative tasks, existing technologies face greater challenges. Multi-robot collaborative tasks require close cooperation between multiple robots to complete complex task actions. However, the current multi-robot collaborative control methods have problems such as low collaborative efficiency and poor motion synchronization. On the one hand, due to the lack of effective task allocation and trajectory planning algorithms, multiple robots may conflict and collide when performing tasks, affecting the smooth completion of the tasks; on the other hand, the existing collaborative control methods are difficult to achieve high-precision motion synchronization between robots, resulting in poor execution of collaborative tasks. Summary of the invention

[0005] The object of the present invention is to overcome the deficiencies of the prior art and provide a motion control method for an intelligent robot, comprising the following steps: Step 1: The task processing module receives task information and generates a task execution container according to the task information. The task execution container obtains task attributes according to the task information. Step 2: determine the task type according to the acquired task attributes. If the task attribute is a single robot task, generate a first motion trajectory according to the task information and proceed to step 3. If the task attribute is a multi-robot collaborative task, generate a second motion trajectory according to the task information and proceed to step 5. Step 3: obtaining a motion control instruction string according to the first motion trajectory and the motion control atomic instruction, and the motion control module generating a control container string of the first motion trajectory according to the motion control instruction string; Step 4: The task execution container sends the control container string of the first motion trajectory to the motion control module of the task execution robot according to the information of the task execution robot. The motion control module generates a ready control instruction control container according to the current position of the task execution robot. The control container string of the first motion trajectory is connected to the ready control instruction control container to obtain the task robot motion control instruction container string. The task robot sequentially executes the control instructions in the task robot motion control instruction container string, and then proceeds to step 7. Step 5: According to the second motion trajectory and the motion control atomic instruction, a second motion control instruction string is obtained, and the task execution container divides the second motion control instruction string into a sub-control container string sequence according to the coordination node in the task information; Step 6: The task execution container generates an action instruction container of the collaborative node according to the collaborative action of the collaborative node, connects the action instruction container of the collaborative node to the sub-control container string, generates a collaborative sub-control container string of the task robot, and each matching task robot executes the control instruction in the collaborative sub-control container string; Step 7: The task robot executes the control instructions and completes the motion control of the intelligent robot.

[0006] Furthermore, the task execution container obtains task attributes according to the task information, including: If the task information contains only a single task type, it is a single-robot task; otherwise, it is a multi-robot task.

[0007] Furthermore, if the task attribute is a single robot task, generating the first motion trajectory according to the task information includes: generating the first motion trajectory according to the task starting point and end point information in the task information.

[0008] Furthermore, if the task attribute is a multi-robot collaborative task, generating a second motion trajectory according to the task information includes: The coordination node in the task information is obtained, and a second motion trajectory is generated according to the coordination node and the task start point and end point information in the task information.

[0009] Furthermore, the motion control instruction string is obtained according to the first motion trajectory and the motion control atomic instruction, and the motion control module generates a control container string of the first motion trajectory according to the motion control instruction string, including: The motion control atomic instructions include straight-ahead instructions, steering instructions, and braking instructions; the first motion trajectory is divided into trajectories according to the unit motion distance to obtain multiple unit motion trajectories, and the motion control atomic instructions are matched to each unit motion trajectory to obtain a motion control instruction string, a control container is established for each motion control instruction, and the motion control atomic instructions are sent to the corresponding control container to obtain a control container string of the first motion trajectory.

[0010] Furthermore, the motion control module generates a ready control instruction to control the container according to the current position of the task execution robot, including: The motion control module generates a trajectory for the task execution robot to reach the task starting point according to the distance between the current position of the task execution robot and the task starting point, and obtains a ready instruction control container according to the trajectory for the task execution robot to reach the task starting point.

[0011] Furthermore, the task execution container generates an action instruction container of the collaborative node according to the collaborative action of the collaborative node, connects the action instruction container of the collaborative node to the sub-control container string, and generates a collaborative sub-control container string of the task robot, including: The collaborative action is the respective action of the two task robots of the collaborative node. The task execution container calls the action instruction on the cloud data server according to the action of the task robot, generates an action instruction container, sends the called action instruction to the action instruction container, connects the action instruction container to the sub-control container string, and generates a collaborative sub-control container string of the task robot.

[0012] A motion control system for an intelligent robot, applying the motion control method for an intelligent robot, comprising: a cloud data server, a task processing module, a motion control module, a data processing module, and a communication device; The task processing module, motion control module and communication device are respectively connected to the data processing module; the cloud data server is communicatively connected to the communication device.

[0013] The beneficial effect of the present invention is that the present invention adopts corresponding control strategies according to different characteristics of tasks by conducting in-depth analysis of task attributes. Different motion trajectories and control instructions are generated for single-robot tasks and multi-robot collaborative tasks, respectively, avoiding the inefficiency problem caused by adopting a unified control method and greatly improving the task processing efficiency.

[0014] In a single robot task, the present invention generates a reasonable first motion trajectory based on the task start and end information and in combination with various factors in the actual working environment. In a multi-robot collaborative task, the collaborative nodes and task information are fully considered to generate a second motion trajectory, effectively avoiding trajectory conflicts and collisions, and improving the feasibility and efficiency of the motion trajectory.

[0015] The multi-robot collaborative control method of the present invention realizes high-precision motion synchronization and effective collaboration between robots by generating an action instruction container of a collaborative node and connecting it to a sub-control container string. Each matching task robot can accurately execute the control instructions in the collaborative sub-control container string, thereby improving the execution effect of the multi-robot collaborative task. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a motion control method for an intelligent robot; Figure 2 The figure is a schematic diagram of the principle of a motion control system of an intelligent robot. DETAILED DESCRIPTION

[0017] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following.

[0018] The features and performance of the present invention are further described in detail below in conjunction with the embodiments.

[0019] like Figure 1 As shown, a motion control method for an intelligent robot comprises the following steps: Step 1: The task processing module receives task information and generates a task execution container according to the task information. The task execution container obtains task attributes according to the task information. Step 2: determine the task type according to the acquired task attributes. If the task attribute is a single robot task, generate a first motion trajectory according to the task information and proceed to step 3. If the task attribute is a multi-robot collaborative task, generate a second motion trajectory according to the task information and proceed to step 5. Step 3: obtaining a motion control instruction string according to the first motion trajectory and the motion control atomic instruction, and the motion control module generating a control container string of the first motion trajectory according to the motion control instruction string; Step 4: The task execution container sends the control container string of the first motion trajectory to the motion control module of the task execution robot according to the information of the task execution robot. The motion control module generates a ready control instruction control container according to the current position of the task execution robot. The control container string of the first motion trajectory is connected to the ready control instruction control container to obtain the task robot motion control instruction container string. The task robot sequentially executes the control instructions in the task robot motion control instruction container string, and then proceeds to step 7. Step 5: According to the second motion trajectory and the motion control atomic instruction, a second motion control instruction string is obtained, and the task execution container divides the second motion control instruction string into a sub-control container string sequence according to the coordination node in the task information; Step 6: The task execution container generates an action instruction container of the collaborative node according to the collaborative action of the collaborative node, connects the action instruction container of the collaborative node to the sub-control container string, generates a collaborative sub-control container string of the task robot, and each matching task robot executes the control instruction in the collaborative sub-control container string; Step 7: The task robot executes the control instructions and completes the motion control of the intelligent robot.

[0020] The task execution container obtains task attributes according to the task information, including: If the task information contains only a single task type, it is a single-robot task; otherwise, it is a multi-robot task.

[0021] If the task attribute is a single robot task, generating the first motion trajectory according to the task information includes: generating the first motion trajectory according to the task starting point and end point information in the task information.

[0022] If the task attribute is a multi-robot collaborative task, generating a second motion trajectory according to the task information includes: The coordination node in the task information is obtained, and a second motion trajectory is generated according to the coordination node and the task start point and end point information in the task information.

[0023] The method of obtaining a motion control instruction string according to the first motion trajectory and the motion control atomic instruction, and generating a control container string of the first motion trajectory according to the motion control instruction string by the motion control module includes: The motion control atomic instructions include straight-ahead instructions, steering instructions, and braking instructions; the first motion trajectory is divided into trajectories according to the unit motion distance to obtain multiple unit motion trajectories, and the motion control atomic instructions are matched to each unit motion trajectory to obtain a motion control instruction string, a control container is established for each motion control instruction, and the motion control atomic instructions are sent to the corresponding control container to obtain a control container string of the first motion trajectory.

[0024] The motion control module generates a ready control instruction to control the container according to the current position of the task execution robot, including: The motion control module generates a trajectory for the task execution robot to reach the task starting point according to the distance between the current position of the task execution robot and the task starting point, and obtains a ready instruction control container according to the trajectory for the task execution robot to reach the task starting point.

[0025] The task execution container generates an action instruction container of the collaborative node according to the collaborative action of the collaborative node, connects the action instruction container of the collaborative node to the sub-control container string, and generates a collaborative sub-control container string of the task robot, including: The collaborative action is the respective action of the two task robots of the collaborative node. The task execution container calls the action instruction on the cloud data server according to the action of the task robot, generates an action instruction container, sends the called action instruction to the action instruction container, connects the action instruction container to the sub-control container string, and generates a collaborative sub-control container string of the task robot.

[0026] like Figure 2As shown, a motion control system of an intelligent robot, applying the motion control method of an intelligent robot, comprises: a cloud data server, a task processing module, a motion control module, a data processing module, and a communication device; The task processing module, motion control module and communication device are respectively connected to the data processing module; the cloud data server is communicatively connected to the communication device.

[0027] Specifically, the present invention provides a motion control method and system for an intelligent robot, aiming to solve the problems existing in the prior art of low robot motion control efficiency, insufficient control accuracy, poor coordination, and lack of system flexibility and scalability.

[0028] The present invention adopts the following technical solutions: A motion control method for an intelligent robot comprises the following steps: Step 1: The task processing module receives the task information and generates a task execution container according to the task information. The task execution container obtains the task attributes according to the task information. Specifically, if the task information contains only a single task type, it is a single robot task; otherwise, it is a multi-robot task.

[0029] In this step, the task processing module, as one of the core components of the system, is responsible for receiving task information from users or upper-level systems. Task information can include the type of task, starting point, end point, execution robot information, and collaborative nodes (if it is a multi-robot task). Based on this information, the task processing module generates a task execution container, which contains all the information and instructions required to execute the task. By parsing the task information, the task execution container can determine the attributes of the task, that is, whether the task is a single-robot task or a multi-robot collaborative task.

[0030] Step 2: Determine the task type according to the acquired task attributes. If the task attribute is a single robot task, generate a first motion trajectory according to the task information, and proceed to step 3. If the task attribute is a multi-robot collaborative task, generate a second motion trajectory according to the task information, and proceed to step 5.

[0031] In this step, the system classifies and processes tasks according to their attributes. For single-robot tasks, the system generates the first motion trajectory based on the start and end point information in the task information. The first motion trajectory is the path planning of the robot from the start point to the end point, which can be a straight line, a curve, or an arbitrarily complex path. For multi-robot collaborative tasks, the system needs to obtain the collaborative nodes in the task information, and generate the second motion trajectory based on the collaborative nodes and the start and end point information of the task. The second motion trajectory not only takes into account the independent motion path of each robot, but also takes into account the collaborative actions and path planning between robots.

[0032] Step 3: Obtain a motion control instruction string according to the first motion trajectory and the motion control atomic instruction. The motion control module generates a control container string of the first motion trajectory according to the motion control instruction string.

[0033] In this step, the system generates a motion control instruction string based on the first motion trajectory and the motion control atomic instruction. The motion control atomic instruction is the basic unit that constitutes the motion control instruction string, including straight-line instructions, steering instructions, braking instructions, etc. The system divides the first motion trajectory according to the unit motion distance to obtain multiple unit motion trajectories. Then, the corresponding motion control atomic instruction is matched to each unit motion trajectory to form a motion control instruction string. Finally, the motion control module establishes a control container for each motion control instruction, and sends the motion control atomic instruction to the corresponding control container to obtain the control container string of the first motion trajectory.

[0034] Step 4: The task execution container sends the control container string of the first motion trajectory to the motion control module of the task execution robot according to the information of the task execution robot. The motion control module generates a ready control instruction control container according to the current position of the task execution robot. The control container string of the first motion trajectory is connected to the ready control instruction control container to obtain the task robot motion control instruction container string. The task robot sequentially executes the control instructions in the task robot motion control instruction container string and proceeds to step 7.

[0035] In this step, the task execution container sends the control container string of the first motion trajectory to the motion control module of the corresponding task execution robot according to the information of the task execution robot. The motion control module generates the trajectory of the task execution robot to reach the task starting point according to the distance between the current position of the task execution robot and the task starting point. Then, the ready instruction control container is obtained according to the trajectory. Finally, the control container string of the first motion trajectory is connected to the ready instruction control container to obtain the task robot motion control instruction container string. The task robot executes the control instructions in the container string in sequence to achieve precise motion control.

[0036] Step 5: Obtain a second motion control instruction string according to the second motion trajectory and the motion control atomic instruction. The task execution container divides the second motion control instruction string into a sub-control container string sequence according to the coordination node in the task information.

[0037] In this step, the system generates a second motion control instruction string according to the second motion trajectory and the motion control atomic instruction. Then, the task execution container divides the second motion control instruction string into a plurality of sub-control container string sequences according to the coordination nodes in the task information.

[0038] Step 6: The task execution container generates an action instruction container of the collaborative node according to the collaborative action of the collaborative node. The action instruction container of the collaborative node is connected to the sub-control container string to generate the collaborative sub-control container string of the task robot. Each matching task robot executes the control instruction in the collaborative sub-control container string.

[0039] In this step, the task execution container calls the corresponding action instructions on the cloud data server according to the collaborative action of the collaborative node and generates an action instruction container. Then, the called action instruction is sent to the action instruction container, and the action instruction container is connected to the corresponding sub-control container string to generate the collaborative sub-control container string of the task robot. Each matching task robot moves according to the control instructions in the collaborative sub-control container string to achieve collaborative work of multiple robots.

[0040] Step 7: The task robot executes the control instructions and completes the motion control of the intelligent robot.

[0041] In this step, the task robot moves according to the control instructions in the task robot motion control instruction container string or the collaborative sub-control container string until all control instructions are executed, completing the motion control of the intelligent robot.

[0042] The method of obtaining a motion control instruction string according to the first motion trajectory and the motion control atomic instruction, and generating a control container string for the first motion trajectory according to the motion control instruction string by the motion control module specifically includes: dividing the first motion trajectory according to the unit motion distance to obtain a plurality of unit motion trajectories; matching a corresponding motion control atomic instruction (such as straight travel, steering, braking, etc.) for each unit motion trajectory to form a motion control instruction string; establishing a control container for each motion control instruction, and sending the motion control atomic instruction to the corresponding control container to obtain the control container string for the first motion trajectory.

[0043] The motion control module generates a ready control instruction control container according to the current position of the task execution robot, specifically including: the motion control module obtains the current position of the task execution robot through a sensor or a positioning system; calculates the time required for the robot to reach the task starting point according to the distance between the current position and the task starting point and the movement speed of the robot; generates a ready instruction control container according to the calculation result, so that the robot is ready for movement before arriving at the task starting point.

[0044] The task execution container generates an action instruction container for the collaborative node according to the collaborative action of the collaborative node, connects the action instruction container of the collaborative node to the sub-control container string, and generates a collaborative sub-control container string of the task robot, which specifically includes: the task execution container calls the corresponding action instruction on the cloud data server according to the collaborative action type of the collaborative node (such as synchronous action, sequential action, interactive action, etc.); generates an action instruction container, and sends the called action instruction to the action instruction container; connects the action instruction container to the corresponding sub-control container string to form a collaborative sub-control container string of the task robot.

[0045] A motion control system for an intelligent robot, applying the motion control method for an intelligent robot, comprises: a cloud data server, a task processing module, a motion control module, a data processing module, and a communication device.

[0046] The task processing module is responsible for receiving task information and generating a task execution container according to the task information. The task processing module is connected to the data processing module, and the task information is analyzed and processed by the data processing module.

[0047] The motion control module is responsible for generating a corresponding control container string according to the control instruction string in the task execution container, and sending it to the motion control module of the task execution robot. The motion control module is connected to the data processing module, and the control instruction is parsed and processed by the data processing module.

[0048] The data processing module is one of the core components of the system and is responsible for processing data transmission and interaction between the task processing module and the motion control module. The data processing module parses, processes and stores the received task information and control instructions to ensure the normal operation of the system.

[0049] The communication device is responsible for the communication connection between the system and external devices (such as task issuing devices, robot devices, etc.). The communication device is connected to the data processing module, and realizes communication and data transmission with external devices through the data processing module.

[0050] The cloud data server serves as the remote data storage and processing center of the system, storing a large number of action instructions and collaborative action models. The task processing module and the motion control module can communicate with the cloud data server through a communication device to call the required action instructions and collaborative action models, thereby improving the flexibility and scalability of the system.

[0051] Example: Robotic cargo handling system in a smart warehouse In a smart warehouse, robots are needed to move goods from the storage area to the shipping area. Sometimes, a single robot can complete the task, but during peak hours or when handling large goods, multiple robots may be needed to work together. In order to efficiently and accurately control the movement of these robots, we use the motion control method and system of the intelligent robot.

[0052] System composition: Cloud data server: stores various robot action instructions (such as going straight, turning, accelerating, decelerating, lifting, putting down, etc.) and collaborative action models (such as synchronous handling, sequential passing through narrow passages, etc.).

[0053] Task processing module: receives task information from the warehouse management system (WMS).

[0054] Motion control module: generates and sends control signals to the robot according to the control instruction string in the task execution container.

[0055] Data processing module: processes task information, control instructions and other data to ensure smooth communication between system components.

[0056] Communication device: Maintain communication with WMS, robots and other external devices.

[0057] Specific implementation steps: Step 1: The task processing module receives task information from the WMS, for example, "Move cargo A from storage area B to shipping area C, using robot R1". The task processing module generates a task execution container based on this information and determines that this is a single robot task.

[0058] Step 2: The system determines that the task attribute is a single robot task. Based on the location information of storage area B and delivery area C, a first motion trajectory is generated, which may include multiple stages such as straight travel, turning, and obstacle avoidance.

[0059] Step 3: The system generates a motion control instruction string based on the first motion trajectory and motion control atomic instructions (such as straight-ahead instructions, turn instructions, etc.). For example, the first motion trajectory is divided into multiple unit motion trajectories, such as from storage area B to the first turning point, from the first turning point to the second turning point, etc. The corresponding motion control atomic instructions are matched for each unit motion trajectory to form a motion control instruction string such as "straight-ahead 10 meters -> turn 90 degrees -> straight-ahead 5 meters". The motion control module establishes a control container for each motion control instruction, and sends the instruction to the corresponding control container to obtain the control container string of the first motion trajectory.

[0060] Step 4: The task execution container sends the control container string of the first motion trajectory to the motion control module of R1 based on the information of the task execution robot R1. The motion control module of R1 obtains the current position through the sensor and calculates the time required for the robot to reach the starting point of the task (storage area B). Generate a ready instruction control container, such as "Ready to move->Start", and connect it to the control container string of the first motion trajectory. Get the motion control instruction container string of the task robot R1, and R1 executes the control instructions in sequence.

[0061] Multi-robot collaborative task example: Assume that the task information is: "Move large cargo D from storage area E to shipping area F, using robots R1 and R2 to work together."

[0062] Steps 1 to 2 (skipped, similar to the above, but determined to be a multi-robot task): Generate a task execution container and determine the task attribute as a multi-robot collaborative task. Generate a second motion trajectory based on the information of storage area E, shipping area F, and collaborative nodes (such as the midway handover point of cargo handling).

[0063] Step 5: Generate a second motion control instruction string according to the second motion trajectory and the motion control atomic instruction. The task execution container divides the second motion control instruction string into sub-control container string sequences of R1 and R2 according to the coordination node.

[0064] Step 6: The task execution container calls the corresponding action instructions on the cloud data server according to the collaborative actions of the collaborative nodes (such as synchronous lifting, synchronous advancement, etc.). Generate an action instruction container, such as "R1 lifts -> R2 lifts -> synchronous advancement". Connect the action instruction container to the sub-control container string of R1 and R2 to generate a collaborative sub-control container string. R1 and R2 work collaboratively according to the control instructions in the collaborative sub-control container string.

[0065] Step 7: R1 and R2 execute all control instructions and complete the task of transporting large cargo D.

[0066] Through this embodiment, the robots in the smart warehouse can efficiently and accurately complete the cargo handling tasks of a single robot or multiple robots, thereby improving the operational efficiency and accuracy of the warehouse.

Claims

1. A motion control method for an intelligent robot, characterized in that: The steps include: Step 1: The task processing module receives task information and generates a task execution container according to the task information. The task execution container obtains task attributes according to the task information. Step 2: determine the task type according to the acquired task attributes. If the task attribute is a single robot task, generate a first motion trajectory according to the task information and proceed to step 3. If the task attribute is a multi-robot collaborative task, generate a second motion trajectory according to the task information and proceed to step 5. Step 3: obtaining a motion control instruction string according to the first motion trajectory and the motion control atomic instruction, and the motion control module generating a control container string of the first motion trajectory according to the motion control instruction string; Step 4: The task execution container sends the control container string of the first motion trajectory to the motion control module of the task execution robot according to the information of the task execution robot. The motion control module generates a ready control instruction control container according to the current position of the task execution robot. The control container string of the first motion trajectory is connected to the ready control instruction control container to obtain the task robot motion control instruction container string. The task robot sequentially executes the control instructions in the task robot motion control instruction container string, and then proceeds to step 7. Step 5: According to the second motion trajectory and the motion control atomic instruction, a second motion control instruction string is obtained, and the task execution container divides the second motion control instruction string into a sub-control container string sequence according to the coordination node in the task information; Step 6: The task execution container generates an action instruction container of the collaborative node according to the collaborative action of the collaborative node, connects the action instruction container of the collaborative node to the sub-control container string, generates a collaborative sub-control container string of the task robot, and each matching task robot executes the control instruction in the collaborative sub-control container string; Step 7: The task robot executes the control instructions and completes the motion control of the intelligent robot.

2. The motion control method of an intelligent robot according to claim 1, characterized in that: The task execution container obtains task attributes according to the task information, including: If the task information contains only a single task type, it is a single-robot task; otherwise, it is a multi-robot task.

3. The motion control method of an intelligent robot according to claim 2, characterized in that: If the task attribute is a single robot task, generating the first motion trajectory according to the task information includes: generating the first motion trajectory according to the task starting point and end point information in the task information.

4. The motion control method of an intelligent robot according to claim 2, characterized in that: If the task attribute is a multi-robot collaborative task, generating a second motion trajectory according to the task information includes: The coordination node in the task information is obtained, and a second motion trajectory is generated according to the coordination node and the task start point and end point information in the task information.

5. The motion control method of an intelligent robot according to claim 3, characterized in that: The method of obtaining a motion control instruction string according to the first motion trajectory and the motion control atomic instruction, and generating a control container string of the first motion trajectory according to the motion control instruction string by the motion control module includes: The motion control atomic instructions include straight-ahead instructions, steering instructions, and braking instructions; the first motion trajectory is divided into trajectories according to the unit motion distance to obtain multiple unit motion trajectories, and the motion control atomic instructions are matched to each unit motion trajectory to obtain a motion control instruction string, a control container is established for each motion control instruction, and the motion control atomic instructions are sent to the corresponding control container to obtain a control container string of the first motion trajectory.

6. The motion control method of an intelligent robot according to claim 5, characterized in that: The motion control module generates a ready control instruction to control the container according to the current position of the task execution robot, including: The motion control module generates a trajectory for the task execution robot to reach the task starting point according to the distance between the current position of the task execution robot and the task starting point, and obtains a ready instruction control container according to the trajectory for the task execution robot to reach the task starting point.

7. The motion control method of an intelligent robot according to claim 4, characterized in that: The task execution container generates an action instruction container of the collaborative node according to the collaborative action of the collaborative node, connects the action instruction container of the collaborative node to the sub-control container string, and generates a collaborative sub-control container string of the task robot, including: The collaborative action is the respective action of the two task robots of the collaborative node. The task execution container calls the action instruction on the cloud data server according to the action of the task robot, generates an action instruction container, sends the called action instruction to the action instruction container, connects the action instruction container to the sub-control container string, and generates a collaborative sub-control container string of the task robot.

8. A motion control system for an intelligent robot, characterized in that: A motion control method for an intelligent robot according to any one of claims 1 to 7 is applied, comprising: a cloud data server, a task processing module, a motion control module, a data processing module, and a communication device; The task processing module, motion control module and communication device are respectively connected to the data processing module; the cloud data server is communicatively connected to the communication device.

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