CN114603556A

CN114603556A - Robot control method, control system, electronic device and readable storage device

Info

Publication number: CN114603556A
Application number: CN202210216565.8A
Authority: CN
Inventors: 玉乐; 孙承满; 王银
Original assignee: Shenzhen Innovpower Technology Co ltd
Current assignee: Shenzhen Innovpower Technology Co ltd
Priority date: 2022-03-07
Filing date: 2022-03-07
Publication date: 2022-06-10

Abstract

The application discloses a cleaning robot control method. The method comprises the steps of obtaining a cleaning instruction; responding to a cleaning instruction, starting a first navigation module, and guiding the robot to leave the warehouse by using the first navigation module so as to control the robot to complete a cleaning task according to the cleaning instruction; responding to the completion of the cleaning task, starting a second navigation module, and guiding the robot to enter a warehouse by using the first navigation module and the second navigation module; the second navigation module is a magnetic stripe navigation module. The application also discloses a cleaning robot control system, electronic equipment and a computer readable storage device. By means of the mode, the cleaning robot can accurately finish warehouse entry and exit operations to carry out cruising and task execution.

Description

Robot control method, control system, electronic device and readable storage device

Technical Field

The present disclosure relates to the field of machine control, and more particularly, to a cleaning robot control method, a cleaning robot control system, an electronic device, and a computer storage device.

Background

With the rapid development of new energy technologies, solar photovoltaic power generation has been widely used, and various photovoltaic power stations matching local environmental conditions, such as large-scale ground photovoltaic power stations, roof-distributed photovoltaic power stations, and the like, are generated. And because the photovoltaic power plant panel need receive the sunlight, consequently need keep photovoltaic panel's clean and tidy, avoid sheltering from of foreign matter to hinder, influence photovoltaic panel's generating efficiency. At present, the photovoltaic panel is mainly cleaned manually, but the cleaning mode is low in efficiency and large in working difficulty. Another operation and maintenance method is to use a cleaning robot to perform cleaning operation and maintenance. However, the battery capacity of the cleaning robot is limited, and when the battery capacity is exhausted, a charging continuation is needed, and how to automatically control the cleaning robot to accurately complete the in-out operation is needed, so that a plurality of cleaning tasks or a long-time cleaning task are completed in a continuation of a journey, which is a technical problem that needs to be solved urgently by those skilled in the art.

Disclosure of Invention

The present application mainly aims to provide a cleaning robot control method, a cleaning robot control system, an electronic device, and a computer storage device, which can solve the technical problem of how to automatically control a cleaning robot.

In order to solve the above technical problem, the first technical solution adopted by the present application is: a cleaning robot control method is provided. The method comprises the steps of obtaining a cleaning instruction; responding to the cleaning instruction, starting a first navigation module, and guiding the robot to leave the warehouse by using the first navigation module so as to control the robot to complete a cleaning task according to the cleaning instruction; responding to the completion of the cleaning task, starting a second navigation module, and guiding the robot to enter a warehouse by using the first navigation module and the second navigation module; the second navigation module is a magnetic stripe navigation module.

In order to solve the above technical problem, the second technical solution adopted by the present application is: an electronic device is provided. The electronic device comprises a memory for storing program data that can be executed by a processor for implementing the method as described in the first aspect and a processor.

In order to solve the above technical problem, the third technical solution adopted by the present application is: a computer-readable storage device is provided. The computer readable storage means stores program data that can be executed by a processor to implement the method as described in the first aspect.

In order to solve the above technical problem, a fourth technical solution adopted by the present application is: a cleaning robot control system is provided. The system comprises at least one robot; the electronic device according to the second aspect, which is connected to the robot in a communication manner, can implement the method according to the first aspect; the robot garage is provided with a garage entering line, a garage exiting line and a garage entering and exiting positioning device; the warehousing line is longer than the warehousing line, and the warehousing line, the warehousing line and the warehousing-in and warehousing-out positioning device are used for guiding the robot to finish warehousing-in and warehousing-out.

The beneficial effect of this application is: unlike the case of the prior art, the present application guides the cleaning robot by using two kinds of navigation modules. The first navigation mode guides the cleaning robot to go out of the warehouse and helps the cleaning robot to be positioned, so that the cleaning robot can complete cleaning tasks in corresponding cleaning areas, and the second navigation mode is matched with the first navigation mode to guide the cleaning robot to go in the warehouse. The second navigation mode is a magnetic stripe navigation mode, is a control mode for navigating based on a magnetic stripe preset in a field, and can accurately guide the cleaning robot to a specified position when the cleaning robot is put in storage because the cleaning robot navigates according to an object set on the spot. The mutual cooperation of two navigation modes makes cleaning robot can accomplish the warehouse entry operation by oneself to reach the assigned position when putting in storage, thereby can open continuation of journey operations such as charging, and then continue the execution of the task of cleaning next time, make cleaning robot can accomplish a plurality of tasks of cleaning or long-time tasks of cleaning by oneself and need not manual operation.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic flow chart of a cleaning robot control method according to a first embodiment of the present application;

FIG. 2 is a schematic view of a robot garage configuration according to the present application;

fig. 3 is a schematic flow chart of a cleaning robot control method according to a second embodiment of the present application;

fig. 4 is a schematic flowchart of a third embodiment of the cleaning robot control method of the present application;

fig. 5 is a schematic flowchart of a fourth embodiment of the cleaning robot control method of the present application;

fig. 6 is a schematic flowchart of a fifth embodiment of the cleaning robot control method of the present application;

fig. 7 is a schematic flowchart of a cleaning robot control method according to a sixth embodiment of the present application;

fig. 8 is a schematic flowchart of a cleaning robot control method according to a seventh embodiment of the present application;

fig. 9 is a schematic flowchart of a cleaning robot control method according to an eighth embodiment of the present application;

fig. 10 is a schematic flowchart of a ninth embodiment of the cleaning robot control method of the present application;

fig. 11 is a schematic flowchart of a tenth embodiment of the cleaning robot control method of the present application;

fig. 12 is a schematic flowchart of an eleventh embodiment of the cleaning robot control method of the present application;

fig. 13 is a flowchart illustrating a twelfth embodiment of a cleaning robot control method according to the present application;

fig. 14 is a schematic flowchart of a thirteenth embodiment of the cleaning robot control method of the present application;

fig. 15 is a schematic flowchart of a fourteenth embodiment of a cleaning robot control method according to the present application;

FIG. 16 is a schematic structural diagram of an embodiment of an electronic device of the present application;

FIG. 17 is a schematic block diagram of an embodiment of a computer-readable storage device of the present application;

fig. 18 is a schematic structural diagram of an embodiment of the robot control system according to the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first", "second", etc. in this application are used to distinguish between different objects and not to describe a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

As shown in fig. 1, fig. 1 is a schematic flow chart of a cleaning robot control method according to a first embodiment of the present application. Which comprises the following steps:

s11: and acquiring a cleaning instruction.

And acquiring the issued cleaning instruction, and starting the cleaning task by the robot based on the cleaning instruction. The issuing of the cleaning instruction may be determined according to the preset working operation period of the cleaning robot and the meteorological information acquired from the bound meteorological station. When the cleaning robot is in the working period and the weather condition is good, the cleaning command can be transmitted to the cleaning robot.

If the cleaning robot is still in a charging state at the moment, a prompt is given to the user terminal or the superior control terminal to remind whether to stop the charging state or not, and a cleaning instruction is started to be executed.

S12: and responding to a cleaning instruction, starting a first navigation module, and guiding the robot to leave the warehouse by utilizing the first navigation module so as to control the robot to complete a cleaning task according to the cleaning instruction.

When the cleaning task is started, the first navigation mode is started in advance to guide the cleaning robot to exit the robot library. The robot storehouse is provided with parking stall, charging device etc. for clean parking and continuation of the journey of robot charge. The first navigation module is an RTK navigation module. An RTK (Real-time kinematic) carrier phase differential technology is a differential method for processing carrier phase observed quantities of two measuring stations in Real time, and the carrier phase acquired by a reference station is sent to a user receiver for difference solving. The satellite positioning measurement method can obtain a centimeter-level precision measurement result in real time, and greatly improves the working efficiency and precision. During ex-warehouse and person execution, the cleaning robot can work more accurately through RTK navigation, and the problems that repeated cleaning is caused due to insufficient positioning accuracy, the cleaning area is exceeded and the like are solved.

S13: and responding to the completion of the cleaning task, starting a second navigation module, and guiding the robot to enter the warehouse by using the first navigation module and the second navigation module.

And when the cleaning robot finishes the cleaning task or needs to interrupt the current cleaning task based on an emergency to forcibly finish the cleaning task for warehousing, the second navigation module is started. The second navigation module is a magnetic stripe navigation module. The second navigation module carries out positioning guide to cleaning the robot based on the magnetic stripe that sets up in advance in the place to help cleaning the robot and reach appointed position place, and then accomplish subsequent parking and the continuation of the journey operation of cleaning the robot.

In one embodiment, a robot library is shown in FIG. 2.

The robot garage is provided with a warehouse-out line and a warehouse-in line, and the determination of the warehouse-out line and the warehouse-in line can be determined through RTK navigation so as to realize warehouse-in and warehouse-out control of the cleaning robot. The warehousing line is generally longer, the ex-warehouse line is generally shorter, and the warehousing line is longer than the ex-warehouse line. The cleaning robot can start cleaning in time after the cleaning robot finishes delivery, and the long delivery line can enable the robot to have enough space to adjust the position in the delivery process, and perform operations such as turning, reversing and the like, so that the cleaning robot can park at a preset position to start charging. The length of the warehouse-out line in the working area is generally set to be 0.5-2 times of the length of the robot body, and the length of the warehouse-in line in the working area is generally set to be 2-3 times of the length of the robot body. The magnetic strip used for magnetic strip navigation is arranged on the warehousing line, is overlapped with the warehousing line and can be selected to be 10% -100% overlapped with the warehousing line. And when the magnetic stripe sensor detects the magnetic stripe in a warehouse, the magnetic stripe navigation module is started. At the moment, the cleaning robot only depends on the magnetic stripe navigation module to perform warehousing operation until entering a parking space for charging.

As shown in fig. 3, fig. 3 is a schematic flow chart of a cleaning robot control method according to a second embodiment of the present application. This embodiment is a further extension of step S12. Which comprises the following steps:

s21: whether the warehouse-in and warehouse-out positioning device exists is detected.

When the cleaning robot is guided to leave the warehouse to execute a cleaning task, whether the warehouse entering device exists or not needs to be detected firstly. The warehouse-in and warehouse-out device is a metal sheet arranged at the tail part of a parking space of the robot warehouse. The tail of the cleaning robot is provided with a Hall sensor which can detect the metal sheet. When the Hall sensor detects the metal sheet, the cleaning robot is indicated to be parked at the correct position and the charging is finished, and the cleaning robot can be taken out of a warehouse to complete a cleaning task. Step S22 is executed.

S22: and starting the first navigation module to guide the robot to leave the warehouse.

If not, indicating that the parking position of the cleaning robot is incorrect and the charging operation may not be completed, step S23 is performed.

S23: and executing alarm prompt.

And giving an alarm prompt to the user terminal or the superior control end to remind the user of checking the cleaning robot.

The hall sensor and the metal sheet used in this embodiment may be replaced by other devices capable of performing the corresponding detection steps, which is not limited herein.

As shown in fig. 4, fig. 4 is a schematic flow chart of a cleaning robot control method according to a third embodiment of the present application. This embodiment is a further extension of step S13. Which comprises the following steps:

s31: the presence of a magnetic stripe is detected.

In the warehousing process, firstly, the cleaning robot is guided to the end point of the warehousing line in the working area by using an RTK navigation mode, then the cleaning robot moves forward to the robot warehouse, and then the precise warehousing is realized by using magnetic stripe navigation. In the warehousing process, an RTK navigation mode and a magnetic stripe navigation mode need to be switched, and the cleaning robot needs to be enabled to detect the magnetic stripe when the magnetic stripe navigation is used. If the magnetic stripe sensor can detect the magnetic stripe, step S32 is performed.

S32: and guiding the robot to enter the garage only by utilizing the second navigation module.

And closing the RTK navigation mode, and only using magnetic stripe navigation to accurately store the cleaning robot by using a preset magnetic stripe.

As shown in fig. 5, fig. 5 is a schematic flow chart of a cleaning robot control method according to a fourth embodiment of the present application. This embodiment is a further extension of the above-described embodiment. Which comprises the following steps:

s41: a timer is preset, and a first time threshold value and a second time threshold value are set.

In the warehousing process, although the RTK navigation has reached the centimeter-level positioning accuracy, there may still be an error in the travel path such that the magnetic stripe sensor cannot detect the magnetic stripe, and therefore a first time threshold is set for the magnetic stripe detection to handle the situation that the magnetic stripe is not detected. Even if the magnetic stripe navigation is correct, the conditions that the in-out warehouse positioning device is invalid in detection and the like may occur, so that the cleaning robot cannot recognize that the in-out warehouse positioning device advances all the time and cannot stop to a specified position, and therefore a second time threshold value is set according to factors such as the length of a warehouse entry line and the like so as to ensure that the cleaning robot can stop correctly. The timer can start timing when the cleaning robot reaches the end point of the working area where the warehousing line is located.

S42: it is determined whether a magnetic stripe is detected within a first time threshold.

And if the magnetic strip is not detected within the first time threshold, executing alarm prompt.

S43: and judging whether the warehousing-in/out positioning device is detected within a second time threshold.

And if the warehouse-in and warehouse-out positioning device is not detected within the second time threshold, giving an alarm prompt.

S44: and executing alarm prompt.

In one embodiment, a timer can also be set, with a third time threshold set, such as 5 seconds. And when the cleaning robot does not detect the warehousing line in the warehousing process or the magnetic stripe detection module fails due to partial defect of the detected magnetic stripe of the magnetic stripe navigation module, counting down of the third time threshold value is started, and if the warehousing line or the magnetic stripe is detected again in the time range, the timer of the third time threshold value is reset.

As shown in fig. 6, fig. 6 is a schematic flow chart of a cleaning robot control method according to a fifth embodiment of the present application. This embodiment is a further extension of step S12. Which comprises the following steps:

s51: detecting whether a task interruption point exists.

After the cleaning robot is taken out of the warehouse, when a cleaning task is about to be executed, whether a task interruption point exists or not is detected firstly. The task interruption point is a point when the cleaning robot has to stop the cleaning task to put in storage due to an emergency or insufficient power of the cleaning robot. If the task interruption point is detected, go to step S52.

S52: the cleaning task is started from the task interruption point.

And finishing the last unfinished cleaning task from the task interruption point. And after the cleaning is finished, the cleaning task is executed or all the cleaning tasks are finished and the work is stopped when the cleaning is finished.

As shown in fig. 7, fig. 7 is a flowchart illustrating a cleaning robot control method according to a sixth embodiment of the present application. This embodiment is a further extension of step S52. Which comprises the following steps:

s61: and calculating the shortest distance from the current position to the task interruption point.

After the task interruption point is detected, the surrounding environment can be analyzed according to the map information stored in advance, and the shortest distance capable of reaching the task interruption point is obtained.

S62: and controlling the robot to reach a task interruption point according to the shortest distance.

The task interruption point is reached according to the calculated shortest distance, the incomplete cleaning task can be executed as early as possible, and the power resource of the cleaning robot is saved.

As shown in fig. 8, fig. 8 is a schematic flow chart of a cleaning robot control method according to a seventh embodiment of the present application. This embodiment is a further extension of the above-described embodiment. Which comprises the following steps:

s71: whether the electric quantity of the robot is lower than a first threshold value is detected.

During the working process of the cleaning robot, the electric quantity of the robot needs to be detected so as to ensure that the cleaning robot has enough electric quantity to finish warehousing operation and avoid stopping working in case of power failure midway. The first threshold may be set to 20%.

S72: and marking the current position as a task interruption point and controlling the robot to enter the warehouse.

When the fact that the residual capacity of the cleaning robot reaches a first threshold value is detected, current position information is recorded, the position is marked as a task interruption point, and the task interruption point is used for prompting the cleaning robot to continue to execute a cleaning task from the moment after charging is completed. And after the marking is finished, the RTK navigation is used for guiding the cleaning robot to be put in storage.

As shown in fig. 9, fig. 9 is a schematic flowchart of a cleaning robot control method according to an eighth embodiment of the present application. This embodiment is a further extension of the above-described embodiment. Which comprises the following steps:

s81: and detecting whether the current weather condition meets the safe operation condition.

During the working process of the cleaning robot, whether the current weather condition supports the cleaning robot to continue cleaning work needs to be detected.

S82: and marking the current position as a task interruption point and controlling the robot to enter the warehouse.

And if the current weather conditions acquired from the related weather stations cannot meet the safe operation conditions, recording the current position information, and marking the position as a task interruption point for prompting the cleaning robot to continue to execute the cleaning task from the position after the charging is finished. And after the marking is finished, the RTK navigation is used for guiding the cleaning robot to be put in storage.

As shown in fig. 10, fig. 10 is a schematic flow chart of a ninth embodiment of the cleaning robot control method according to the present application. This embodiment is a further extension of the above-described embodiment. Which comprises the following steps:

s91: and detecting whether the current time is in a preset working time period.

The working time period of the cleaning robot can be preset, when the working time period is in, the cleaning robot goes out of the warehouse to complete the cleaning task, and when the working time period is not in, the cleaning robot goes into the warehouse to park or charge.

S92: and marking the current position as a task interruption point and controlling the robot to enter the warehouse.

And if the cleaning robot reaches the non-working time period in the middle of executing the cleaning task, recording the current position information, and marking the position as a task interruption point for prompting the cleaning robot to continue executing the cleaning task from the position after the charging is finished. And after the marking is finished, the RTK navigation is used for guiding the cleaning robot to be put in storage.

In the above embodiment, after the task interruption point is marked, the cleaning robot calculates the shortest return route, where the current position returns to the warehousing line, according to the map information stored in advance, and warehouses the cleaning robot by reaching the warehousing line according to the return route.

As shown in fig. 11, fig. 11 is a schematic flowchart of a tenth embodiment of a cleaning robot control method according to the present application. This embodiment is a further extension of the above-described embodiment. Which comprises the following steps:

s101: detecting whether the motion state of the robot body is deviated from the motion state of a chassis of the robot.

In the cleaning process of the cleaning robot, the motion state of the robot body is compared with the motion state calculated by chassis control of the robot, so as to judge whether the cleaning robot has the problems of slipping and the like. For example, the positioning module collects that the robot body moves by 5 meters, the chassis control device calculates the moving distance of the robot to be 10 meters according to the pulley, and then a deviation threshold value which is set in advance is combined, for example, 1 meter, and the difference value between the calculation result of the positioning module and the calculation result of the chassis control is larger than the deviation threshold value, which indicates that the cleaning robot slips on the road section, so that the actual moving distance is smaller. In the turning process, the positioning module collects course angle information of the robot body, the robot body deviates by 20 degrees, the deflection angle calculated by the chassis control device is 100 degrees, and the difference value between the calculation result of the positioning module and the calculation result of the chassis control is larger than the deviation threshold value by combining a preset deviation threshold value, such as 30 degrees, so that the phenomenon that the cleaning robot slips in the turning process is indicated.

S102: and executing alarm prompt.

When the deviation between the detection result of the motion state of the cleaning robot body and the calculation result of the chassis control device exceeds a set deviation threshold value, the existence of the deviation is determined. The cleaning robot may slip on the road. And giving an alarm prompt to a user to check the road section or the cleaning robot.

As shown in fig. 12, fig. 12 is a schematic flowchart of an eleventh embodiment of a cleaning robot control method according to the present application. This embodiment is a further extension of the above-described embodiment. Which comprises the following steps:

s111: it is detected whether the value of the operating current is greater than a second threshold value and the duration is greater than a third threshold value.

During the working process of the cleaning robot, the working current needs to be continuously detected. If the working current of the cleaning robot is at a large value and lasts for a long time, the relevant module or circuit structure of the cleaning robot may be affected, and the cleaning robot may be damaged. For example, the working current of the cleaning robot is in the range of more than 15000 milliamperes for 100 milliseconds, which indicates that the working current of the cleaning robot is in a dangerous state.

S112: and controlling the robot to stop working and giving an alarm for prompting.

When the working current of the cleaning robot is detected to be abnormal, the related work of the cleaning robot is stopped in time, the cleaning robot is powered off, and a user end is warned to check and repair the robot.

As shown in fig. 13, fig. 13 is a flowchart illustrating a twelfth embodiment of a cleaning robot control method according to the present application. This embodiment is a further extension of the above-described embodiment. Which comprises the following steps:

s121: detecting whether an obstacle exists on the cleaning area.

During cleaning, the cleaning robot can detect whether obstacles such as potholes and cliffs exist in the advancing direction through the sensing module. The sensing module may be a capacitive sensor. Four capacitance sensors are respectively arranged at the left front, the right front, the left rear and the right rear of the cleaning robot to detect the surrounding environment.

S122: it is determined whether the obstacle can be bypassed within the cleaning region.

When an obstacle is detected in the cleaning area, whether the cleaning task can be continuously executed by bypassing the obstacle in the range of the cleaning area is judged. If not, go to step S123.

S123: and executing alarm prompt.

And when judging that the obstacle cannot be bypassed in the range of the cleaning area, giving an alarm prompt to a user terminal or a superior control end so as to remind personnel to check and clean the area where the obstacle exists.

This embodiment is a processing step when the cleaning robot encounters an obstacle while under automatic control.

In another embodiment, the cleaning robot can also be transferred to manual control when encountering an obstacle. When the robot detects that the cleaning area has obstacles, the robot stops working and gives an alarm to the user terminal or the superior control terminal. When the cleaning robot receives an instruction to continue moving in the other direction of the non-obstacle area, the alarm is released and the cleaning task is continuously executed.

As shown in fig. 14, fig. 14 is a schematic flow chart of a cleaning robot control method according to a thirteenth embodiment of the present application. This embodiment is a further extension of step S13. Which comprises the following steps:

s131: whether the warehouse-in and warehouse-out positioning device exists is detected.

When the cleaning robot enters the warehouse, in order to enable the robot to accurately stop at the preset parking position, an in-out warehouse positioning device is arranged at the parking position of the robot warehouse. The device can be a metal sheet positioned at the tail part of the parking position and can be detected by a Hall sensor at the tail part of the cleaning robot so as to prompt the cleaning robot to reach a specified position.

S132: and starting a charging switch to charge the robot.

When the in-out positioning device is detected, the cleaning robot stops moving and stops at a specified position. At this time, the charging switch is turned on to charge the cleaning robot.

In one embodiment, after the cleaning robot stops after the warehousing and ex-warehouse device is detected, the charging switch is turned on after a period of time is delayed to charge the robot, so that the safety of operation is ensured.

As shown in fig. 15, fig. 15 is a flowchart illustrating a fourteenth embodiment of a cleaning robot control method according to the present application. This embodiment is a further extension of the thirteenth embodiment. Which comprises the following steps:

s141: it is detected whether the charging current is valid.

In the process of charging the cleaning robot, the charging current is detected, and whether the charging current is effective or not is judged. When the charging current is larger than a certain preset value, the charging is judged to be effective.

Furthermore, when the charging current is greater than a predetermined value and lasts for a certain time, it can be determined that the charging is effective.

S142: and executing alarm prompt.

If the charging current is not detected, or the charging current is smaller than a preset value, or is larger than the preset value but does not last for a certain time, the charging is judged to be invalid, and an alarm prompt is given to the user terminal or the superior control terminal.

As shown in fig. 16, fig. 16 is a schematic structural diagram of an embodiment of an electronic device according to the present application.

The electronic device includes a processor 110 and a memory 120.

The processor 110 controls the operation of the electronic device, and the processor 110 may also be referred to as a Central Processing Unit (CPU). The processor 110 may be an integrated circuit chip having the processing capability of signal sequences. The processor 110 may also be a general purpose processor, a digital signal sequence processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Memory 120 stores instructions and program data needed for processor 110 to operate.

The processor 110 is configured to execute instructions to implement the methods provided by any of the embodiments and possible combinations of the cleaning robot control methods described above in the present application.

Fig. 17 is a schematic structural diagram of an embodiment of a computer-readable storage device according to the present application, as shown in fig. 17.

An embodiment of the readable storage device includes a memory 210, and the memory 210 stores program data, which when executed, implements the method provided by any one of the embodiments and possible combinations of the cleaning robot control method of the present application.

The Memory 210 may include a medium that can store program instructions, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or may also be a server that stores the program instructions, and the server may send the stored program instructions to other devices for operation, or may self-operate the stored program instructions.

As shown in fig. 18, fig. 18 is a schematic structural diagram of an embodiment of the robot control system of the present application.

The robot control system includes at least one robot 310, such as an electronic device 320 and a robot library 330 as described in the embodiments of the electronic device.

The robot 310 may include a variety of modules. For example, the positioning module is used for updating the position information of the robot in real time; the sensor module is used for receiving sensing data of a corresponding sensor; the map module is used for storing map information of surrounding geographic environment, setting a cleaning area and planning a route; the base station module is used for assisting in more accurate positioning; and the upper computer module is used for recording operation related data, acquiring corresponding instructions and the like.

The sensing module can comprise capacitance sensors which are respectively arranged at the left front part, the right front part, the left rear part and the right rear part of the cleaning robot and used for detecting whether an obstacle area exists around the cleaning robot; the magnetic stripe sensor is arranged below the cleaning robot and used for detecting a magnetic stripe during warehousing so as to perform magnetic stripe navigation; and the Hall sensor is arranged at the tail part of the cleaning robot and used for detecting a metal sheet as a warehouse entering and exiting positioning device so as to ensure that the parking position of the cleaning robot is accurate.

The robot 310 is communicatively coupled to an electronic device 320, the electronic device 320 including a processor and memory.

The processor controls the operation of the electronic device, and may also be referred to as a Central Processing Unit (CPU). The processor may be an integrated circuit chip having the processing capability of the signal sequence. The processor may also be a general purpose processor, a digital signal sequence processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory stores instructions and program data needed for the processor to operate.

The processor is used for executing instructions to realize the method provided by any embodiment and possible combination of the cleaning robot control method.

The robot garage 330 is provided with a garage entrance line, a garage exit line, and a garage entrance and exit positioning device.

The warehousing line is longer than the warehousing line, and the warehousing line, the warehousing line and the warehousing-in and warehousing-out positioning device are used for guiding the robot 310 to complete warehousing-in and warehousing-out.

The robot control system can further comprise a base station, so that the cleaning robot can be positioned more accurately.

In summary, the present application guides the cleaning robot by using two kinds of navigation modules. The first navigation mode guides the cleaning robot to go out of the warehouse and helps the cleaning robot to be positioned, so that the cleaning robot can complete cleaning tasks in corresponding cleaning areas, and the second navigation mode is matched with the first navigation mode to guide the cleaning robot to go in the warehouse. The second navigation mode is a magnetic stripe navigation mode, is a control mode for navigating based on a magnetic stripe preset in a field, and can accurately guide the cleaning robot to a specified position when the cleaning robot is put in storage because the cleaning robot navigates according to an object set on the spot. The mutual cooperation of two navigation modes makes cleaning robot can accomplish the warehouse entry operation by oneself to reach the assigned position when putting in storage, thereby can open continuation of journey operations such as charging, and then continue the execution of the task of cleaning next time, make cleaning robot can accomplish a plurality of tasks of cleaning or long-time tasks of cleaning by oneself and need not manual operation.

In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other manners. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated units in the other embodiments described above may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.

Claims

1. A cleaning robot control method, characterized by comprising:

acquiring a cleaning instruction;

responding to the cleaning instruction, starting a first navigation module, and guiding the robot to leave the warehouse by using the first navigation module so as to control the robot to complete a cleaning task according to the cleaning instruction;

responding to the completion of the cleaning task, starting a second navigation module, and guiding the robot to enter a warehouse by using the first navigation module and the second navigation module;

the second navigation module is a magnetic stripe navigation module.

2. The method of claim 1, wherein the step of starting a first navigation module in response to the cleaning instruction and guiding the robot out of the warehouse by using the first navigation module to control the robot to complete the cleaning task according to the cleaning instruction further comprises the steps of:

detecting whether a warehouse-in and warehouse-out positioning device exists;

if yes, starting the first navigation module to guide the robot to leave the warehouse;

if not, executing alarm prompt.

3. The method of claim 2, wherein the turning on a second navigation module in response to completion of the cleaning task and guiding the robot into the garage using the first navigation module and the second navigation module further comprises:

detecting whether a magnetic stripe exists;

and if so, guiding the robot to enter the warehouse only by utilizing the second navigation module.

4. The method of claim 3, further comprising:

presetting a timer, and setting a first time threshold and a second time threshold;

if the magnetic stripe is not detected within the first time threshold, executing alarm prompt;

5. The method of claim 1, wherein the step of starting a first navigation module in response to the cleaning instruction and guiding the robot out of the warehouse by using the first navigation module to control the robot to complete the cleaning task according to the cleaning instruction further comprises the steps of:

detecting whether a task interruption point exists;

and if so, starting the cleaning task from the task interruption point.

6. The method of claim 5, wherein the starting the cleaning task from the task interruption point comprises:

calculating the shortest distance from the current position to the task interruption point;

and controlling the robot to reach the task interruption point according to the shortest distance.

7. The method of claim 1, wherein the turning on a first navigation module in response to the cleaning instruction and guiding the robot out of the warehouse using the first navigation module to control the robot to complete a cleaning task according to the cleaning instruction further comprises:

detecting whether the electric quantity of the robot is lower than a first threshold value;

and if so, marking the current position as a task interruption point and controlling the robot to enter the warehouse.

8. The method of claim 1, wherein the turning on a first navigation module in response to the cleaning instruction and guiding the robot out of the warehouse using the first navigation module to control the robot to complete a cleaning task according to the cleaning instruction further comprises:

detecting whether the current weather condition meets a safe operation condition;

and if not, marking the current position as a task interruption point and controlling the robot to enter the warehouse.

9. The method of claim 1, wherein the turning on a first navigation module in response to the cleaning instruction and guiding the robot out of the warehouse using the first navigation module to control the robot to complete a cleaning task according to the cleaning instruction further comprises:

detecting whether the current time is in a preset working time period;

10. The method of claim 1, wherein the turning on a first navigation module in response to the cleaning instruction and guiding the robot out of the warehouse using the first navigation module to control the robot to complete a cleaning task according to the cleaning instruction further comprises:

detecting whether the motion state of the robot body is deviated from the motion state of a chassis of the robot or not;

if yes, executing alarm prompt.

11. The method of claim 1, wherein the turning on a first navigation module in response to the cleaning instruction and guiding the robot out of the warehouse using the first navigation module to control the robot to complete a cleaning task according to the cleaning instruction further comprises:

detecting whether the value of the working current is larger than a second threshold value and the duration is larger than a third threshold value;

and if so, controlling the robot to stop working and giving an alarm for prompting.

12. The method of claim 1, wherein the turning on a first navigation module in response to the cleaning instruction and guiding the robot out of the warehouse using the first navigation module to control the robot to complete the cleaning task according to the cleaning instruction further comprises:

detecting whether an obstacle exists on a cleaning area;

if so, judging whether the obstacle can be bypassed in the cleaning area range or not;

if not, alarm prompt is executed.

13. The method of claim 1, wherein said initiating a second navigation module in response to completion of the cleaning task and guiding the robot into the garage using the first navigation module and the second navigation module further comprises:

detecting whether a warehouse-in and warehouse-out positioning device exists;

and if so, starting a charging switch to charge the robot.

14. The method of claim 13, further comprising:

detecting whether the charging current is effective;

if not, executing alarm prompt.

15. An electronic device comprising a memory and a processor, the memory for storing program data executable by the processor to implement the method of any one of claims 1-14.

16. A computer-readable storage means, in which program data are stored, which can be executed by a processor to implement the method according to any one of claims 1-14.

17. A cleaning robot control system, comprising:

at least one robot;

the electronic device of claim 15, communicatively connected with the robot, capable of implementing the method of any of claims 1-14;

the robot garage is provided with a garage entering line, a garage exiting line and a garage entering and exiting positioning device; the warehousing line is longer than the warehousing-out line, and the warehousing line, the warehousing-out line and the warehousing-out positioning device are used for guiding the robot to finish warehousing-out and warehousing.