CN114248264B

CN114248264B - Robot control method and device

Info

Publication number: CN114248264B
Application number: CN202011016275.6A
Authority: CN
Inventors: 邱华旭; 郑思远; 薛伟; 吴正; 高倩; 邵长东
Original assignee: Ecovacs Commercial Robotics Co Ltd
Current assignee: Ecovacs Commercial Robotics Co Ltd
Priority date: 2020-09-24
Filing date: 2020-09-24
Publication date: 2024-06-28
Anticipated expiration: 2040-09-24
Also published as: CN114248264A

Abstract

The invention provides a robot control method and a device, wherein the robot control method comprises the following steps: controlling the robot to acquire acquisition control information in the process of advancing to a target area; determining a target operation strategy of the robot and a target acquisition frequency of the identification information of the robot acquisition target object according to the acquisition control information; and controlling the robot to continue to operate through the target operation strategy, and controlling the robot to continuously acquire the identification information of the target object at the target acquisition frequency so as to reduce the number of missed identifications and improve the reading rate.

Description

Robot control method and device

Technical Field

The invention relates to the technical field of computers, in particular to a robot control method. One or more embodiments of the present specification relate to a robot control device, a robot, and a computer-readable storage medium.

Background

Along with the rapid development of national economy, enterprises continuously increase production and capacity, and the standardization and high efficiency of the shelves of the enterprises are naturally improved. In order to ensure the accuracy of inventory material inventory of enterprises, effective management of warehouse materials and corporate property is achieved, and reasonable and efficient management and inventory of warehouse shelves are extremely critical links. The existing warehouse shelf inventory mainly adopts a manual inventory method or an inventory method based on robot+rfid (English: radio Frequency Identification, chinese: radio frequency identification, english: rfid) equipment, wherein the manual inventory method mainly performs one-to-one check inventory of goods by manpower, which is time-consuming and labor-consuming and easy to cause inventory errors; the inventory method based on the robot and the rfid device mainly uses the rfid technology to scan and inventory goods.

Therefore, it is desirable to provide a robot control method that can achieve improved inventory accuracy of goods.

Disclosure of Invention

In view of this, the present embodiment provides a robot control method. One or more embodiments of the present specification are also directed to a robot control device, a robot, and a computer-readable storage medium, which address the technical shortcomings of the prior art.

According to a first aspect of the present invention, there is provided a robot control method comprising:

controlling the robot to acquire acquisition control information in the process of advancing to a target area;

Determining a target operation strategy of the robot and a target acquisition frequency of the identification information of the robot acquisition target object according to the acquisition control information;

and controlling the robot to continue to operate through the target operation strategy, and controlling the robot to continuously acquire the identification information of the target object at the target acquisition frequency.

Optionally, the method is characterized in that controlling the robot to acquire acquisition control information in the process of travelling to the target area includes:

And controlling the robot to collect identification information of a target object in the process of advancing to a target area, counting the collected identification number based on the identification information, and taking the identification number as the collection control information.

and controlling the robot to acquire semantic information of a passing region map in the process of advancing to a target region, and taking the semantic information as the acquisition control information, wherein the semantic information comprises the density degree of the target object.

Optionally, before the robot is controlled to collect the identification information of the target object in the process of travelling to the target area, the method further includes:

And receiving a running path of the robot running to the target area, and controlling the robot to run to the target area based on the running path.

Determining the target area, and planning a running path of the robot to the target area based on the target area;

and controlling the robot to travel to the target area based on the running path.

Acquiring the running speed of the robot based on the current mileage;

and obtaining an initial running speed based on a preset algorithm and the running speed of the current mileage.

Optionally, after obtaining the initial operation speed based on the preset algorithm and the operation speed of the current mileage, the method further includes:

Calculating candidate running speeds of the robots according to the acquired identification numbers;

And obtaining a target operation speed of the robot based on the initial operation speed and the candidate operation speed, wherein the target operation speed represents the target operation strategy.

Optionally, the determining the target operation strategy of the robot and the target acquisition frequency of the identification information of the target object acquired by the robot according to the acquisition control information includes:

Under the condition that the acquisition control information meets the ith condition, determining the ith running speed of the robot and the ith acquisition frequency of the identification information of the robot acquisition target object according to the acquired identification number, wherein i is a positive integer greater than or equal to 2;

Correspondingly, the controlling the robot to continue to operate through the target operation strategy, and controlling the robot to continue to collect the identification information of the target object at the target collection frequency, includes:

and controlling the robot to continue to operate according to the ith operating speed, and controlling the robot to continuously acquire the identification information of the target object at the ith acquisition frequency.

Optionally, the target operation strategy includes a target line speed and a target angular speed;

correspondingly, the determining the robot target operation strategy according to the collected identification number further comprises:

Controlling the robot to adjust the running direction of the robot according to the target angular speed; and

And controlling the robot to continue to run according to the target line speed.

Optionally, before receiving the running path of the robot running to the target area, the method further includes:

And creating an area map for the robot to run based on the data acquired by the robot, and planning a running path of the robot to run to the target area on the area map.

Optionally, before determining the target area and planning the running path of the robot to the target area based on the target area, the method further includes:

creating a region map for the robot to operate based on the data acquired by the robot, and determining the position of the robot in the region map;

and when the target area is received, planning a running path of the robot to the target area in the area map based on the positions of the target area and the robot.

According to a second aspect of the present invention, there is provided a robot control device comprising:

The device comprises a first acquisition module, a determination module and a second acquisition module;

The first acquisition module is configured to control the robot to acquire acquisition control information in the process of advancing to a target area;

the determining module is configured to determine the robot target operation strategy and the target acquisition frequency of the identification information of the robot acquisition target object according to the acquisition control information;

the second acquisition module is configured to control the robot to continue to operate through the target operation strategy and control the robot to continuously acquire the identification information of the target object at the target acquisition frequency.

According to a third aspect of the present invention, there is provided a robot comprising a machine body comprising:

A memory and a processor;

the memory is configured to store computer executable instructions and the processor is configured to execute the computer executable instructions, wherein the processor, when executing the computer executable instructions, implements the steps of the robot control method.

According to a fourth aspect of the present invention, there is provided a computer readable storage medium storing computer executable instructions which, when executed by a processor, implement the steps of the robot control method.

One embodiment of the present disclosure provides a method for controlling a robot, including controlling the robot to collect identification information of a target object during traveling to a target area, and counting the number of collected identifications; the method realizes that the robot can dynamically adjust the robot target operation strategy and the target acquisition frequency of the robot for acquiring the identification information of the target object according to the identification number acquired in real time in the motion process; and the robot is controlled to continue to operate through the target operation strategy, and the robot is controlled to continuously acquire the identification information of the target object at the target acquisition frequency, so that the number of missed identifications can be reduced, and meanwhile, the efficiency and the accuracy for acquiring the number of identifications can be improved.

Drawings

FIG. 1 is a flow chart of a robot control method provided in one embodiment of the present disclosure;

fig. 2 is a schematic view of a scenario in which a robot control method according to an embodiment of the present disclosure is applied to inventory of goods;

FIG. 3 is a flowchart of a process of a robot control method applied to inventory of goods according to one embodiment of the present disclosure;

fig. 4 is a flowchart of calculating a target operation speed in a robot control method according to an embodiment of the present disclosure;

Fig. 5 is a schematic structural view of a robot control device according to an embodiment of the present disclosure;

fig. 6 is a block diagram of a robot according to an embodiment of the present disclosure.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present description. This description may be embodied in many other forms than described herein and similarly generalized by those skilled in the art to whom this disclosure pertains without departing from the spirit of the disclosure and, therefore, this disclosure is not limited by the specific implementations disclosed below.

The terminology used in the one or more embodiments of the specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of the specification. As used in this specification, one or more embodiments and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present specification refers to and encompasses any or all possible combinations of one or more of the associated listed items.

It should be understood that, although the terms first, second, etc. may be used in one or more embodiments of this specification to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first may also be referred to as a second, and similarly, a second may also be referred to as a first, without departing from the scope of one or more embodiments of the present description. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" depending on the context.

First, terms related to one or more embodiments of the present specification will be explained.

The radio frequency identification (RFID, radio Frequency Identification) technology is an automatic identification technology for non-contact two-way data communication in a wireless radio frequency mode, and an RFID system consists of a reader of a reporting receiving and transmitting antenna, an electronic identifier and a data management system. The system achieves the purpose of counting the total number of the identifiers, namely the total number of the commodities or goods by identifying the identifiers in the coverage range of the rfid antenna.

Next, a robot according to the present invention will be schematically explained. The robot provided by the invention can be various artificial intelligent devices with a motion function and a photographing function. In the present invention, various shapes of the robot, such as an ellipse, a circle, a convex polygon, etc., are not limited, and the robot may implement logic of the control method of the present invention by installing software, an application program in a controller used with the robot, or writing a program in a corresponding device inside the robot.

In the present specification, a robot control method is provided, and the present specification relates to a robot control device, a robot, and a computer-readable storage medium, which are described in detail in the following embodiments one by one.

Fig. 1 shows a flowchart of a robot control method according to an embodiment of the present disclosure, which specifically includes the following steps.

Step 102: and controlling the robot to acquire acquisition control information in the process of travelling to the target area.

In practical application, since the counting of the goods or the goods is performed manually, besides the counting of the goods is performed by the robot+rfid equipment, the counting of the collected goods marks is performed, so that the counting work is realized, however, when the counting mode of the robot performs the counting at a fixed speed and a fixed radio frequency, the goods marks are leaked and scanned, the accuracy of the goods counting is low, and the robot control method provided by the embodiment of the specification is provided based on the problems.

According to the robot control method, the accuracy of counting the number of the marks is improved while manpower and material resources are saved, the running speed and the collection frequency of the robot are adjusted in real time according to the number of the collected marks in the process that the robot advances to the target area, so that the problem of missing scanning caused by the running speed of the robot is reduced under the condition that the number of the collected marks is dense, and meanwhile the reading rate of the marks is improved.

In a specific implementation, the robot specifically refers to a robot carrying rfid devices, the target area is a storage space for storing target objects, the target objects specifically refer to objects or goods for which identification information needs to be collected by the robot, for example, the objects or goods may be express, the identification information specifically refers to identification information of the target objects, for example, the identification information of the target objects may be barcode identification information of express, and accordingly, in this embodiment, the robot carrying rfid devices will be used as the robot, the target area is a shelf or warehouse point for storing goods, the target objects are goods for which identification information needs to be collected by the robot, the identification information is an example of identification information displayed on the goods, and the robot control method provided in this embodiment is described in detail for easy understanding, and in order to facilitate understanding, the robot control method is not limited to inventory, but may be applied to other inventory scenarios, which do not have other purchasing scenarios, such as those in which are not easy to realize excessive purchasing of goods.

Based on the identification information, the robot is controlled to scan the identification information on the goods through the carried rfid device in the process of moving to the target goods shelf or the target warehouse point, wherein the goods are provided with rfid tags for being identified by the rfid device, and the number of the acquired tags is counted according to the identified tag information.

Further, controlling the robot to acquire acquisition control information in the process of traveling to the target area includes:

and controlling the robot to collect identification information of a target object in the process of advancing to a target area, counting the number of collected identifications, and taking the number of the identifications as the collection control information.

Specifically, the collection control information includes the number of the identification information of the target object collected by the robot, in practical application, the robot is controlled to collect the identification information of the target object in the process of travelling to the target area, and the number of the collected identification information is counted, so that the target operation strategy is determined according to the number of the collected identification information.

Specifically, the collection control information includes semantic information of a collection passing region map, where the semantic information may include the density of the target object, in practical application, a mark with the density of identification information representing the target object is set on the region map, for example, a target region a and a target region B in the region map are remarked beside the region by a red small flag, which indicates that the number of identification information of the target object in the region is more, and the storage density of the target object is reflected; and controlling the robot to adopt different target operation strategies according to the density degree of the identification information of the target objects stored in each target area on the area map so as to realize the continuous change of the target operation strategies through the acquisition control information and complete the acquisition of the identification information of the target objects.

According to the method and the device, the area map with semantic information enables the robot to rapidly judge the areas with dense identification numbers of the target objects, so that the target operation strategy of the robot can be changed more accurately, and the condition that the identification information of the target objects is not scanned due to improper selection of the target operation strategy is avoided.

Further, before the control robot collects the identification information, it is further required to determine a running path of the robot to the target area, and at this time, the running path of the robot is determined, and the specific implementation manner is as follows:

The control of the robot before collecting the identification information of the target object in the process of travelling to the target area further comprises:

Specifically, in the running process of the robot, a running path can be directly input to the robot, when the robot receives the running path running to a target area, the robot is controlled to run to the target area based on the running path, for example, in the case that the robot does not need to realize obstacle avoidance work in running, in order to save the flow of path planning of the robot, a preset running path can be directly input to the robot.

According to the invention, the robot receives the preset running path, and path planning is not needed, so that the running processing flow of the robot can be saved, and the working efficiency of the robot is improved.

Further, before the control robot collects the identification information, it is further required to determine a running path of the robot to the target area, at this time, another running path of the robot is determined, and the specific implementation manner is as follows:

Specifically, the target area is a goods shelf or warehouse point for storing goods, after the target area required by the robot is determined, the target area is input into the robot, the robot can plan a running path running to each target area based on the target area, wherein the running path can be a plurality of paths, the robot can select the most suitable path according to the requirement, and the most suitable path can be used as the last running path running to the target area and can run to the target area based on the running path.

In practical application, if the robot receives four target areas, which are a target area a, a target area B, a target area C, and a target area D, the robot plans a running path running to each target area according to the four target areas, for example, a plurality of paths including a target area a-target area B-target area D-target area C, a target area a-target area B-target area C-target area D, a target area a-target area C-target area B-target area D, and the like, and the robot selects a suitable running path according to needs.

In the invention, the path planning is carried out based on the target area which the robot needs to reach, and the path planning process of the robot exists, so that the path planning of the robot is more reasonable, wherein the more reasonable path can be the path closest to the robot or the path with the highest speed.

Further, before determining the robot running path, an area map where the robot runs needs to be created according to the working area of the robot, and the specific implementation manner is as follows:

before receiving the running path of the robot to the target area, the method further comprises:

Specifically, the robot creates an area map of a working area operated by the robot according to the acquired data, determines an operation path of the robot operated toward a target area on the created area map, and in practical application, the robot creates an area map of the working area operated by the robot according to the acquired data, for example, the robot acquires single-line laser radar data according to the carried single-line laser radar, creates a plane grid map (i.e., an area map) of the working area by using the acquired single-line laser radar data, and determines the operation path of the robot based on the created plane grid map, wherein the plane grid map can form different maps according to different working areas.

In the embodiment, the robot creates the regional map of the working area operated by the robot according to the acquired data, and plans the operation path of the robot based on the regional map, so that the operation path of the robot is more reasonable.

Further, before determining the robot running path, it is further required to create an area map for the robot to run according to the working area of the robot, and another specific implementation manner is as follows:

before the target area is determined and the running path of the robot to the target area is planned based on the target area, the method further comprises:

Specifically, the robot creates an area map of a working area operated by the robot according to the acquired data, and determines the position of the robot in the area map, wherein the position of the robot can be the position of the robot in an unopened operation state, and after receiving a target area to be reached, the robot plans an operation path of the robot to the target area in the area map according to the target area to be reached and the position of the robot in the unopened operation state.

In this embodiment, under the condition that the robot creates a region map for the robot to operate according to the acquired data, the robot determines the position of the robot and the target region reached by the robot in the region map, and based on the position of the robot in the region map and the target region, a more reasonable operation path from the robot to the target region can be quickly planned in the region map.

In a specific application, the robot can determine a running path of the robot to the target area according to the inventory requirement, wherein if the inventory requirement is that the robot is required to rapidly perform the inventory task, the robot can select the running path with the highest speed reaching each target area, and if the inventory requirement is that the robot is required to perform the inventory task with the shortest running distance, the robot can select the running path with the shortest running distance reaching each target area.

In addition, before the identification information of the target object is acquired in the process of controlling the robot to travel to the target area, the running speed of the robot based on the current running mileage is also acquired, and the initial running speed is obtained according to the running speed of the current mileage, and the specific implementation manner is as follows:

Acquiring the running speed of the robot based on the current mileage;

In this embodiment, the robot obtains the initial operation speed based on the operation speed of the current mileage and the preset algorithm, so that the target operation speed of the robot in the operation process can be obtained in order to be able to combine the maximum operation speed determined according to the number of the identifiers, so that the operation speed of the robot in the operation path is more reasonable.

Specifically, the current mileage is the mileage of the robot running in the operating state of starting running, the running speed of the robot based on the current mileage is obtained, and the initial running speed under normal running is calculated by using a preset algorithm according to the running speed of the current mileage, wherein the preset algorithm may be dwa algorithm (fully english dynamic window approach, fully chinese: local trajectory planning algorithm).

In practical application, the robot is provided with an odometer, and is used for acquiring mileage information operated by the robot, for example, the running speed is calculated to be 0.5 m/s according to the current running mileage of 10m, and then the initial running speed of the robot is calculated to be 0.6 m/s according to the current running speed of 0.5 m/s and a preset dwa algorithm.

Further, under the condition that the running speed of the robot in the current mileage is obtained, the robot can also calculate the maximum running speed of the robot according to the number of the identifiers read currently, and the target running speed of the final robot running is obtained based on the initial running speed calculated by the robot according to the current mileage and the maximum running speed calculated according to the number of the identifiers, and the specific implementation manner is as follows:

After obtaining the initial running speed based on the preset algorithm and the running speed of the current mileage, the method further comprises:

Specifically, the robot is controlled to calculate candidate operation speeds of the robot according to the collected identification numbers, wherein the candidate operation speeds can be the maximum operation speeds of the robot determined according to different identification numbers collected by the robot, meanwhile, the minimum value of the initial operation speeds calculated based on the current mileage and the maximum operation speeds determined according to the identification numbers is taken as the final speed which the robot should output, so that the robot is ensured to operate at the final target operation speed, and the phenomenon of identification missing is reduced, wherein the target operation speeds represent the target operation strategy.

In practical application, the robot is according to the quantity of different goods marks of gathering, confirm the different maximum operating speeds that the robot can set for, and then confirm the final speed that different robots are operated, realized according to the different real-time operating speeds who adjusts the robot of mark quantity, reduced the sign that causes because of the mark quantity is too much in the in-process of guaranteeing the robot at the operation route and neglected the phenomenon to improve the rate of accuracy of checking.

Step 104: and determining the robot target operation strategy and the target acquisition frequency of the identification information of the robot acquisition target object according to the acquisition control information.

Specifically, the target operation strategy can determine different operation strategies according to different identification numbers collected by the robot and different target collection frequencies of the robot for collecting identification information of a target object, and in practical application, the robot carries the tag and the transmitting power of goods collected by the rfid device.

Further, the target operation strategy comprises a target line speed and a target angular speed;

Specifically, the target line speed is a linear running speed of the robot in the running process, the target angular speed is an angular speed of the robot rotating when scanning the goods mark in the running process, and when the method is specifically implemented, the robot is controlled to adjust the rotating direction of the robot in the running process according to the target angular speed, the specific rotating direction can rotate relative to the direction of the robot according to the direction in which the goods are placed, and meanwhile, the robot is controlled to continue to run in the running path of the robot according to the target line speed.

In this embodiment, in the running process of the robot, by adjusting the linear running speed and the angular speed of the rotating direction in the running process of the robot, the situation that the robot leaks and scans the area with dense marks can be reduced by adjusting the running speed and the rotating direction in real time under the condition that the marks are dense, and the reading rate of the robot to the marks is improved.

Further, the target operation strategy determines different operation strategies according to the collected number of the identifiers so as to ensure that the robot can adjust the operation speed according to the collected number of the identifiers in real time in the running process of the operation path, thereby reducing the occurrence of the problem of missing scanning, and the specific implementation mode is as follows:

The determining the robot target operation strategy and the target acquisition frequency of the identification information of the robot acquisition target object according to the acquired identification number comprises the following steps:

under the condition that the number of identifications meets the ith condition, determining the ith running speed of the robot and the ith acquisition frequency of the identification information of the robot acquisition target object according to the acquired number of identifications, wherein i is a positive integer greater than or equal to 2;

Specifically, taking i as an example, 3 is equal, if the number of the identifiers collected by the robot meets 3 conditions, determining a target operation strategy according to the number of the identifiers, wherein the 3 conditions can include a first condition, a second condition and a third condition.

For example, under the condition that the number of the identifiers collected by the robot meets a first condition, determining a first running speed of the robot running in the running path and a first collection frequency of the identifier information of the target object collected by the robot, wherein the first condition is that the number of the identifiers collected by the robot is smaller than a preset first identifier number threshold, the first running speed is a first linear speed of the robot running and a first rotational speed, and the first collection frequency is a first emission frequency of the identifier collected by the robot.

In practical application, after the first running speed of the robot and the first acquisition frequency for acquiring the identifiers can be determined according to the number of the identifiers acquired currently, the robot continues to run according to the running path through the first linear speed in the first running speed, continues to rotate through the first angular speed in the first running speed, and controls the robot to acquire the identifier information of the target object at the first acquisition frequency.

Further, the first condition includes the number of identifications being less than a first number threshold;

correspondingly, when the number of identifications meets a first condition, determining a first running speed of the robot and a first acquisition frequency of the robot for acquiring identification information of a target object according to the acquired number of identifications includes:

And under the condition that the number of the identifications is smaller than a first number threshold, determining a first running speed of the robot and a first acquisition frequency of the identification information of the robot acquisition target object according to the acquired number of the identifications.

Specifically, a first quantity threshold of the identification quantity is preset according to different robot inventory requirements, the maximum linear speed and the maximum angular speed of the robot operation are set, and when the identification quantity is smaller than the first quantity threshold, the first operation speed of the robot operation is determined to be the set maximum linear speed and maximum angular speed, and the first acquisition frequency of the robot for acquiring the goods identification information is determined.

In practical application, if the set first number threshold of the number of marks is e1, the maximum linear speed of the robot operation is v, the maximum angular speed is w, and the initial transmitting power is p, the number of marks collected currently is e, and if the current number of marks e is smaller than the first number threshold e1, the maximum linear speed of the robot operation is v, the maximum angular speed is w, and the first collection frequency of the goods mark is p.

In this embodiment, according to different target strategies determined by different numbers of identifiers, different maximum linear speeds, maximum angular speeds and default transmitting powers of the operation of the robots are determined, so that the phenomenon of identifier missing scanning can be reduced under different conditions, and redundant processing processes caused by fixed speeds and fixed transmitting powers of the robots in the operation path are avoided.

For example, if the number of identifiers satisfies the second condition, a second running speed of the robot and a second acquisition frequency of the identifier information of the robot acquisition target object are determined, and the specific embodiments are as follows:

determining a second running speed of the robot and a second acquisition frequency of the robot for acquiring the identification information of the target object according to the acquired identification number under the condition that the identification number meets a second condition;

and controlling the robot to continue to operate through the second operating speed, and controlling the robot to continuously acquire the identification information of the target object at the second acquisition frequency.

Specifically, under the condition that the number of the identifiers collected by the robot meets a second condition, determining a second running speed of the robot running in the running path and a second collection frequency of the identifier information of the target object collected by the robot, wherein the second condition is that the number of the identifiers collected by the robot is greater than or equal to a preset first threshold value of the number of the identifiers and smaller than a preset second threshold value of the number of the identifiers, the second running speed is a second linear speed of the robot running and a second rotating angular speed, and the second collection frequency is a second transmitting frequency of the identifier collected by the robot.

In practical application, after the second running speed of the robot and the second acquisition frequency of the acquisition identifiers can be determined according to the number of the identifiers acquired currently, the robot continues to run according to the running path through the second linear speed in the second running speed, continues to rotate through the second angular speed in the second running speed, and controls the robot to acquire the identifier information of the target object at the second acquisition frequency.

Further, the second condition includes the number of identifications being greater than or equal to the first number threshold and less than a second number threshold;

determining a second running speed of the robot and a second acquisition frequency of the robot for acquiring the identification information of the target object according to the acquired identification number when the identification number meets a second condition comprises:

And under the condition that the number of the identifications is larger than or equal to the first number threshold and smaller than the second number threshold, determining a second running speed of the robot and a second acquisition frequency of the identification information of the robot acquisition target object according to the acquired number of the identifications.

Specifically, a first number threshold and a second number threshold of the identification number are preset according to different robot inventory requirements, and a maximum linear speed and a maximum angular speed of the robot operation are set, and under the condition that the identification number is greater than or equal to the first number threshold and smaller than the second number threshold, a second operation speed of the robot operation and a second acquisition frequency of the robot for acquiring identification information of a target object are determined.

In practical application, if the set first number threshold value of the number of marks is e1, the set second number threshold value is e2, the set maximum linear velocity of the robot operation is v, the set maximum angular velocity is w, and the set initial transmission power is p, the currently collected number of marks is e, and if the current number of marks is greater than or equal to the first number threshold value e1 and less than the second number threshold value is e2, it is determined that the linear velocity of the robot operation must not exceed 2v/3, the set angular velocity must not exceed 2w/3, and the set transmission power is p2 (p 2> p).

In an embodiment of the invention, under the condition that the number of the identifiers collected by the robots is continuously increased, the corresponding linear speed and the angular speed of the operation of the robots are correspondingly reduced, and simultaneously the emitted power is continuously increased, so that the operation speed of the robots in the operation path can be adjusted under the condition that the number of the identifiers is increased, and the identifiers of goods are prevented from being missed.

For example, if the number of identifiers satisfies a third condition, a third running speed of the robot and a third acquisition frequency of the identifier information of the robot acquisition target object are determined, and the specific embodiments are as follows:

determining a third running speed of the robot and a third acquisition frequency of the robot for acquiring the identification information of the target object according to the acquired identification number under the condition that the identification number meets a third condition;

And controlling the robot to continue to operate through the third operating speed, and controlling the robot to continuously acquire the identification information of the target object at the third acquisition frequency.

Specifically, under the condition that the number of the identifiers collected by the robot meets a third condition, determining a third running speed of the robot running in the running path and a third collecting frequency of the identifier information of the target object collected by the robot, wherein the third condition is that the number of the identifiers collected by the robot is greater than or equal to a preset second identifier number threshold, the third running speed is a third line speed of the robot running and a third rotating angle speed, and the third collecting frequency is a third transmitting frequency of the identifier collected by the robot.

In practical application, after the third running speed of the robot and the third acquisition frequency for acquiring the identifiers can be determined according to the number of the identifiers acquired currently, the robot continues to run according to the running path through the third line speed in the third running speed, continues to rotate through the third line speed in the third running speed, and controls the robot to acquire the identifier information of the target object at the third acquisition frequency.

Further, the third condition includes the number of identifications being greater than or equal to the second number threshold;

Determining a third running speed of the robot and a third acquisition frequency of the robot for acquiring the identification information of the target object according to the acquired identification number when the identification number meets a third condition comprises:

and under the condition that the number of the identifications is larger than or equal to the second number threshold, determining a third running speed of the robot and a third acquisition frequency of the identification information of the robot acquisition target object according to the acquired number of the identifications.

Specifically, a first number threshold and a second number threshold of the identification number are preset according to different robot inventory requirements, the maximum linear speed and the maximum angular speed of the robot operation are set, and under the condition that the identification number is greater than or equal to the second number threshold, the third operation speed of the robot operation and the third acquisition frequency of the identification information of the robot acquisition target object are determined.

In practical application, if the set first number threshold value of the number of marks is e1, the set second number threshold value is e2, the set maximum linear velocity of the robot operation is v, the set maximum angular velocity is w, and the set initial transmission power is p, the currently collected number of marks is e, and if the current number of marks is greater than the second number threshold value e2, it is determined that the linear velocity of the robot operation must not exceed v/3 and the set angular velocity must not exceed w/3, and the set transmission power p3 (p 3> p2> p) is set.

In an embodiment of the present invention, when the number of identifiers is greater than the second number threshold, the number of identifiers collected by the robot is not adjusted to the real-time running speed and the transmitting power even if the number of identifiers continuously rises, so as to ensure the accuracy of the number of identifiers collected by the robot.

Further, the determining the robot target operation strategy and the target acquisition frequency of the identification information of the robot acquisition target object according to the acquisition control information includes:

And counting the collected identification number according to the collected identification information of the target object, and determining the robot target operation strategy and the target collection frequency of the robot for collecting the identification information of the target object based on the identification number.

Specifically, the i-th condition in the invention is not limited to the above three conditions, and conditions of different levels can be preset according to different requirements, that is, the target operation strategy can have multi-level operation conditions, and different target operation strategies and target acquisition frequencies are selected under the condition that different operation conditions are met, so that the operation speed and the emission power of the robot can be adjusted in real time in an operation path, and the condition that the robot leaks scanning when the robot performs the inventory task is ensured.

In summary, through the different identification quantity that gathers according to the robot, under the condition that satisfies different conditions, confirm the different target operation strategies of robot, and then adjust the robot in the operation line speed and the angular velocity of operation route in real time, set for the transmitting power simultaneously to guarantee the in-process of robot in the inventory, improve the inventory rate.

Step 106: and controlling the robot to continue to operate through the target operation strategy, and controlling the robot to continuously acquire the identification information of the target object at the target acquisition frequency.

Specifically, the target operation strategies determine different target operation strategies according to different identification numbers collected by the robot, the selected target operation strategies control the robot to continue to operate in an operation path according to the operation strategies, and meanwhile control the robot to continuously collect identification information of goods at the target collection frequency.

Further, after the controlling the robot to continuously collect the identification information of the target object at the target collection frequency, the method further includes:

And under the condition that the robot is determined to reach the end point of the running path, controlling the robot to stop collecting the identification information of the target object.

Specifically, when the robot reaches the end point of the running path, after the completion of the checking task is confirmed, the robot is controlled to stop collecting the identification information of the goods at the target running speed.

In summary, through the goods sign quantity that scans in real time, set for the linear velocity, angular velocity and the transmitting power that the robot operated at the next moment, guarantee under the comparatively concentrated circumstances of sign of scanning, through reducing robot operation speed, improve transmitting power's mode, reduce the sign and leak the emergence of sweeping the condition, promote the sign and read the rate.

The following is a description of the application of the robot control method provided in the specification to the inventory of goods by a robot, with reference to fig. 2, where fig. 2 shows a schematic view of a scenario in which the robot control method provided in an embodiment of the specification is applied to inventory of goods.

Specifically, the fig. 2 includes a robot 202, a shelf 204, and an article 206, after the robot 202 determines a suitable running path according to an area map containing semantic information or a path map generated according to an input target point, the robot 202 is controlled to start to perform inventory work on the article 206, and according to the degree of density of the articles 206 stored in the shelf 204, the robot 202 is controlled to adjust a target running policy, so as to realize that in a running process of the robot 202 on the shelf 204 storing the articles 206, the robot 202 is controlled to select a running policy with a lower speed, and the frequency is slower, the identification information on the articles 206 is collected, and the number of the identification information of the collected articles 206 of the robot 202 is counted, so as to avoid inaccuracy of the number of the identification information of the articles 206 caused by incorrect selection of the target running policy.

According to the invention, different target operation strategies and target acquisition frequencies are selected according to different numbers of goods stored on the goods shelf by controlling the robot when checking the goods, so that the speed of running on a running path and the acquisition frequency of the goods identification on the goods shelf are selected under the condition that the number of the identification information of the robot is different, and the condition that the goods are missed is reduced.

The following describes, with reference to fig. 3, an example of an application of the robot control method provided in the present specification to performing a robot inventory work. Fig. 3 is a flowchart of a process of a robot control method applied to inventory of goods according to an embodiment of the present disclosure, which specifically includes the following steps.

Step 302: the robot creates an area map according to the acquired data and determines a travel path of the robot.

Specifically, the robot creates an area map of a working area operated by the robot according to the acquired data, determines an operation path of the robot to the target area on the created area map, in practical application, the single-line laser radar carried by the robot acquires single-line laser radar data, a 2D grid map of the working area is created by using the acquired single-line laser radar data, and the robot determines the operation path of the robot based on the created 2D grid map, wherein the 2D grid map can form different maps according to different working areas.

Further, determining the travel path of the robot may be implemented in another manner, and the specific implementation manner is as follows:

In a specific application, the robot can determine the running path of the robot according to the received running path, and can also plan the running path of the robot to the target area according to the received target area and the position of the robot in the area map.

Step 304: and the robot executes the inventory task based on the running path.

Specifically, in the case where the robot determines a travel path that is run when the inventory task is executed, execution of the inventory task is started.

Step 306: the robot reads the labels of the goods based on the rfid device and counts the number of the collected labels.

Specifically, taking the identification information of the target object as a label of the goods as an example, the robot carries the rfid device to collect and read the rfid labels on the inventory goods so as to obtain the identification information of the rfid labels, and the number of the collected rfid labels is counted.

Step 308: and selecting different target operation strategies and target acquisition frequencies according to different label numbers acquired by the robot.

Specifically, different target operation strategies are selected according to the label number of different rfid labels acquired by the robot, wherein the target operation strategies comprise target line speed and target angular speed.

In specific implementation, the target linear speed is a linear running speed of the robot in the running process, the target angular speed is a rotational angular speed of the robot when scanning goods labels in the running process, and when the number of labels meets a first condition, a first running speed of the robot and a first acquisition frequency of label information of the robot for acquiring target objects are determined according to the acquired number of labels, wherein the first running speed is a first linear speed of the robot and a first rotational angular speed of the robot, and the first acquisition frequency is a first transmission frequency of the robot for acquiring labels.

And when the number of the labels meets a second condition, determining a second running speed of the robot and a second acquisition frequency of label information of the target object acquired by the robot according to the acquired number of the labels, wherein the second running speed is a second linear speed and a second rotating angular speed of the robot, and the second acquisition frequency is a second transmitting frequency of the labels acquired by the robot.

And when the number of the labels meets a third condition, determining a third running speed of the robot and a third acquisition frequency of label information of the target object acquired by the robot according to the acquired number of the labels, wherein the third running speed is a third line speed and a rotating third angle speed of the robot, and the third acquisition frequency is a third transmitting frequency of the labels acquired by the robot.

Further, the first condition includes a number of labels collected by the robot being less than a first number threshold; the second condition includes the number of tags being greater than or equal to the first number threshold and less than a second number threshold; the third condition includes the number of tags being greater than or equal to the second number threshold.

Step 310: and calculating the real-time running speed of the robot according to different target running strategies.

Specifically, different target operation strategies are determined according to different label numbers acquired by the robot, and the real-time operation speed of the robot is calculated based on the different target operation strategies and the initial operation speed of the robot according to the current mileage.

Step 312: whether the robot reaches the end of the travel path is determined, if so, the task is completed, and if not, the process continues to step 306.

Specifically, the robot determines that different target running speeds are in the running process of the running path according to the number of the collected different labels, judges whether the robot reaches the end point of the running path, if so, controls the robot to stop the task of counting the collected labels, and if not, controls the robot to continue to execute the step 306 to scan and read the goods labels.

In summary, the robot control method applied to the working scene of checking the goods provided by the embodiment of the invention can execute different target operation strategies and emission frequencies according to the quantity of the rfid tags of the goods read in real time in the moving process of the robot, dynamically adjust the walking process of the robot, reduce the number of tag missing sweeps and improve the reading rate.

The following describes the speed in the robot control method by taking calculation of the target operation speed in the robot control method provided in the present specification as an example with reference to fig. 4. Fig. 4 shows a flowchart of calculating a target running speed in a robot control method according to an embodiment of the present disclosure, which specifically includes the following steps.

Step 402: the robot obtains the current mileage speed according to the mileage recorded in the current odometer.

Specifically, in the process of starting up the work, the robot starts an odometer carried by the robot, and based on the mileage recorded by the odometer, the current mileage speed of the robot is obtained, for example, the robot obtains the current mileage speed V0 according to the current mileage.

Step 404: the robot calculates an initial running speed based on a preset algorithm and a current mileage speed.

Specifically, the preset algorithm may be dwa algorithm, the output speed of the robot operation is calculated, the initial operation speed is the optimal speed of the robot in the normal operation of the robot in the operation path calculated by the robot according to the current mileage speed and the preset algorithm, and the initial operation speed Vt is calculated by the robot based on the preset algorithm and the current mileage speed V0 along the above example.

Step 406: and the robot calculates the set maximum running speed according to the number of the tags read currently.

Specifically, taking the article identification information as label information as an example, in the running process of the robot on the running path, the robot selects different target running strategies according to the collected identification quantity, determines different target line speeds and different target angular speeds, and calculates the set maximum running speed V' based on the different target line speeds and the different target angular speeds.

In the specific implementation, the target running speed of the robot running and the transmitted acquisition frequency can be determined by comparing the number of the identifiers acquired by the robot with a preset threshold value of the number of the identifiers, so that the occurrence of the condition of missing the identifiers is reduced and the reading rate of the identifiers is improved by reducing the running speed of the robot and improving the transmission frequency of the identifiers acquired by the robot under the condition that the rfid identifiers are concentrated.

Step 408: the robot outputs a target operating speed based on the maximum operating speed and the initial operating speed.

Specifically, the robot outputs a final target operating speed based on the maximum operating speed V' and the initial operating speed Vt.

In specific implementation, the robot calculates a set maximum running speed V 'and an initial running speed Vt calculated by the robot based on a preset algorithm and a current mileage speed V0 based on different target line speeds and target angular speeds, takes a minimum value of the maximum running speed V' and the initial running speed Vt, and outputs a final target running speed.

In practical application, the maximum running speed V' and the initial running speed Vt are taken as minimum values, so that the running speed of the robot is reduced in the running process of the robot, and the occurrence of the condition of sign missing scanning is reduced.

Step 410: whether the robot has reached the end of the travel path is determined, if so, the current task is ended, and if not, the process continues to step 402.

Specifically, the robot continues to operate in the operation path according to the target operation speed after real-time adjustment, if the robot has reached the end point of the operation path, the task of checking goods of the current robot is ended, if the robot has not reached the end point of the operation path, the robot is controlled to continue to execute step 302, and the current mileage speed is obtained based on the current mileage of the current robot operation.

In summary, the robot obtains the output target running speed through the current mileage speed and the initial running speed, and based on the real-time adjustment of the obtained target running speed, the robot movement speed is reduced under the condition of centralized identification, and the condition of missing scanning of the identification is less.

Corresponding to the method embodiment, the present disclosure further provides an embodiment of a robot control device, and fig. 5 shows a schematic structural diagram of the robot control device provided in one embodiment of the present disclosure. As shown in fig. 5, the apparatus includes:

a first acquisition module 502, a determination module 504, a second acquisition module 506;

The first acquisition module 502 is configured to control the robot to acquire acquisition control information in the process of travelling to a target area;

The determining module 504 is configured to determine the robot target operation strategy and the target acquisition frequency of the identification information of the robot acquisition target object according to the acquisition control information;

the second acquisition module 506 is configured to control the robot to continue to operate according to the target operation strategy, and control the robot to continue to acquire the identification information of the target object at the target acquisition frequency.

Optionally, the first acquisition module 502 is further configured to:

Optionally, the apparatus further includes:

And the receiving module is configured to receive a running path of the robot running to the target area and control the robot to run to the target area based on the running path.

Optionally, the apparatus further includes:

a first planning module configured to determine the target area and plan a travel path of the robot to the target area based on the target area;

a control module configured to control the robot to travel toward the target area based on the travel path.

Optionally, the apparatus further includes:

the acquisition module is configured to acquire the running speed of the robot based on the current mileage;

The first obtaining module is configured to obtain an initial operation speed based on a preset algorithm and the operation speed of the current mileage.

Optionally, the apparatus further includes:

A calculation module configured to calculate a candidate running speed of the robot according to the acquired number of identifications;

a second obtaining module configured to obtain a target operating speed of the robot based on the initial operating speed and the candidate operating speed, wherein the target operating speed characterizes the target operating strategy.

Optionally, the determining module 504 is further configured to:

Under the condition that the acquisition control information meets a first condition, determining a first running speed of the robot and a first acquisition frequency of the robot for acquiring the identification information of the target object according to the acquired identification number;

accordingly, the second acquisition module 506 is further configured to:

And controlling the robot to continue to operate through the first operating speed, and controlling the robot to continuously acquire the identification information of the target object at the first acquisition frequency.

Optionally, the determining module 504 is further configured to:

Under the condition that the acquisition control information meets a second condition, determining a second running speed of the robot and a second acquisition frequency of the robot for acquiring the identification information of the target object according to the acquired identification number;

accordingly, the second acquisition module 506 is further configured to:

Optionally, the determining module 504 is further configured to:

Under the condition that the acquisition control information meets a third condition, determining a third running speed of the robot and a third acquisition frequency of the robot for acquiring the identification information of the target object according to the acquired identification number;

accordingly, the second acquisition module 506 is further configured to:

accordingly, the determining module 504 is further configured to:

Optionally, the first condition includes that the number of the identifiers in the acquisition control information is smaller than a first number threshold;

accordingly, the determining module 504 is further configured to:

Optionally, the second condition includes that the number of the identifiers in the acquisition control information is greater than or equal to the first number threshold and less than a second number threshold;

accordingly, the determining module 504 is further configured to:

Optionally, the third condition includes that the number of the identifiers in the acquisition control information is greater than or equal to the second number threshold;

accordingly, the determining module 504 is further configured to:

Optionally, the determining module 504 is further configured to:

Optionally, the apparatus further includes:

and the acquisition module is configured to control the robot to stop acquiring the identification information of the target object under the condition that the robot is determined to reach the end point of the running path.

Optionally, the apparatus further includes:

and the second planning module is configured to create an area map for the robot to run based on the data acquired by the robot, and plan a running path of the robot to the target area on the area map.

Optionally, the apparatus further includes:

A creation module configured to create an area map for the robot to run based on the data collected by the robot, and to determine a position of the robot in the area map;

And a third planning module configured to plan a running path of the robot to the target area in the area map based on the positions of the target area and the robot, in case that the target area is received.

According to the robot control device provided by the embodiment of the invention, different target operation strategies and different target acquisition frequencies are determined according to the number of the identifiers acquired by the robot, and the speed and the emission frequency of the robot operation are regulated in real time, so that the occurrence of the condition of missing scanning is reduced under the condition of centralized identifiers, and the inventory accuracy is improved.

The above is a schematic solution of a robot control device of the present embodiment. It should be noted that, the technical solution of the robot control device and the technical solution of the robot control method belong to the same conception, and details of the technical solution of the robot control device, which are not described in detail, can be referred to the description of the technical solution of the robot control method.

Fig. 6 shows a block diagram of a robot 600 according to one embodiment of the present disclosure. The components of the robot 600 include, but are not limited to, a memory 610 and a processor 620. The processor 620 is coupled to the memory 610 via a bus 630 and a database 650 is used to hold data.

The robot 600 further comprises an access device 640, the access device 640 enabling the robot 600 to communicate via one or more networks 660. Examples of such networks include the Public Switched Telephone Network (PSTN), a Local Area Network (LAN), a Wide Area Network (WAN), a Personal Area Network (PAN), or a combination of communication networks such as the internet. The access device 640 may include one or more of any type of network interface (e.g., a Network Interface Card (NIC)) whether wired or wireless, such as an IEEE802.11 Wireless Local Area Network (WLAN) wireless interface, a worldwide interoperability for microwave access (Wi-MAX) interface, an ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a bluetooth interface, a Near Field Communication (NFC) interface, and so forth.

In one embodiment of the present description, the above-described components of the robot 600 and other components not shown in fig. 6 may also be connected to each other, for example, by a bus. It should be understood that the robot block diagram shown in fig. 6 is for illustration purposes only and is not intended to limit the scope of the present disclosure. Those skilled in the art may add or replace other components as desired.

Robot 600 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., tablet, personal digital assistant, laptop, notebook, netbook, etc.), mobile phone (e.g., smart phone), wearable computing device (e.g., smart watch, smart glasses, etc.), or other type of mobile device, or a stationary computing device such as a desktop computer or PC. The robot 600 may also be a mobile or stationary server.

Wherein the processor 620 is configured to execute computer-executable instructions that, when executed by the processor, perform the steps of the task processing method.

The above is a schematic solution of a robot of the present embodiment. It should be noted that, the technical solution of the robot and the technical solution of the above-mentioned robot control method belong to the same conception, and details of the technical solution of the robot which are not described in detail can be referred to the description of the technical solution of the above-mentioned robot control method.

An embodiment of the present disclosure also provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the steps of the robot control method.

The above is an exemplary version of a computer-readable storage medium of the present embodiment. It should be noted that, the technical solution of the storage medium and the technical solution of the robot control method belong to the same concept, and details of the technical solution of the storage medium which are not described in detail can be referred to the description of the technical solution of the robot control method.

The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

The computer instructions include computer program code that may be in source code form, object code form, executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of combinations of actions, but it should be understood by those skilled in the art that the embodiments of the present invention are not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily all required for the embodiments described in the specification.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.

The preferred embodiments of the present specification disclosed above are merely used to help clarify the present specification. Alternative embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the teaching of the embodiments. The embodiments were chosen and described in order to best explain the principles of the embodiments and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. This specification is to be limited only by the claims and the full scope and equivalents thereof.

Claims

1. A robot control method, comprising:

controlling the robot to acquire acquisition control information in the process of advancing to a target area, wherein the acquisition control information comprises the identification number of the target object acquired by the robot;

Determining a target operation strategy of the robot and a target acquisition frequency of the identification information of the robot acquisition target object according to the acquisition control information, wherein the target operation strategy is characterized by a target operation speed of the robot, the target operation speed is determined based on the acquired identification number, the determining the target operation strategy of the robot and the target acquisition frequency of the identification information of the robot acquisition target object according to the acquisition control information comprises acquiring an initial operation speed of the robot, calculating a candidate operation speed of the robot according to the acquired identification number, determining the target operation speed of the robot based on the initial operation speed and the candidate operation speed, determining the target acquisition frequency of the robot according to the identification number, and the target acquisition frequency increases with the increase of the identification number;

2. The robot control method according to claim 1, wherein controlling the robot to acquire acquisition control information in traveling to a target area comprises:

3. The robot control method according to claim 1, wherein controlling the robot to acquire acquisition control information in traveling to a target area comprises:

4. The robot control method according to claim 2, wherein the controlling the robot before collecting the identification information of the target object in the traveling to the target area further comprises:

5. The robot control method according to claim 2, wherein the controlling the robot before collecting the identification information of the target object in the traveling to the target area further comprises:

6. The robot control method according to claim 2, wherein the controlling the robot before collecting the identification information of the target object in the traveling to the target area further comprises:

Acquiring the running speed of the robot based on the current mileage;

7. The robot control method according to claim 1, wherein the determining the robot target operation strategy and the target acquisition frequency of the identification information of the robot acquisition target object according to the acquisition control information includes:

8. The robot control method of claim 1, wherein the target operating strategy comprises a target linear velocity, a target angular velocity;

9. The robot control method according to claim 4, further comprising, before the receiving the travel path of the robot to the target area:

10. The robot control method according to claim 5, wherein before determining the target area and planning a travel path of the robot to the target area based on the target area, further comprising:

11. A robot control device, comprising: the device comprises a first acquisition module, a determination module and a second acquisition module;

The first acquisition module is configured to control the robot to acquire acquisition control information in the process of advancing to a target area, wherein the acquisition control information comprises the identification number of the target object acquired by the robot;

The determining module is configured to determine a target operation strategy of the robot and a target acquisition frequency of identification information of the robot acquisition target object according to the acquisition control information, wherein the target operation strategy is characterized by a target operation speed of the robot, the target operation speed is determined based on the acquired identification number, the determining the target operation strategy of the robot and the target acquisition frequency of the identification information of the robot acquisition target object according to the acquisition control information comprises acquiring an initial operation speed of the robot, calculating a candidate operation speed of the robot according to the acquired identification number, determining the target operation speed of the robot based on the initial operation speed and the candidate operation speed, determining the target acquisition frequency of the robot according to the identification number, and the target acquisition frequency increases with the increase of the identification number;

12. A robot comprising a machine body, the machine body comprising:

A memory and a processor;

The memory is configured to store computer executable instructions and the processor is configured to execute the computer executable instructions, wherein the processor, when executing the computer executable instructions, performs the steps of the robot control method of any one of claims 1-10.

13. A computer readable storage medium storing computer instructions which, when executed by a processor, implement the steps of the robot control method of any one of claims 1 to 10.