CN110737265A - Control method and device for robots, electronic equipment and storage medium - Google Patents
Control method and device for robots, electronic equipment and storage medium Download PDFInfo
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- CN110737265A CN110737265A CN201910860977.3A CN201910860977A CN110737265A CN 110737265 A CN110737265 A CN 110737265A CN 201910860977 A CN201910860977 A CN 201910860977A CN 110737265 A CN110737265 A CN 110737265A
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- 238000000034 method Methods 0.000 title claims description 46
- 238000003860 storage Methods 0.000 title claims description 9
- 238000004140 cleaning Methods 0.000 claims abstract description 35
- 238000004891 communication Methods 0.000 claims description 19
- 238000004590 computer program Methods 0.000 claims description 15
- 230000015654 memory Effects 0.000 claims description 13
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000007547 defect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 238000010408 sweeping Methods 0.000 description 2
- 230000003749 cleanliness Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The technical scheme includes that the robot can be cleaned through manual remote control of a user, the defects that the robot cannot clean completely and cannot clean a dead corner in place due to cleaning according to a self-planned route are overcome, the region needing to be increased in cleaning level can be determined through receiving a detection report of the robot, and in addition, the user can control the robot to clean in a way of editing the route by himself.
Description
Technical Field
The present application relates to the field of intelligent terminal technologies, and in particular, to a control method and apparatus for robots, an electronic device, and a storage medium.
Background
With the development of the internet, more and more scientific and technical products are brought into our lives and become indispensable articles in the lives of people, such as electric cookers, air conditioners, refrigerators and the like, while the intelligent sweeping robot plays an increasingly important role in the lives of people as kinds of life articles for automatically operating and sweeping houses.
Disclosure of Invention
In order to solve the technical problems that an intelligent robot cannot meet the requirements of a user under the condition of no human intervention, such as incomplete ground cleaning and incomplete dead angle cleaning, the application provides robot control methods and devices, electronic equipment and storage media.
, the present application provides a method of controlling robots, the method comprising:
acquiring an area to be cleaned of the robot;
generating a control instruction according to operation information received by a terminal, wherein the control instruction is used for controlling the robot to run in the area to be cleaned according to a route indicated by the user operation information;
and sending the control instruction to the robot.
In possible embodiments, the acquiring the area to be cleaned of the robot includes:
acquiring a work map of the environment where the robot is located;
displaying the operation map in a preset area;
determining an area to be cleaned of the robot based on the job map.
In possible embodiments, the generating a control instruction according to the operation information received by the terminal includes:
determining a corresponding control mode according to the selected operation received by the terminal;
generating a control interface based on the control mode;
receiving operation information acting on the control interface;
and generating a control instruction according to the operation information.
In possible embodiments, the generating the control instruction according to the operation information includes:
controlling the motion state of the robot in real time according to the remote control operation acted on the control interface;
or planning the cleaning route of the robot according to the editing operation acted on the control interface.
In possible embodiments, the method further comprises:
determining a cleaning grade according to the remote control operation;
wherein, the determining the cleaning grade according to the remote control operation specifically comprises:
detecting a pressure value of the remote control operation;
and when the pressure value is greater than or equal to a preset pressure value, determining a cleaning grade corresponding to the pressure value according to the corresponding relation between the pressure and the cleaning grade.
In possible embodiments, the method further comprises:
acquiring motion parameters of the robot on the cleaning route in real time;
when the motion parameters do not accord with the target parameters, a correction instruction is sent to the robot;
wherein the operating parameters include: acceleration, angle, and orientation.
In possible embodiments, the method further comprises:
periodically acquiring the current coordinates of the robot;
determining a cleaned area of the robot according to the current coordinate and the initial coordinate;
adjusting the cleaned area to a preset brightness at a corresponding part of the area to be cleaned.
In a second aspect, the present application provides a control apparatus for kinds of robots, the control apparatus including:
the acquisition module is used for acquiring an area to be cleaned of the robot;
the generating module is used for generating a control instruction according to the operation information received by the terminal, and the control instruction is used for controlling the robot to run in the area to be cleaned according to the route indicated by the user operation information;
and the sending module is used for sending the control instruction to the robot.
In a third aspect, the application provides kinds of electronic devices, which include a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus;
the memory is used for storing a computer program;
the processor is configured to implement the above method steps when executing the computer program.
In a fourth aspect, the present application provides computer-readable storage media having stored thereon a computer program which, when executed by a processor, performs the above-described method steps.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages: according to the technical scheme, two control methods are provided, wherein the robot can be manually and remotely controlled by a user to clean, so that the defects that the robot cannot clean thoroughly and cannot clean dead corners in place due to cleaning according to a self-planned route are overcome; the cleaning grade area needing to be increased can be determined by receiving a detection report of the robot; in addition, the user can edit the route by himself to control the robot cleaning.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification , illustrate embodiments consistent with the invention and together with the description , serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a flowchart of a control method for robots according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of interfaces for selecting control modes according to an embodiment of the present disclosure;
FIG. 3 is a flowchart of a control method for robots according to another embodiment of the present application;
FIG. 4 is a schematic illustration of control interfaces provided in an embodiment of the present application;
FIG. 5 is a flowchart of a control method for robots according to another embodiment of the present application;
FIG. 6 is a schematic illustration of control interfaces provided in another embodiment of the present application;
FIG. 7 is a schematic diagram of display interfaces provided in an embodiment of the present application;
fig. 8 is a block diagram of a control device of robots according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of electronic devices according to an embodiment of the present application.
Detailed Description
For purposes of making the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be described in detail and completely with reference to the drawings of the embodiments of the present application, and it is obvious that the described embodiments are partial embodiments of of the present application, rather than all embodiments.
The present application provides a control method, an apparatus, an electronic device, and a storage medium for types of robots, and first introduces a control method for types of robots provided in an embodiment of the present invention.
The method provided by the embodiment of the invention can be applied to any required electronic equipment, for example, the electronic equipment can be electronic equipment such as a server and a terminal, and the method is not particularly limited herein, and is hereinafter simply referred to as electronic equipment for convenience in description.
Fig. 1 is a flowchart of a control method for robots according to an embodiment of the present application, where as shown in fig. 1, the method includes the following steps:
step S11, acquiring the area to be cleaned of the robot;
step S12, generating a control instruction according to the operation information received by the terminal, wherein the control instruction is used for controlling the robot to run in the area to be cleaned according to the route indicated by the operation information;
step S13, a control command is sent to the robot.
In this embodiment, a work map of an environment where the robot is located is first acquired, where the work map may be generated by scanning the surrounding environment by the robot, or acquired according to historical driving data of the robot, or a work map stored in a terminal in advance by a user, and then the acquired work map is displayed in a preset area. For example, the robot detects the current indoor environment, and receives the detection result sent by the robot, and when the detection result shows that the cleanliness of the floor in the kitchen does not accord with the standard value, the area where the kitchen is located is used as the area to be cleaned in the operation map.
In this embodiment, a user may select a control mode by himself, fig. 2 is an interface schematic diagram of selection control modes provided in this embodiment, and with reference to fig. 2, the modes provided in this embodiment include route editing and real-time control, the selected operation received by the terminal is first obtained, a corresponding control mode is determined according to the selected operation, a control interface is generated based on the control mode, and operation information acting on the control interface is received, where the operation information may be a travel route of the robot remotely controlled or previously edited by the user in real time, a control instruction is generated according to the operation information, and the control instruction is sent to the robot, so that the robot travels in an area to be cleaned according to the route indicated by the operation information.
In the following, the two kinds of operation information are described in detail, and fig. 3 is a flowchart of a control method for kinds of robots according to an embodiment of the present application, and as shown in fig. 3, the method includes the following steps:
s33, receiving remote control operation acting on the control interface;
and S34, generating a control command according to the remote control operation, wherein the control command is used for controlling the motion state of the robot in real time.
In this embodiment, a real-time remote control mode is introduced first, fig. 4 is a schematic diagram of control interfaces provided in this embodiment, and with reference to fig. 4, after the real-time remote control mode is selected, virtual wheels are generated on the control interface at this time, and are used for controlling the state of the robot, such as forward movement, backward movement, or in-situ rotation, according to the virtual wheels, and further, a cleaning level may be determined according to a remote control operation, specifically, by detecting a pressure value of the remote control operation, determining whether the pressure value exceeds a preset threshold, and when the pressure value is greater than or equal to the preset threshold, querying a table of correspondence between the pressure value and the cleaning level, obtaining the cleaning level corresponding to the pressure value.
Fig. 5 is a flowchart of a control method for robots according to an embodiment of the present application, where as shown in fig. 5, the method includes the following steps:
s53, identifying editing operation acting on the control interface;
s54, determining a cleaning route of the robot based on the editing operation;
and S55, generating a control command according to the cleaning route so that the robot runs according to the cleaning route.
The control method in this embodiment further includes a route editing step, fig. 6 is a schematic diagram of control interfaces provided in another embodiment of the present application, and with reference to fig. 6, after a user selects to enter a route editing mode, editing interfaces are generated on the control interface at this time, a sliding track acting on a planning interface is identified, a cleaning route is generated according to the sliding track, specifically, the number of times of overlapping some sliding tracks can be obtained, and the number of times of cleaning a route corresponding to the sliding track is determined according to the number of times of overlapping.
In addition, the reservation function can be realized in the embodiment, the user can set the execution time after planning the route, the preset cleaning route can be divided into a plurality of road sections, and the specific cleaning time and the cleaning grade of each road section can be set by himself.
Fig. 7 is a schematic diagram of display interfaces provided in an embodiment of the present application, and as shown in fig. 7, the control method provided in this embodiment further includes periodically acquiring current coordinates of the robot, determining a cleaned area according to the current coordinates and the initial coordinates, and adjusting the cleaned area to a preset brightness at a corresponding portion of the area to be cleaned.
Fig. 8 is a block diagram of a control apparatus for kinds of robots according to an embodiment of the present application, and as shown in fig. 8, the apparatus includes:
an obtaining module 801, configured to obtain an area to be cleaned of the robot;
a generating module 802, configured to generate a control instruction according to operation information received by a terminal, where the control instruction is used to control the robot to travel in the area to be cleaned according to a route indicated by the operation information;
a sending module 803, configured to send the control instruction to the robot.
The embodiment of the application further provides electronic devices, and as shown in fig. 9, the electronic devices may include a processor 1501, a communication interface 1502, a memory 1503, and a communication bus 1504, where the processor 1501, the communication interface 1502, and the memory 1503 complete communication with each other through the communication bus 1504.
A memory 1503 for storing a computer program;
the processor 1501 is configured to implement the steps of the above-described method embodiments when executing the computer program stored in the memory 1503.
The communication bus mentioned in the above electronic device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. the communication bus may be divided into an address bus, a data bus, a control bus, etc. for convenience of illustration, only thick lines are used to indicate the bus, but not only buses or types of buses.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include Random Access Memory (RAM) or Non-Volatile Memory (NVM), such as at least disk memories, and optionally at least Memory devices located remotely from the processor.
The Processor may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Array (FPGA), or other Programmable logic device, discrete , or a transistor logic device, discrete hardware components.
The present application further provides computer-readable storage media having stored thereon a computer program that, when executed by a processor, performs the steps of:
acquiring a to-be-cleaned area of the robot;
generating a control instruction according to the operation information received by the terminal, wherein the control instruction is used for controlling the robot to run in the area to be cleaned according to the route indicated by the operation information;
and sending the control instruction to the robot.
Optionally, the computer program, when executed by the processor, further implements the steps of: acquiring an area to be cleaned of a robot, comprising:
acquiring a work map of an environment where the robot is located;
displaying the operation map in a preset area;
an area to be cleaned of the robot is determined based on the job map.
Optionally, the computer program, when executed by the processor, further implements the steps of:
generating a control instruction according to the operation information received by the terminal, wherein the control instruction comprises the following steps:
determining a corresponding control mode according to the selected operation received by the terminal;
generating a control interface based on the control mode;
receiving operation information acting on a control interface;
and generating a control instruction according to the operation information.
Optionally, the computer program, when executed by the processor, further implements the steps of:
generating a control instruction according to the operation information, comprising:
controlling the motion state of the robot in real time according to the remote control operation acted on the control interface;
or planning the cleaning route of the robot according to the editing operation acted on the control interface.
Optionally, the computer program, when executed by the processor, further implements the steps of: the method further comprises the following steps: determining a cleaning grade according to remote control operation;
wherein, confirm the clean grade according to remote control, include specifically:
detecting a pressure value of remote control operation;
and when the pressure value is greater than or equal to the preset pressure value, determining the cleaning grade corresponding to the pressure value according to the corresponding relation between the pressure and the cleaning grade.
Optionally, the computer program, when executed by the processor, further implements the steps of: the method further comprises the following steps: acquiring motion parameters of the robot on a cleaning route in real time;
when the motion parameters do not accord with the target parameters, a correction instruction is sent to the robot;
wherein the operating parameters include: acceleration, angle, and orientation.
Optionally, the computer program, when executed by the processor, further implements the steps of: the method further comprises the following steps:
periodically acquiring the current coordinates of the robot;
determining a cleaned area according to the current coordinate and the initial coordinate;
adjusting the cleaned area to a preset brightness at a corresponding portion of the area to be cleaned.
It should be noted that, for the above-mentioned apparatus, electronic device and computer-readable storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiments.
it is stated that relational terms such as "" and "second," etc. may be used herein to distinguish entities or operations from another entities or operations without requiring or implying any such actual relationship or order between such entities or operations, further that the terms "comprise," "include," or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises the series of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
It will thus be appreciated that the present invention is not limited to the embodiments illustrated herein but is to be accorded the widest scope consistent with the principles and novel features as herein claimed.
Claims (10)
1, A control method of robot, comprising:
acquiring a to-be-cleaned area of the robot;
generating a control instruction according to operation information received by a terminal, wherein the control instruction is used for controlling the robot to run in the area to be cleaned according to a route indicated by the operation information;
and sending the control instruction to the robot.
2. The method of claim 1, wherein the acquiring the area to be cleaned of the robot comprises:
acquiring a work map of the environment where the robot is located;
displaying the operation map in a preset area;
determining an area to be cleaned of the robot based on the job map.
3. The method according to claim 1, wherein the generating a control command according to the operation information received by the terminal comprises:
determining a corresponding control mode according to the selected operation received by the terminal;
generating a control interface based on the control mode;
receiving operation information acting on the control interface;
and generating a control instruction according to the operation information.
4. The method of claim 3, wherein the generating the control instruction according to the operation information comprises:
controlling the motion state of the robot in real time according to the remote control operation acted on the control interface;
or planning the cleaning route of the robot according to the editing operation acted on the control interface.
5. The method of claim 4, further comprising:
determining a cleaning grade according to the remote control operation;
wherein, the determining the cleaning grade according to the remote control operation specifically comprises:
detecting a pressure value of the remote control operation;
and when the pressure value is greater than or equal to a preset pressure value, determining a cleaning grade corresponding to the pressure value according to the corresponding relation between the pressure and the cleaning grade.
6. The method of claim 4, further comprising:
acquiring motion parameters of the robot on the cleaning route in real time;
when the motion parameters do not accord with the target parameters, a correction instruction is sent to the robot;
wherein the operating parameters include: acceleration, angle, and orientation.
7. The method of claim 1, further comprising:
periodically acquiring the current coordinates of the robot;
determining a cleaned area of the robot according to the current coordinates and the initial coordinates;
adjusting the cleaned area to a preset brightness at a corresponding part of the area to be cleaned.
A control device for a robot of the type 8, , comprising:
the acquisition module is used for acquiring an area to be cleaned of the robot;
the generating module is used for generating a control instruction according to operation information received by a terminal, and the control instruction is used for controlling the robot to run in the area to be cleaned according to a route indicated by the operation information;
and the sending module is used for sending the control instruction to the robot.
9, kinds of electronic equipment, which is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus;
the memory is used for storing a computer program;
the processor, when executing the computer program, is configured to perform the method steps of any of claims 1-7.
10, computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method steps of any of claims 1-7 to .
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910860977.3A CN110737265A (en) | 2019-09-11 | 2019-09-11 | Control method and device for robots, electronic equipment and storage medium |
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| CN201910860977.3A CN110737265A (en) | 2019-09-11 | 2019-09-11 | Control method and device for robots, electronic equipment and storage medium |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111476904A (en) * | 2020-03-09 | 2020-07-31 | 珠海格力电器股份有限公司 | Equipment control method, device, system, electronic equipment and storage medium |
| CN112230658A (en) * | 2020-10-15 | 2021-01-15 | 珠海格力电器股份有限公司 | Motion control method and device of sweeping robot and sweeping robot |
| CN113495937A (en) * | 2020-03-20 | 2021-10-12 | 珠海格力电器股份有限公司 | Robot control method and device, electronic equipment and storage medium |
| WO2022095327A1 (en) * | 2020-11-05 | 2022-05-12 | 深圳市锐曼智能装备有限公司 | Cleaning robot control system and method for generating cleaning route |
| CN114947664A (en) * | 2022-06-22 | 2022-08-30 | 汇智机器人科技(深圳)有限公司 | Control method and system applied to laser guidance of sweeping robot |
| CN115024660A (en) * | 2022-06-29 | 2022-09-09 | 深圳市景创科技电子股份有限公司 | Cleaning robot control method and device |
| CN117478714A (en) * | 2023-11-09 | 2024-01-30 | 南京特沃斯清洁设备有限公司 | Cleaning equipment control method and device based on Internet of things |
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| CN114947664A (en) * | 2022-06-22 | 2022-08-30 | 汇智机器人科技(深圳)有限公司 | Control method and system applied to laser guidance of sweeping robot |
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