WO2021248856A1

WO2021248856A1 - Robot control method and, system, storage medium and smart robot

Info

Publication number: WO2021248856A1
Application number: PCT/CN2020/133968
Authority: WO
Inventors: 张雪元; 孙赟; 秦文强; 衡进
Original assignee: 特斯联科技集团有限公司
Priority date: 2020-06-12
Filing date: 2020-12-04
Publication date: 2021-12-16
Also published as: CN112008718B; CN112008718A

Abstract

A robot control method, comprising: receiving a movement instruction, and according to the movement instruction, controlling a robot to move to a target position; acquiring the coordinates of the target position on a map; and on the basis of a preconfigured mapping relationship, switching to a smart algorithm or control mode that corresponds to the coordinates; and on the basis of the smart algorithm or the control mode, controlling the robot to complete a function corresponding to the smart algorithm or control mode. Hence, a special smart algorithm or control mode is set according to the working environment of the robot, so as to achieve a more accurate scenario application, which can improve the intelligence of the robot. In addition, the present invention further relates to a robot control system, a storage medium and a smart robot.

Description

Robot control method, system, storage medium and intelligent robot

Technical field

The invention relates to the technical field of intelligent robots, in particular to a robot control method, system, storage medium and intelligent robot.

Background technique

With the rapid development of science and technology, the development of intelligent robots has also shown a rapid development trend. It has appeared in public places such as restaurants, banks, and halls. In the research of intelligent robots, one aspect is to improve the autonomy of intelligent robots, which means that they hope to be intelligent. The robot is further independent of humans and has a more friendly human-machine interface, which can automatically form the steps of the task and complete it automatically. On the other hand, it is to improve the adaptability of intelligent robots, improve the ability of intelligent robots to adapt to environmental changes, so that they have higher security and better ability to complete tasks.

At present, there are many cases where intelligent robots are used for service guidance in the lobby and front hall. When the current intelligent robots are working, they need robots with specific functions for specific scenarios, such as sweeping robots, restaurant robots, and bank customer service robots. In the service scenario, only robots in specific venues can complete functions, thereby reducing the intelligence of intelligent robots.

Summary of the invention

The embodiments of the present application provide a robot control method, system, storage medium, and intelligent robot. In order to have a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not a general comment, nor is it intended to identify key/important elements or describe the scope of protection of these embodiments. Its sole purpose is to present some concepts in a simple form as a prelude to the detailed description that follows.

In the first aspect, an embodiment of the present application provides a robot control method, the method includes:

Receiving a movement instruction, and controlling the robot to move to a target position according to the movement instruction;

Acquiring the coordinate point of the target position in the map;

Switch to the intelligent algorithm or control mode corresponding to the coordinate point based on the pre-configured mapping relationship;

Based on the intelligent algorithm or control mode, the robot is controlled to complete the function corresponding to the intelligent algorithm or control mode.

Optionally, before the receiving the movement instruction, the method further includes:

Obtain the coordinate points of the target area;

Marking the coordinate points of the target area on a map to generate the position points of the target area;

Acquiring the intelligent algorithm or control mode corresponding to the location point of the target area;

The mapping relationship is configured based on the intelligent algorithm or control mode corresponding to the target area location point and the target area location point.

Optionally, the controlling the robot based on the intelligent algorithm or control mode to complete the function corresponding to the intelligent algorithm or control mode includes:

In the case of the intelligent algorithm, the robot is controlled according to the intelligent algorithm to complete the function corresponding to the intelligent algorithm.

When it is the control mode, the robot is controlled according to the control mode to complete the function corresponding to the control mode.

Optionally, the controlling the robot to move to the target position according to the movement instruction includes:

Obtain the coordinate point of the target position;

Get the coordinates of the current position;

Based on a preset path planning algorithm, the robot is controlled to move from the current position coordinate point to the target position coordinate point.

Optionally, the controlling the robot to move from the current position coordinate point to the target position coordinate point based on a preset path planning algorithm includes:

Calculate multiple position coordinate points around the current position coordinate point to generate a position coordinate point set;

When the position coordinate point in the position coordinate point set coincides with the target position coordinate point, the calculation is stopped, and the coincident position coordinate point is generated;

Planning an optimal path based on the coincident position coordinate point and the current position coordinate point;

Based on the optimal path, the robot is controlled to move to the target position coordinate point.

In a second aspect, an embodiment of the present application provides a robot control system, the system including:

The control movement module is configured to receive a movement instruction, and control the robot to move to a target position according to the movement instruction;

A position obtaining module, used to obtain the coordinate point of the target position in the map;

The function switching module is configured to switch to the intelligent algorithm or control mode corresponding to the coordinate point based on the pre-configured mapping relationship;

The function completion module is used to control the robot based on the intelligent algorithm or control mode to complete the function corresponding to the intelligent algorithm or control mode.

In a third aspect, an embodiment of the present application provides a computer storage medium, the computer storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the above method steps.

In a fourth aspect, an embodiment of the present application provides an intelligent robot, which may include a processor and a memory; wherein the memory stores a computer program, and the computer program is adapted to be loaded by the processor and execute the above method steps .

The technical solutions provided by the embodiments of the present application may include the following beneficial effects:

In the embodiment of this application, the intelligent robot first receives the movement instruction, controls the robot to move to the target position according to the movement instruction, and then obtains the coordinate point of the target position in the map, and then switches to the intelligent algorithm corresponding to the coordinate point based on the pre-configured mapping relationship Or control mode, and finally control the robot based on the intelligent algorithm or control mode to complete the function corresponding to the intelligent algorithm or control mode. Since this application sets specific intelligent algorithms or control modes through the working environment of the robot, one robot can realize services in multiple scenarios, and more accurate scenario applications can be performed for multiple scenarios, which can improve the intelligence of the robot.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present invention.

Description of the drawings

The drawings here are incorporated into the specification and constitute a part of the specification, show embodiments in accordance with the present invention, and together with the specification are used to explain the principle of the present invention.

FIG. 1 is a schematic flowchart of a robot control method provided by an embodiment of the present application;

FIG. 2 is a schematic diagram of a robot movement process provided by an embodiment of the present application;

Fig. 3 is a schematic diagram of a robot moving from a current position to calculate and search for a target position according to an embodiment of the present application;

FIG. 4 is a schematic flowchart of another robot control method provided by an embodiment of the present application;

Fig. 5 is a system schematic diagram of a robot control system provided by an embodiment of the present application;

Fig. 6 is a schematic structural diagram of an intelligent robot provided by an embodiment of the present application.

detailed description

The following description and drawings fully illustrate specific embodiments of the present invention to enable those skilled in the art to practice them.

It should be clear that the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present invention. Rather, they are merely examples of systems and methods consistent with some aspects of the present invention as detailed in the appended claims.

In the description of the present invention, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meaning of the above-mentioned terms in the present invention can be understood in specific situations. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more. "And/or" describes the association relationship of the associated objects, indicating that there can be three types of relationships, for example, A and/or B, which can mean: A alone exists, A and B exist at the same time, and B exists alone. The character "/" generally indicates that the associated objects before and after are in an "or" relationship.

So far, there have been many cases of intelligent robots used for service guidance in the lobby and front hall. When the current intelligent robots are working, they need to work with robots with specific functions for specific scenarios, such as sweeping robots, restaurant robots, and banks. For customer service robots, different service scenarios only require robots in specific venues to complete their functions, thereby reducing the intelligence of intelligent robots. To this end, this application provides a robot control method, system, storage medium, and intelligent robot to solve the above-mentioned related technical problems. Among the technical solutions provided in this application,. Since this application uses the robot’s working environment to set specific intelligent algorithms or control modes, one robot can realize services in multiple scenarios, and more accurate scenario applications for multiple scenarios can improve the intelligence of the robot. The following uses Exemplary embodiments are described in detail.

The robot control method provided by the embodiment of the present application will be described in detail below with reference to FIGS. 1 to 4. The method can be implemented by relying on a computer program and can be run on a robot control system based on the Von Neumann system. The computer program can be integrated in the application or run as an independent tool application. Among them, the robot control system in the embodiment of the present application is applied to an intelligent robot.

Please refer to FIG. 1, which provides a schematic flowchart of a robot control method according to an embodiment of the present application. As shown in Figure 1, the method of the embodiment of the present application may include the following steps:

S101, receiving a movement instruction, and controlling the robot to move to a target position according to the movement instruction;

Among them, instructions are computer instructions, that is, instructions and commands that direct the robot to work. The movement instruction is a command that the user inputs to the intelligent robot to move to the instruction position according to his/her own intention. The target position is the final position reached by the intelligent robot.

In the embodiment of this application, the user issues a work instruction to the intelligent robot. The intelligent robot receives the instruction and analyzes the position to be reached. After analyzing the position, obtains the current position point, and then obtains the position point to be reached, and finally based on the preset The path planning algorithm controls the robot to move from the current position coordinate point to the target position coordinate point.

For example, as shown in Figure 2, the intelligent robot constructs a map system through three steps of scanning, building, and marking points. With the map system, it can move between the set single point and multiple points. The charging pile, the reception desk and the entrance are marked on the map. The user can give instructions to the robot to move between these three points. After the robot receives the instructions to move the points, it will use real-time positioning, dynamic global and local path planning. , Obstacle avoidance algorithm and other multi-sensor fusion algorithms to realize autonomous movement.

In a possible implementation, when the robot is controlled to move from the current position coordinate point to the target position coordinate point based on a preset path planning algorithm, it is first necessary to calculate multiple position coordinate points around the current position coordinate point to generate a position coordinate point set , And then when the position coordinate point in the position coordinate point set coincides with the target position coordinate point, the calculation is stopped, the coincident position coordinate point is generated, and the best path is planned based on the coincident position coordinate point and the current position coordinate point, and finally based on the said The optimal path controls the robot to move to the coordinate point of the target position. For example, as shown in Figure 3, for example, the current position of the robot is 1, and the path planning algorithm calculates multiple position coordinate points 2 around the current position according to the current position. When the calculated multiple coordinate points are different from the target position coordinate point 0, Continue to calculate the coordinate points 3 around the multiple position coordinate points 2. When the calculated coordinate point 3 and the target position point 0 coincide, stop the calculation, generate the coincident position point, and plan according to the coincident position coordinate point and the current position point The best path, and finally control the intelligent robot to move to the target position point 0 according to the best path.

S102: Acquire coordinate points of the target position in the map;

Among them, the map is an online map pre-built on the intelligent robot. The map information can be viewed through the visual interface. Each location point in the map corresponds to its own abscissa and ordinate, and the abscissa and ordinate constitute the location. The coordinate point.

In a possible implementation, based on step S101, after the intelligent robot reaches the target location point contained in the instruction, the intelligent robot sends the information of reaching the current location point to the processor via wire or wireless, and the processor receives the information and processes When the device receives the information, it triggers the map loading function through the internally set program. After the map loading function is triggered, it loads the map built in the smart robot in advance. After the map is loaded successfully, locates the current location of the smart robot on the map. The coordinate point in.

For example, an intelligent robot receives a work instruction, and the work instruction is to go to the door of the company to recognize the body temperature of personnel entering and leaving the company. After receiving the instruction, the intelligent robot analyzes that the target location contained in the instruction is the door of the company, and then plans the path from the current location to the door of the company through a path planning algorithm. After planning, the best moving route is obtained. The best intelligent route moves to the door of the company to recognize the body temperature of the people entering and leaving. When arriving at the door of the company, the intelligent robot loads the built-in map and locates the coordinate point of the current position on the map.

S103: Switch to an intelligent algorithm or control mode corresponding to the coordinate point based on the pre-configured mapping relationship;

Among them, the configured mapping relationship is a function that the user configures the actual working position of the intelligent robot according to the actual working position of the intelligent robot. It can be understood that the specific working position of the intelligent robot has a specific intelligent algorithm or control mode, and the possible mapping relationship is shown in Table 1.

Generally, the location point reached by an intelligent robot by receiving a work instruction may be a specific location point, may also be a range composed of multiple location points, or may be an angle composed of multiple location points.

In the embodiment of the present application, the coordinate point of the location coordinate point reached by the intelligent robot in the map can be obtained based on step S102. After the coordinate point is obtained, the intelligent robot automatically switches to the intelligent algorithm or control mode corresponding to the coordinate point there. . Among them, the smart algorithm or control mode corresponding to the coordinate point is that the user marks the smart algorithm or control mode at the location point in advance (that is, the location point is bound to the smart algorithm or control mode), and the smart algorithm or control The data after the mode binding is used as the mapping relationship. After the intelligent robot reaches the location point, the intelligent algorithm or control mode of the location point can be obtained through the mapping relationship.

S104, controlling the robot based on the intelligent algorithm or control mode to complete the function corresponding to the intelligent algorithm or control mode.

In a possible implementation, when the function acquired by the intelligent robot through the mapping relationship is an intelligent algorithm, the intelligent robot is controlled according to the intelligent algorithm to complete the function corresponding to the intelligent algorithm. For example, the exclusive recognition algorithm recognizes the instrument panel, and the intelligent robot switches to the intelligent recognition algorithm to identify the instrument panel to extract valid data.

In another possible implementation manner, when the function acquired through the mapping relationship at the position reached by the intelligent robot is the control mode, the intelligent robot is controlled according to the control mode to complete the function corresponding to the control mode. For example, the robot disinfects the company's corridors, and controls the intelligent robot to perform different disinfection modes and movement modes according to different space sizes, high, middle and low levels of disinfection.

In the embodiment of the present application, the intelligent robot first receives the movement instruction, controls the robot to move to the target position according to the movement instruction, and then obtains the coordinate point of the target position in the map, and then switches to the intelligent algorithm corresponding to the coordinate point based on the pre-configured mapping relationship Or control mode, and finally control the robot based on the intelligent algorithm or control mode to complete the function corresponding to the intelligent algorithm or control mode. Since this application sets specific intelligent algorithms or control modes through the working environment of the robot, one robot can realize services in multiple scenarios, and more accurate scenario applications can be performed for multiple scenarios, which can improve the intelligence of the robot.

Please refer to FIG. 4, which is a schematic flowchart of a robot control method provided by an embodiment of this application. In this embodiment, the robot control method is applied to an intelligent robot as an example. The robot control method may include the following steps:

S201: Obtain coordinate points of the target area;

In a possible implementation, the user inputs instructions to the intelligent robot to search for different target area locations from the map through the management platform on the intelligent robot. The intelligent robot receives the instructions, and the intelligent robot obtains different targets from the installed map. The coordinate point of the area.

S202: Mark the coordinate points of the target area on a map to generate the position points of the target area;

In a possible implementation manner, after obtaining the coordinate points of different target areas based on step S201, the user inputs the location point marking instruction to the intelligent robot through the management platform on the intelligent robot, and the intelligent robot receives the map marking instruction and receives the instruction Then mark the location of different areas.

S203: Acquire an intelligent algorithm or control mode corresponding to the location point of the target area;

In a possible implementation manner, based on step S202, different regional positions can be marked. After the marking is completed, the user inputs the intelligent algorithm or control mode corresponding to the different positions to the intelligent robot through the management platform on the intelligent robot, and the intelligent robot receives And save the intelligent algorithm or control mode corresponding to different positions.

S204: Configure a mapping relationship based on the intelligent algorithm or control mode corresponding to the target area location point and the target area location point;

In a possible implementation, when the intelligent robot receives the intelligent algorithms or control modes corresponding to different positions, the user configures the mapping relationship between the intelligent algorithms or control modes corresponding to different positions and different positions through the operation management platform, and the intelligent robot After receiving the mapping relationship configuration instruction, the operation of mapping configuration of different target location points and intelligent algorithms or control modes is completed.

S205: Receive a movement instruction, and control the robot to move to a target position according to the movement instruction;

For details, please refer to step S101, which will not be repeated here.

S206: Acquire coordinate points of the target position in the map;

For details, please refer to step S102, which will not be repeated here.

S207: Switch to an intelligent algorithm or control mode corresponding to the coordinate point based on the pre-configured mapping relationship;

For details, please refer to step S103, which will not be repeated here.

S208: Control the robot based on the smart algorithm or control mode to complete the function corresponding to the smart algorithm or control mode.

For details, please refer to step S104, which will not be repeated here.

The following are system embodiments of the present invention, which can be used to implement the method embodiments of the present invention. For details that are not disclosed in the system embodiment of the present invention, please refer to the method embodiment of the present invention.

Please refer to FIG. 5, which shows a schematic structural diagram of a robot control system provided by an exemplary embodiment of the present invention. The robot control system can be implemented as all or part of an intelligent robot through software, hardware or a combination of the two. The system 1 includes a control movement module 10, a position acquisition module 20, a function switching module 30, and a function completion module 40.

The control movement module 10 is configured to receive a movement instruction, and control the robot to move to a target position according to the movement instruction;

The position obtaining module 20 is used to obtain the coordinate points of the target position in the map;

The function switching module 30 is configured to switch to the intelligent algorithm or control mode corresponding to the coordinate point based on the pre-configured mapping relationship;

The function completion module 40 is configured to control the robot to complete the function corresponding to the intelligent algorithm or control mode based on the intelligent algorithm or control mode.

It should be noted that when the robot control system provided by the above embodiment executes the robot control method, only the division of the above functional modules is used as an example for illustration. In actual applications, the above functions can be allocated by different functional modules as needed. , Divide the internal structure of the device into different functional modules to complete all or part of the functions described above. In addition, the robot control system provided by the foregoing embodiment and the embodiment of the robot control method belong to the same concept, and the implementation process is detailed in the method embodiment, which will not be repeated here.

The serial numbers of the foregoing embodiments of the present application are for description only, and do not represent the superiority or inferiority of the embodiments.

The present invention also provides a computer-readable medium on which program instructions are stored, and when the program instructions are executed by a processor, the robot control method provided by the foregoing method embodiments is implemented.

The present invention also provides a computer program product containing instructions, which, when run on a computer, enables the computer to execute the robot control method described in the foregoing method embodiments.

Please refer to FIG. 6, which provides a schematic structural diagram of an intelligent robot according to an embodiment of the present application. As shown in FIG. 6, the intelligent robot 1000 may include: at least one processor 1001, at least one network interface 1004, a user interface 1003, a memory 1005, and at least one communication bus 1002.

Among them, the communication bus 1002 is used to implement connection and communication between these components.

The user interface 1003 may include a display screen (Display) and a camera (Camera), and the optional user interface 1003 may also include a standard wired interface and a wireless interface.

Among them, the network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

The processor 1001 may include one or more processing cores. The processor 1001 uses various excuses and lines to connect various parts of the entire electronic device 1000, and executes by running or executing instructions, programs, code sets, or instruction sets stored in the memory 1005, and calling data stored in the memory 1005. Various functions and processing data of the electronic device 1000. Optionally, the processor 1001 may use at least one of digital signal processing (Digital Signal Processing, DSP), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA), and Programmable Logic Array (Programmable Logic Array, PLA). A kind of hardware form to realize. The processor 1001 may be integrated with one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), a modem, and the like. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is used for rendering and drawing the content that the display needs to display; the modem is used for processing wireless communication. It is understandable that the above-mentioned modem may not be integrated into the processor 1001, but may be implemented by a chip alone.

The memory 1005 may include random access memory (Random Access Memory, RAM), and may also include read-only memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer-readable storage medium. The memory 1005 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 1005 may include a program storage area and a data storage area, where the program storage area may store instructions for implementing the operating system and instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), Instructions used to implement the foregoing method embodiments, etc.; the storage data area can store the data involved in the foregoing method embodiments, etc. Optionally, the memory 1005 may also be at least one storage system located far away from the foregoing processor 1001. As shown in FIG. 6, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a robot control application program.

In the smart robot 1000 shown in FIG. 6, the user interface 1003 is mainly used to provide an input interface for the user to obtain data input by the user; and the processor 1001 can be used to call the robot control application program stored in the memory 1005, and specifically Do the following:

Receive the movement instruction, and control the robot to move to the target position according to the movement instruction;

Obtain the coordinate point of the target location on the map;

In an embodiment, the processor 1001 further performs the following operations before executing the receiving movement instruction:

Obtain the coordinate points of the target area;

Mark the coordinate points of the target area on the map to generate the location points of the target area;

Obtain the intelligent algorithm or control mode corresponding to the location point of the target area;

Configure the mapping relationship based on the intelligent algorithm or control mode corresponding to the target area location point and the target area location point.

In one embodiment, when the processor 1001 executes the intelligent algorithm or control mode to control the robot to complete the function corresponding to the intelligent algorithm or control mode, the processor 1001 specifically performs the following operations:

When it is an intelligent algorithm, the robot is controlled according to the intelligent algorithm to complete the function corresponding to the intelligent algorithm.

When in the control mode, the robot is controlled according to the control mode to complete the functions corresponding to the control mode.

In an embodiment, when the processor 1001 executes the movement instruction to control the robot to move to the target position, it specifically executes the following operations:

Obtain the coordinate point of the target position;

Get the coordinates of the current position;

In one embodiment, when the processor 1001 executes the preset path planning algorithm to control the robot to move from the current position coordinate point to the target position coordinate point, the processor 1001 specifically performs the following operations:

The controlling the robot to move from the current position coordinate point to the target position coordinate point based on a preset path planning algorithm includes:

A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer readable storage medium. When executed, it may include the procedures of the above-mentioned method embodiments. Wherein, the storage medium can be a magnetic disk, an optical disc, a read-only storage memory or a random storage memory, etc.

The above-disclosed are only preferred embodiments of this application, and of course the scope of rights of this application cannot be limited by this. Therefore, equivalent changes made according to the claims of this application still fall within the scope of this application.

Claims

A robot control method, characterized in that the method includes:

Receiving a movement instruction, and controlling the robot to move to a target position according to the movement instruction;

Acquiring the coordinate point of the target position in the map;

Switch to the intelligent algorithm or control mode corresponding to the coordinate point based on the pre-configured mapping relationship;

Based on the intelligent algorithm or control mode, the robot is controlled to complete the function corresponding to the intelligent algorithm or control mode.
The method according to claim 1, wherein before the receiving the movement instruction, the method further comprises:

Obtain the coordinate points of the target area;

Marking the coordinate points of the target area on a map to generate the position points of the target area;

Acquiring the intelligent algorithm or control mode corresponding to the location point of the target area;

The mapping relationship is configured based on the intelligent algorithm or control mode corresponding to the target area location point and the target area location point.
The method according to claim 1 or 2, wherein the controlling the robot based on the intelligent algorithm or control mode to complete the function corresponding to the intelligent algorithm or control mode comprises:

In the case of the intelligent algorithm, the robot is controlled according to the intelligent algorithm to complete the function corresponding to the intelligent algorithm.
The method according to claim 1 or 2, wherein the controlling the robot based on the intelligent algorithm or control mode to complete the function corresponding to the intelligent algorithm or control mode comprises:

When it is the control mode, the robot is controlled according to the control mode to complete the function corresponding to the control mode.
The method according to claim 1, wherein the controlling the robot to move to the target position according to the movement instruction comprises:

Obtain the coordinate point of the target position;

Get the coordinates of the current position;

Based on a preset path planning algorithm, the robot is controlled to move from the current position coordinate point to the target position coordinate point.
The method according to claim 5, wherein the controlling the robot to move from the current position coordinate point to the target position coordinate point based on a preset path planning algorithm comprises:

Calculate multiple position coordinate points around the current position coordinate point to generate a position coordinate point set;

When the position coordinate point in the position coordinate point set coincides with the target position coordinate point, the calculation is stopped, and the coincident position coordinate point is generated;

Planning an optimal path based on the coincident position coordinate point and the current position coordinate point;

Based on the optimal path, the robot is controlled to move to the target position coordinate point.
A robot control system, characterized in that the system includes:

The control movement module is configured to receive a movement instruction, and control the robot to move to a target position according to the movement instruction;

A position obtaining module, used to obtain the coordinate point of the target position in the map;

The function switching module is configured to switch to the intelligent algorithm or control mode corresponding to the coordinate point based on the pre-configured mapping relationship;

The function completion module is used to control the robot based on the intelligent algorithm or control mode to complete the function corresponding to the intelligent algorithm or control mode.
A computer storage medium, wherein the computer storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the method steps according to any one of claims 1 to 6.
An intelligent robot, comprising: a processor and a memory; wherein the memory stores a computer program, and the computer program is adapted to be loaded by the processor and executed as claimed in any one of claims 1 to 6 Method steps.