The invention relates to a mobile robot seat control method comprising ultrasonic sensors, single-chip microcomputers, a positioning single-chip microcomputer, a wireless transceiver module, a control single-chip microcomputer, an encoder, an AD, a potentiometer and motor driver modules. The mobile robot seat control device is equipped with six ultrasonic sensors which are uniformly distributed and mounted under an upper stool surface 101 and are responsible for receiving ultrasonic signals emitted by handheld ultrasonic emitters. The ultrasonic receiving sensors are in pairs, and match the handheld ultrasonic emitters. The function of positioning is achieved based on the triangle theorem. The ultrasonic sensors are of high precision, and have a stable measurement effect. Through use of the ultrasonic sensors, the problem of mutual positioning between a mobile robot seat structure and people is well solved.