Following robot control method, system and equipment and storage medium

The invention provides a following robot control method, a following robot control system, a following robot control device and a storage medium. Generating a regression path for guiding the following robot to return to the target UWB base station according to a pre-constructed global map, the coordinate information of the target UWB base station in the global map and the coordinate information of the following robot in the global map; calculating current coordinate information of the following robot in the global map according to UWB signals sent by three UWB base stations closest to the following robot in the process of controlling the following robot to run according to the regression path; according to the current coordinate information of the following robot and the coordinate information of the target UWB base station, when it is determined that the following robot arrives at the target UWB base station, the following robot is controlled to stop running. 本发明提供一种跟随机器人控制方法、系统、设备及存储介质，其中的方法包括：当跟随机器人从跟随模式切换