CN111185900A

CN111185900A - Robot control method and cleaning robot

Info

Publication number: CN111185900A
Application number: CN201811354369.7A
Authority: CN
Inventors: 高超
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2018-11-14
Filing date: 2018-11-14
Publication date: 2020-05-22
Anticipated expiration: 2038-11-14
Also published as: CN111185900B

Abstract

The embodiment of the application provides a robot control method and a cleaning robot. The method comprises the following steps: acquiring the configuration attribute of at least one sub-area in the robot work area; determining the area processing logic of each sub-area according to the configuration attribute of the at least one sub-area; and planning a walking path and corresponding functional operation of the robot based on the region processing logic of each sub-region. According to the technical scheme provided by the embodiment of the application, the configuration attributes are additionally arranged for each subarea, and a user can meet the use requirements of the user in different environments at different times by adjusting the configuration attributes of the subareas; namely, when the robot is required to shield the sub-area function, a user does not need to remove a physical medium or delete the sub-area on the map; when the robot sub-area function is needed, the physical medium does not need to be placed again or the sub-area does not need to be arranged on the map; the workload of the user is reduced, and the use is more convenient; in addition, the robot work mode switching is more flexible.

Description

Robot control method and cleaning robot

Technical Field

The application relates to the field of robot control, in particular to a robot control method and a cleaning robot.

Background

With the continuous progress of the technology, the functions of the cleaning robot (such as a sweeping robot) are more and more comprehensive. For example, when the cleaning robot travels to an indoor carpet, the suction force is increased and cleaning is performed several times. When the cleaning robot walks onto the wood floor, the suction force is restored to the default suction force; and so on.

A user may place a physical medium (e.g., a magnet) around the carpet to allow the cleaning robot to identify the sub-area where the carpet is located by detecting the physical medium; or, the user sets a sub-area where the carpet is located on the map, and then the robot determines whether to enter the sub-area where the carpet is located according to the area parameters on the map. When a sub-area shielding mode is required for cleaning (i.e. a sub-area of a carpet does not need to be identified), a user needs to manually remove the physical medium or delete the sub-area on the map. When the sub-area mode needs to be enabled again next time, the user needs to reset again.

Disclosure of Invention

The present application provides a robot control method and a cleaning robot that can solve or partially solve the above-described problems.

In one embodiment of the present application, a robot control method is provided. The method comprises the following steps:

acquiring the configuration attribute of at least one sub-area in the robot work area;

determining the area processing logic of each sub-area according to the configuration attribute of the at least one sub-area;

and planning a walking path and corresponding functional operation of the robot based on the region processing logic of each sub-region.

In another embodiment of the present application, a robot control method is provided. The method comprises the following steps:

when the condition that the robot walks to the boundary of a first subregion is monitored, acquiring the configuration attribute of the first subregion;

and when the robot is determined to be allowed to enter the first sub-area according to the first type of attributes in the configuration attributes, performing open-close control on at least one function module on the robot according to a second type of attributes in the configuration attributes so as to perform function operation defined by the second type of attributes when the robot enters the first sub-area to walk.

In yet another embodiment of the present application, a cleaning robot is provided. The cleaning robot includes: a memory and a processor; wherein,

the memory is used for storing programs;

the processor, coupled with the memory, to execute the program stored in the memory to:

In yet another embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises a memory and a processor; wherein,

the memory is used for storing programs;

According to the technical scheme provided by the embodiment of the application, the configuration attributes are additionally arranged for each subarea, and a user can meet the use requirements of the user in different environments at different times by adjusting the configuration attributes of the subareas; namely, when the robot is required to shield the sub-area function, a user does not need to remove a physical medium or delete the sub-area on the map; when the robot sub-area function is needed, the physical medium does not need to be placed again or the sub-area does not need to be arranged on the map; the workload of the user is reduced, and the use is more convenient; in addition, the robot work mode switching is more flexible.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic diagram of a physical partitioning scheme for sub-regions;

FIG. 2 is a schematic diagram of a virtual partitioning scheme for sub-regions;

fig. 3 is a schematic flowchart of a robot control method according to an embodiment of the present disclosure;

FIG. 4 is a schematic flow chart of the embodiment of FIG. 3 further including steps;

fig. 5 is a schematic flowchart of a robot control method according to another embodiment of the present disclosure;

fig. 6 is a schematic flowchart of a robot control method according to another embodiment of the present application;

fig. 7 is a schematic structural diagram of a robot control device according to an embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of a robot control device according to another embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a cleaning robot according to an embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of a cleaning robot according to another embodiment of the present disclosure.

Detailed Description

In the prior art, the sub-regions are divided into two general categories:

the first is physical division

Physical partitioning requires that something detectable by a robot, such as a physical medium (e.g., a magnetic stripe), be manually placed at a set location. For example, a magnetic strip 2 is placed on a cleaning surface (e.g., the edge of a carpet), as shown in FIG. 1; the robot 1 recognizes the magnet 2 to recognize the physically divided sub-regions.

The second is virtual division

For example, the user draws a virtual line (e.g., the sub-area a formed by drawing the virtual line in fig. 2) or a virtual closed space (e.g., the sub-areas B and C in fig. 2) on the map 3 presented on the display screen on the terminal (e.g., a mobile phone) or the robot.

In real use, a user may have different requirements for one or several sub-areas within a working area (e.g. a living room) during a certain work of the robot. If a sub-area (such as an area where a carpet is laid) exists in the living room, sometimes a user needs to increase suction in the area and/or perform cleaning for multiple times, and sometimes the user does not need to perform special treatment on the area, that is, the whole living room area is cleaned by default suction. For convenience of the following description, the former is described as the robot operating in the active sub-area mode, and the latter is described as the robot operating in the shield sub-area mode.

If the sub-area division uses physical division, when the robot is switched from the sub-area enabling mode to the sub-area shielding mode, the user is required to manually take away a physical medium (such as a magnetic strip); the robot switches back to the active sub-area mode from the shield sub-area mode, and the user needs to manually place the magnetic stripe at the set position. The workload of the user is large, and the use is inconvenient.

If the sub-area division uses virtual division, when the robot is switched from the sub-area enabling mode to the sub-area shielding mode, a virtual line or a virtual closed space drawn on a map by a user needs to be deleted. When the robot is switched back to the sub-area shielding mode and the sub-area mode is enabled, a user needs to debug for many times to draw a proper virtual line or a virtual closed space on the map again. The reason that the map needs to be debugged for many times is that the map has errors, and the sub-area drawn by the user according to the scale on the map is different from the ideal sub-area; the user needs to repeatedly adjust the position of the virtual line or the outer contour of the virtual closed space according to the actual running condition of the robot, and then the user can find the appropriate virtual line or virtual closed space. Similarly, although the virtual division can avoid the disassembly and assembly of physical media, the virtual division process is too complicated and is unchanged in use, and the use desire of a user is reduced.

Therefore, the method for adding the configuration attributes to the divided sub-areas is provided, so that various problems in the prior art are solved.

In order to make the technical solutions better understood by those skilled in the art, 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.

In some of the flows described in the specification, claims, and above-described figures of the present application, a number of operations are included that occur in a particular order, which operations may be performed out of order or in parallel as they occur herein. The sequence numbers of the operations, e.g., 101, 102, etc., are used merely to distinguish between the various operations, and do not represent any order of execution per se. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different. Moreover, the described embodiments are only some 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.

Fig. 3 shows a flowchart of a robot control method according to an embodiment of the present application. The execution main body of the method provided by this embodiment may be a control device, and the device may be hardware integrated on the robot and having an embedded program, may also be application software installed in the robot, and may also be tool software embedded in an operating system of the robot, and the like, which is not limited in this embodiment. The robot can be a sweeping robot, a washing and mopping integrated robot and the like. As shown in fig. 3, the method includes:

101. and acquiring the configuration attribute of at least one sub-area in the robot work area.

102. And determining the area processing logic of each sub-area according to the configuration attribute of the at least one sub-area.

103. And planning a walking path and corresponding functional operation of the robot based on the region processing logic of each sub-region.

In the foregoing 101, the configuration attribute of the sub-region includes one or more switch items and the switch states of the switch items; in specific implementation, the switch items may include, but are not limited to, at least one of the following: an entry-forbidding switch item, an exit-forbidding switch item, a water tank outlet switch item, an attraction change switch item and a multiple cleaning switch item. Of course, the configuration attributes of the sub-regions may also be characterized by one or more characteristic parameters; for example, characteristic parameter a characterizes the drive-in prohibition, characteristic parameter b characterizes the drive-out prohibition, characteristic parameter c characterizes the suction level, characteristic parameter d characterizes the water outlet quantity of the water tank, and so on. The switch item has only two states, namely an on state and an off state; the characteristic parameters can change the simple switch into a specific grade by taking different values; the cleaning action of the robot is more refined.

In specific implementation, the configuration attribute of each sub-area can be preset by a user and stored locally; when the robot starts to work, the configuration attributes of each subarea can be acquired from the local. Or, the configuration attribute of each sub-area is stored in a remote device (a mobile phone, a computer, a server, etc.); and when the robot starts to work, the configuration attributes of the sub-areas are acquired from the remote equipment through remote communication.

What needs to be added here is: for the sweeping robot, some robots only have a dust collection function, and some robots are provided with water tank cleaning cloth to enable the water tank cleaning cloth to have the dust collection function and the floor mopping function. For the robot with the water tank cleaning cloth, the switch item can comprise a water tank outlet switch item. Generally, robots with cleaning cloths attached to a water tank are of two types, one type adopts an automatic water seepage water tank, and the cleaning cloths are coated on the water seepage side of the water tank; another type uses a water pump to pump water from the tank to the wipe.

The area processing logic for each sub-area identified by 102 may include logic items associated with path planning. The robot may perform path planning based on logic items associated with the path planning. For example, if the area processing logic of the area a includes a logic item for prohibiting entry into the sub-area a, the robot avoids the sub-area a during the path planning. For another example, when the area processing logic of the area B includes a logic item for prohibiting the robot from exiting the sub-area B, the robot plans only the path of the robot in the sub-area B.

Further, the region processing logic may also include logic items related to the operation of the function. The robot may determine the functional operation to be performed based on the logical item associated with the functional operation. For example, when the area processing logic of the area C includes the logic item for allowing the water tank to flow out, after the robot travels to the area C, the water tank seepage port is opened to seep water to the cleaning cloth on the robot or the water pump is started to pump out the water in the water tank to the cleaning cloth on the robot; for another example, when the area processing logic of the area D includes the logic item for changing the suction force, the robot changes the current suction force (for example, increases the suction force) after traveling to the area D.

According to the technical scheme provided by the embodiment, the configuration attributes are additionally arranged for each subarea, and a user can meet the use requirements of the user in different environments at different times by adjusting the configuration attributes of the subareas; namely, when the robot is required to shield the sub-area function, a user does not need to remove a physical medium or delete the sub-area on the map; when the robot sub-area function is needed, the physical medium does not need to be placed again or the sub-area does not need to be arranged on the map; the workload of the user is reduced, and the use is more convenient; in addition, the robot work mode switching is more flexible.

In one embodiment, the configuration attribute includes at least one switch item and a switch state of each switch item. The following describes a specific implementation process of the step 102 by taking one sub-area of the at least one sub-area as an example. Namely, the at least one sub-area comprises a first sub-area, and the configuration attribute of the first sub-area is a first configuration attribute; correspondingly, the determining of the area processing logic of the first sub-area according to the first configuration attribute may be implemented by the following steps:

1021. acquiring the switch state of at least one switch item contained in the first configuration attribute;

1022. determining a region processing logic of the first sub-region according to the switch state of the at least one switch item.

In specific implementation, the switch item may include, but is not limited to, at least one of the following: an entry-forbidding switch item, an exit-forbidding switch item, a water tank outlet switch item, an attraction change switch item and a multiple cleaning switch item. The on state of a switch term may be characterized by a value of "1" and the off state may be characterized by a value of "0".

The area processing logic includes logic items related to path planning, and accordingly, the step 1022 may specifically include:

if the at least one switch item comprises a drive-in prohibition switch item and the switch state of the drive-in prohibition switch item is an on state, taking a drive-in prohibition logic item related to path planning as one item in the area processing logic of the first sub-area;

if the at least one switch item comprises a drive-in prohibition switch item and the switch state of the drive-in prohibition switch item is an off state, taking a drive-in permission logic item related to path planning as one item in the area processing logic of the first sub-area;

if the at least one switch item comprises an off-line forbidding switch item and the switch state of the off-line forbidding switch item is an on state, taking an off-line forbidding logic item related to path planning as one item in the area processing logic of the first sub-area;

and if the at least one switch item comprises an off-limit switch item and the on-off state of the off-limit switch item is an off state, taking an off-limit allowing logic item related to path planning as one item in the area processing logic of the first sub-area.

The area processing logic includes logic items related to functional operations, and accordingly, the step 1022 may specifically include:

if the at least one switch item comprises a water tank water outlet switch item and the switch state of the water tank water outlet switch item is an on state, taking a water outlet allowing logic item related to functional operation as one of the area processing logics of the first sub-area;

if the at least one switch item comprises a water tank water outlet switch item and the switch state of the water tank water outlet switch item is an off state, taking a water tank water outlet prohibition logic item related to functional operation as one item in the area processing logic of the first sub-area;

if the at least one switch item comprises a suction change switch item and the switch state of the suction change switch item is an on state, taking a suction change logic item related to functional operation as one item in the area processing logic of the first sub-area;

if the at least one switch item comprises a suction force change switch item and the switch state of the suction force change switch item is an off state, taking a suction force invariant logic item related to functional operation as one item in the area processing logic of the first sub-area;

if the at least one switch item comprises a multiple-time cleaning switch item and the switch state of the multiple-time cleaning switch item is an on state, taking a multiple-time cleaning logic item related to functional operation as one item in the area processing logic of the first sub-area;

and if the at least one switch item comprises a multi-time cleaning switch item and the switch state of the multi-time cleaning switch item is an off state, taking a single-time cleaning logic item related to functional operation as one item in the area processing logic of the first sub-area.

In this embodiment, step 103, "planning a driving path and corresponding functional operations of the robot according to the area processing logic of each sub-area" may specifically include the following steps:

1031. and when the area processing logic of a second subarea in the area processing logic of each subarea comprises a drive-out prohibiting logic item, planning a driving path of the robot in the second subarea.

The specific implementation process of the path planning may refer to the prior art, and this embodiment is not described herein again.

1032. And controlling the robot to execute corresponding functional operation when the robot runs in the second subarea according to logic items related to the functional operation and contained in the area processing logic of the second subarea.

For example, when the area processing logic of the second subarea comprises a water outlet allowing logic item, the robot is controlled to open a water seepage port of the water tank to seep water in the water tank into the cleaning cloth when driving in the second subarea, or the water pump is started to pump water in the water tank out of the cleaning cloth. When the area processing logic of the two sub-areas comprises a suction force changing logic item, the power of a fan is improved to increase the suction force when the robot is controlled to run in the second sub-area; and so on.

Here, it should be noted that: the above is merely illustrative of a limited number of possible functional operations of the robot. In specific implementation, the switch items included in the configuration attributes are set by themselves according to the actual situation of the robot, which is not specifically limited in this embodiment.

Further, the step 103 of planning the travel path and the corresponding functional operation of the robot according to the area processing logic of each sub-area may further specifically include the following steps:

1033. and when the area processing logic of at least one third sub-area comprises the entry-forbidden logic item, determining a path planning space based on the boundary information of the at least one third sub-area.

In a specific implementation, at least one third sub-area is removed from the planning space, and the remaining space is the determined path planning space.

1034. And planning a driving path of the robot in the path planning space.

Similarly, path planning can be referred to in the related art, and is not described herein.

1035. And when the robot is monitored to walk in a fourth sub-area according to the driving path, controlling the robot to execute corresponding functional operation according to logic items related to the functional operation and contained in the area processing logic of the fourth sub-area.

As can be seen from the above, in the technical solution provided in this embodiment, a configuration attribute is added to the partitioned sub-areas (including the physically partitioned sub-areas or the virtually partitioned sub-areas), and a user can easily and flexibly switch the robot between the sub-area enabling mode and the sub-area shielding mode by adjusting the configuration attribute. For example, in the first cleaning, a user needs to perform a multiple cleaning function on a certain sub-area, and a switch item (i.e., a multiple cleaning switch item) corresponding to the multiple cleaning function of the sub-area may be turned on; during this cleaning process, the robot will perform multiple cleaning operations for this particular sub-area. During the second cleaning, the user needs to shield the specific subarea for multiple cleaning functions, and the multiple cleaning switch item of the specific subarea can be turned off, so that the robot does not perform multiple cleaning on the specific subarea in the second cleaning process.

The following description describes the control operation of the robot when each switch item is in the on state and the off state.

1. Switch item for forbidding driving in

When the drive-in prohibition switch item is in an on state, the walking range of the robot cannot enter a sub-region of the configuration attribute containing the drive-in prohibition switch item in the on state.

When the drive-in prohibition switch item is in the off state, the robot can enter a sub-region with the configuration attribute containing the drive-in prohibition switch item in the off state when walking.

2. Switch item for forbidding exit

When the on-off switch item is in an on state, the walking range of the robot does not exceed the sub-area of the configuration attribute containing the on-off switch item.

When the off-line forbidding switch item is in an off state, the robot can exceed the sub-area of which the configuration attribute contains the off-line forbidding switch item when walking.

3. Water outlet switch of water tank

When the water outlet switch item of the water tank is in an open state, when the robot walks into a sub-area with configuration attributes containing the water outlet switch item of the water tank in the open state, a water seepage port of the water tank is opened or a water pump is opened, so that water can be drained and mopped for cleaning.

When the water outlet switch item of the water tank is in an off state, the water seepage port of the water tank is closed or the water pump is closed when the robot walks into a sub-area with the configuration attribute containing the water outlet switch item of the water tank in the off state, so as to stop the water outlet of the water tank.

4. Suction changing switch item

When the suction change switch item is in an on state and the robot walks into a sub-area with configuration attributes containing the on state water absorption change switch item, the power of the fan is increased to improve the suction.

When the suction changing switch item is in an off state and the robot walks into a sub-area with configuration attributes containing the on-state water absorption changing switch item, the current power of the fan is not changed, and cleaning is carried out by common suction.

Further, as shown in fig. 4, the method according to the embodiment of the present application may further include the following steps:

104. responding to a sub-region creating event triggered by a user, and acquiring region boundary information of a new sub-region created by the user;

105. setting a region identifier for the new subregion;

106. and storing the boundary information in association with the area identification of the new sub-area.

In the above 104, the user may trigger the sub-area creation event by touching a control key, a touch screen, or the like on the robot; for example, the robot has a touch screen, and after a user draws a virtual line or a virtual closed space on a map displayed on the touch screen and confirms the virtual line or the virtual closed space, the sub-area creation event is triggered. Or after the user completes the creation of the sub-region through a sub-region creation interface of the APP by using a mobile phone (or a device such as a tablet computer), the robot monitors sub-region creation information sent by the mobile phone, and then triggers the sub-region creation event.

When the sub-region is formed after a virtual straight line is drawn by the user, the region boundary information of the sub-region may include coordinates of two ends of the virtual straight line;

when the sub-region is formed by an irregular line drawn by a user, the region boundary information of the sub-region may include coordinates of a plurality of points on the irregular line; of course, in practical application, the more points, the closer to the irregular line;

when the sub-region is formed by a regular virtual closed space drawn by a user, the region boundary of the sub-region can comprise the shape and the coordinates of the shape characteristic points; for example, a circular virtual enclosure forms a sub-region whose regional boundary may include dot coordinates and a radius; the boundary of the device region can comprise the coordinates of one corner of the rectangle and the lengths of two sides extending out from the corner; etc. as long as the position and the area range of the sub-area on the map can be clearly expressed;

when the sub-region is formed by an irregular virtual closed space drawn by a user, the region boundary of the sub-region can comprise coordinates of a plurality of points on the outer contour of the irregular virtual closed space; likewise, the more points the closer to the outer contour of the irregular virtual enclosure.

107. responding to attribute configuration operation of a user for a new sub-area, and determining the configuration attribute of the new sub-area based on the operation result of the attribute configuration operation;

108. associating the configuration attribute with a sub-region identification of the new sub-region.

In 107, the user may configure the attribute of the new sub-area through a corresponding control key on the robot; for example, the robot is provided with a plurality of on-off keys (such as a drive-in prohibition on-off key, a drive-out prohibition on-off key, a water tank outlet on-off key, a suction on-off key, a multiple-cleaning on-off key, and the like), and a user first touches the first control to select a new sub-region as an attribute configuration object, and then touches each on-off key to complete the configuration of the attributes. Or, the user can also use a mobile phone (or a tablet computer and other devices) to perform configuration operation on the attributes of the new sub-region, and after the user operation is completed, the mobile phone (or the tablet computer and other devices) sends the operation result of the user to the robot; for example, a user provides an attribute configuration interface through a mobile phone APP, selects a new sub-area to be configured, then displays on-off keys on a touch interface, and confirms and sends the on-off keys to the robot after the operation is completed.

What is also to be added here is: in the same working space, one type or some switch items of different sub-areas can not be in an on state at the same time. For example, the off-going prohibition switch items cannot be simultaneously in the on state. If the sub-area a and the sub-area B are both in the working area of the robot, and if the off-limit switch items of the sub-area a and the sub-area B are both in the on state, the robot cannot judge in which sub-area the robot travels, that is, confusion of control logic occurs. In order to avoid the problems, for the switch items such as the switch items for forbidding to exit, the robot judges whether the switch items for forbidding to exit of the sub-area are in the on state or not during the configuration of the user, if so, the robot prompts the user that the configuration cannot be performed, or further informs the user that the sub-area of the switch items for forbidding to exit is configured in the on state, so that the user can modify the switch items; if not, the user configuration is allowed.

Besides the

above steps

107 and 108, the attribute configuration operation on the new sub-region can also be implemented as follows. For example, the method according to the embodiment of the present application may further include the following steps:

107', receiving attribute configuration information sent by the mobile terminal aiming at the new subregion;

108', the configuration attributes carried in the attribute configuration information and the sub-area identifications of the new sub-area are stored in a local association manner.

109. setting a region type for the new subregion;

110. and storing the region type in association with the region identification of the new sub-region.

When the cleaning method is specifically implemented, the region types can be divided into: a power cleaning type, a normal cleaning type, etc.; according to the material of the area cleaning surface, the area types can be divided into: wool material type, wood material type, tile material type, and the like; the division basis of the region type is not particularly limited in this embodiment.

111. if the operation result contains a classification switch item and the switch state of the classification switch item is an on state, acquiring at least one fifth sub-area which is the same as the area type of the new sub-area;

112. updating the configuration attribute of the at least one fifth sub-region to the configuration attribute of the new sub-region.

In specific implementation, when attribute configuration is performed on the sub-region, the region type can be configured for the sub-region. For example, in a room, carpets are paved at the sofa and the bedside, and the two places need the same cleaning mode; the area type of the sub-area carpeted at the sofa and the sub-area carpeted at the bedside can be set to be the same. Different sub-regions are classified, a user only needs to perform attribute configuration on one sub-region in the sub-regions, and other sub-regions in the sub-regions are updated synchronously, so that the operation of the user is simplified.

The classification switch item can also be used as an item displayed in the configuration attribute interface, and after the user performs attribute configuration on the target sub-area, if the classification switch item is touched to enable the classification switch item to be in an on state, the configuration attributes of other sub-areas with the same area type as the target sub-area are synchronously updated to the configuration attributes of the target sub-area.

The technical solution provided in this embodiment will be further described with reference to specific application scenarios.

Application scenario 1

The sofa of the user living room is paved with a carpet, and the other areas are wood floors. Because carpet cleaning requires greater suction, users want to configure carpet sub-areas to clean with greater suction in the carpet sub-areas, and with normal suction in sub-areas of the wood floor other than the carpet. And the user opens the APP on the mobile phone and enters a map setting interface. Based on the scale of the map, a carpet border is circled on the touch screen on the map. Because the map has errors, the boundary circled on the map is not completely consistent with the ideal boundary, and a user can adjust the boundary on the map according to the actual running condition of the robot and find the ideal boundary after multiple adjustments. After the boundary is determined, setting a sub-region identifier for the sub-region, and storing boundary information (boundary size, coordinates and the like) in association with the sub-region identifier. A user enters an attribute configuration interface of a mobile phone APP; the attribute configuration interface displays a sub-region identification option and a plurality of switch items (such as a drive-in prohibiting switch item, a drive-out prohibiting switch item, a multi-cleaning switch item, a water tank outlet switch item, a suction change switch item and the like). Assuming that the default states of all the switch items are off states, the user selects the sub-area identification corresponding to the blanket area on the attribute configuration interface, and dials the suction variation switch item to be in an on state; and then selecting a sub-area identifier corresponding to the wood floor area on the attribute configuration interface, and dialing the water outlet switch item of the water tank to be in an on state. After the setting is finished, the user clicks and determines to finish the attribute configuration of the carpet sub-area and the attribute configuration process of the wood floor sub-area. The switch items which are not operated by the user in the configuration process are all in default off states. The user starts the robot to work, and the robot acquires the configuration attributes of the carpet subarea and the wood floor subarea contained in the living room. The robot carries out path planning based on a living room map, and adopts common suction to clean when walking in a wood floor subregion according to a planned path, a water seepage port of a water tank is opened or a water pump is opened so that water flows out of the water tank to be mopped and cleaned through wet cleaning cloth, and the robot is driven away after single cleaning is finished; when the carpet moves to a sub-area of the carpet according to a planned path, the carpet is cleaned by adopting large suction force, a water seepage port of the water tank is closed or a water pump is closed so as to prevent the water tank from discharging water, and the carpet is driven away after the single cleaning is finished.

Application scenario 2

And when the configuration attribute of the carpet subarea is set, the user dials the drive-in prohibition switch item to the on state. When a user sets the configuration attribute of the wood floor subarea, the water outlet switch item of the water tank and the multiple cleaning switch item are switched to be in an on state, the drive-in prohibition switch item, the drive-out prohibition switch item and the suction change switch item are all in an off state. The user starts the robot to work, and the robot acquires the configuration attributes of the carpet subarea and the wood floor subarea contained in the living room. The robot knows that the carpet subarea is prohibited to drive in based on the configuration attribute of the carpet subarea; at the moment, the robot plans a walking path only walking in the wood floor subarea based on the area information of the wood floor subarea; and the water tank is drained by adopting common suction cleaning, a water seepage port of the water tank is opened or a water pump is opened so as to clean the floor by using the wet cleaning cloth, and the floor is driven away or stops working after the cleaning is finished for many times.

What needs to be added here is: after the user dials the entry prohibition switch item to the on state, other switch items on the configuration interface can be displayed in a mode incapable of being touched (such as grey display).

Application scenario 3

When the configuration attribute of the carpet subarea is set, a user dials the off-drive forbidding switch item and the suction force changing switch item to be in an on state, and the off-drive forbidding switch item, the water tank outlet switch item and the multiple cleaning switch item are all in an off state. The user starts the work of robot, and when the robot monitoring current position was in the carpet subregion, based on the regional information of carpet subregion, plan out the walking path that the robot only walked in the carpet subregion to adopt big suction to clean, and the infiltration mouth of water tank is closed or the water pump is closed in order to avoid the water tank to go out water.

Application scenario 4

The user wants to not distinguish sub-areas and the same cleaning strategy is used in the whole area of the living room. At this time, the user can cancel the sub-region function through the mobile phone APP. After the functions of the subareas are cancelled, the robot performs path planning according to the whole area of the living room after starting, and uniformly cleans by adopting common suction and closes a water seepage port of the water tank or a water pump to avoid water outlet of the water tank. After the user cancels the sub-area function, the area information of the carpet sub-area and the corresponding configuration attribute are still stored locally; the next time the user wishes to use the sub-area function, it can also be called out. Compared with the prior art, the technical scheme provided by the embodiment does not need to divide the sub-regions again, and the workload of the user is reduced.

Fig. 5 shows a flowchart of a robot control method according to another embodiment of the present application. The execution main body of the method provided by this embodiment may be a control device, and the device may be hardware integrated on the robot and having an embedded program, may also be application software installed in the robot, and may also be tool software embedded in an operating system of the robot, and the like, which is not limited in this embodiment. The robot can be a sweeping robot, a washing and mopping integrated robot and the like. As shown in fig. 5, the method includes:

201. and when the condition that the robot walks to the boundary of the first subregion is monitored, acquiring the configuration attribute of the first subregion.

202. And when the robot is determined to be allowed to enter the first sub-area according to the first type of attributes in the configuration attributes, performing open-close control on at least one function module on the robot according to a second type of attributes in the configuration attributes so as to perform function operation defined by the second type of attributes when the robot enters the first sub-area to walk.

In the above 201, the first type attribute may include at least one function switch item, and the function switch item may include, but is not limited to: a water outlet switch item of the water tank, a suction change switch item, a multiple cleaning switch item and the like; the second type of attributes may include, but is not limited to: an entry-prohibition switch item and an exit-prohibition switch item.

In 202, "performing open/close control on at least one functional module on the robot according to the second type of attribute in the configuration attributes" may specifically be implemented by:

2021. acquiring the switch state of at least one function switch item contained in the second type attribute;

2022. when the on-off state of the function switch item is the on-state, starting the function module corresponding to the function switch item;

2023. and when the on-off state of the functional switch item is the off state, closing the functional module corresponding to the functional switch item.

Assume that the second type of attribute contains three function switch items, which are respectively: a water outlet switch item of the water tank, a suction force change switch item and a multiple cleaning switch item. If the water outlet switch item of the water tank is in an open state, the water seepage port of the water tank is opened to seep water to the cleaning cloth or a water pump of the robot is started to pump water in the water tank to the cleaning cloth; if the on-off state of the suction change switch item is the on state, the power of the robot fan is increased to increase the suction; and if the on-off state of the multiple-time cleaning switch item is the on state, starting the multiple-time cleaning function module. Here, it should be noted that: the functional modules corresponding to the water outlet switch item and the suction force change item of the water tank are both physical hardware, and the cleaning functional module corresponding to the multiple cleaning switch item is a virtual module, and is started by calling if a section of control program is called. Therefore, the functional module mentioned in this embodiment may be physical hardware (such as a valve or a water pump for controlling a water seepage port of a water tank) on a robot, or may be a virtual module (such as a control program), and the like, which is not specifically limited in this embodiment.

When the first type attribute includes a drive-in prohibition switch item, correspondingly, the method provided by this embodiment may further include the following steps:

203. and when the entry-prohibited switch item is in an off state, determining that the robot can enter the first sub-area, and controlling the robot to enter the first sub-area.

204. And when the entry switch item is in an on state, determining that the robot is prohibited from entering the first sub-area, and controlling the robot to move so as to bypass the first sub-area.

Further, the first type attribute also comprises an off-going prohibition switch item. Correspondingly, the method provided by the embodiment may further include the following steps:

205. and when the switch item for forbidding the running-out is in an on state, controlling the robot to always keep walking in the first sub-area.

206. And when the off-drive prohibiting switch item is in an off state, the robot is controlled to drive away from the first sub-area after the functional operation defined by the configuration attribute is completed in the first sub-area.

What needs to be added here is: in this embodiment, the specific implementation process of the steps that are the same as those in the above embodiment may refer to the corresponding contents in the above embodiment, and details are not described here.

Fig. 6 shows a flowchart of a robot control method according to an embodiment of the present application. As shown in fig. 6, the method includes:

301. and when the condition that the robot walks to the boundary of the first subregion is monitored, acquiring the configuration attribute of the first subregion.

302. Determining whether to allow access to the first sub-area based on an entry of a drive-in prohibition switch; if yes, executing steps 303-306; otherwise, step 308 is performed.

303. And according to a second type of attribute in the configuration attributes, performing open-close control on at least one functional module on the robot so as to perform functional operation defined by the second type of attribute when the robot enters the first sub-area to walk.

304. Determining whether to allow the drive-out from the first sub-area based on an off-drive prevention switch item; if so, go to step 305, otherwise, go to step 306.

305. And after the robot completes the function operation defined by the configuration attribute in the first sub-area, controlling the robot to drive away from the first sub-area.

306. And controlling the robot to always keep walking in the first sub-area.

307. Controlling the robot to move to bypass the first sub-area.

Similarly, the steps in this embodiment that are the same as those in the above embodiments may refer to the corresponding contents in the above embodiments, and are not described herein again.

Application scenario 5

The user presets configuration attributes of a plurality of sub-areas in the living room by using a mobile phone, and the configuration attributes of the sub-areas exist in the robot local. The user starts the robot to work, the robot starts from a starting point to clean, and whether the robot moves to the edge of a preset sub-area or not is monitored while walking. When the robot walks in the wood floor subregion and monitors that the robot moves to the edge of the carpet subregion, the robot calls the configuration attribute of the carpet subregion. And if the first type attribute of the configuration attributes is the drive-in prohibition switch item and the drive-in prohibition switch item is in an on state, the robot bypasses the sub-area of the carpet to continue walking. And if the first type of attribute of the configuration attributes is the drive-in prohibition switch item and the drive-in prohibition switch item is in an off state, the robot enters a carpet subarea, and then the opening and closing of at least one functional module on the robot is controlled according to the second type of attribute of the configuration attributes.

Fig. 7 shows a schematic structural diagram of a robot control device according to an embodiment of the present application. As shown in fig. 7, the apparatus includes: an acquisition module 11, a determination module 12 and a planning module 13. The acquiring module 11 is configured to acquire a configuration attribute of at least one sub-area in a robot work area; the determining module 12 is configured to determine a region processing logic of each sub-region according to the configuration attribute of the at least one sub-region; the planning module 13 is configured to plan a walking path and corresponding functional operations of the robot based on the area processing logic of each sub-area.

Further, the at least one sub-region includes a first sub-region, and a configuration attribute of the first sub-region is a first configuration attribute; and the determination module 22 is further configured to: acquiring the switch state of at least one switch item contained in the first configuration attribute; determining a region processing logic of the first sub-region according to the switch state of the at least one switch item.

Further, the switch item includes at least one of: an entry-forbidding switch item, an exit-forbidding switch item, a water tank outlet switch item, an attraction change switch item and a multiple cleaning switch item.

Further, the region processing logic includes logic items related to path planning; and the determination module 12 is further configured to:

Further, the region processing logic includes logic items related to functional operations; and the determination module 12 is further configured to:

Further, the planning module 23 is further configured to:

when the area processing logic of a second subarea in the area processing logic of each subarea comprises a drive-out prohibiting logic item, planning a driving path of the robot in the second subarea;

and controlling the robot to execute corresponding functional operation when the robot runs in the second subarea according to logic items related to the functional operation and contained in the area processing logic of the second subarea.

Still further, the planning module 13 is further configured to:

the method comprises the steps that area processing logic containing a drive-out prohibiting logic item does not exist in the area processing logic of each sub-area, and when the area processing logic of at least one third sub-area contains a drive-in prohibiting logic item, a path planning space is determined based on the boundary information of the at least one third sub-area;

planning a driving path of the robot in the path planning space;

and when the robot is monitored to walk in a fourth sub-area according to the driving path, controlling the robot to execute corresponding functional operation according to logic items related to the functional operation and contained in the area processing logic of the fourth sub-area.

Further, the robot control apparatus provided in this embodiment may further include:

the obtaining module 11 is further configured to obtain, in response to a sub-region creation event triggered by a user, region boundary information of a new sub-region created by the user;

the setting module is used for setting a region identifier for the new subregion;

and the association module is used for storing the boundary information in association with the area identification of the new sub-area.

Further, in the robot control device provided in this embodiment,

the determining module 12 is further configured to, in response to an attribute configuration operation of a user for a new sub-region, determine a configuration attribute of the new sub-region based on an operation result of the attribute configuration operation;

the association module is further configured to associate the configuration attribute with a sub-region identifier of the new sub-region.

Further, in the robot control device provided by the embodiment of the present application,

the setting module is further configured to set a region type for the new sub-region;

the association module is further configured to store the region type in association with the region identifier of the new sub-region.

the obtaining module 11 is further configured to obtain at least one fifth sub-region of the same region type as the new sub-region if the operation result includes a classification switch item and the switch state of the classification switch item is an on state;

and the updating module is used for updating the configuration attribute of the at least one fifth sub-area into the configuration attribute of the new sub-area.

a receiving module, configured to receive attribute configuration information sent by the mobile terminal for the new sub-area;

the association module is further configured to perform association storage on the configuration attribute carried in the attribute configuration information and the sub-area identifier of the new sub-area locally.

Here, it should be noted that: the robot control device provided in the above embodiments may implement the technical solutions described in the above method embodiments, and the specific implementation principle of each module or unit may refer to the corresponding content in the above method embodiments, and is not described herein again.

Fig. 8 shows a schematic structural diagram of a robot control device according to another embodiment of the present application. As shown in fig. 8, the robot controller includes: an acquisition module 21 and a control module 22. The acquiring module 21 is configured to acquire a configuration attribute of a first sub-area when it is monitored that the robot walks to a boundary of the first sub-area; the control module 22 is configured to, when determining that the robot is allowed to enter the first sub-area according to a first type of attribute in the configuration attributes, perform open/close control on at least one function module on the robot according to a second type of attribute in the configuration attributes, so that the robot performs a function operation defined by the second type of attribute when entering the first sub-area and walking.

In the technical scheme provided by the embodiment of the application, the configuration attribute is added for each subarea, and a user can meet the use requirements of the user in different environments at different time by adjusting the configuration attribute of the subarea; namely, when the robot is required to shield the sub-area function, a user does not need to remove a physical medium or delete the sub-area on the map; when the robot sub-area function is needed, the physical medium does not need to be placed again or the sub-area does not need to be arranged on the map; the workload of the user is reduced, and the use is more convenient; in addition, the robot work mode switching is more flexible.

Further, the second type attribute comprises at least one function switch item; correspondingly, the control module 22 is further configured to:

acquiring the switch state of at least one function switch item contained in the second type attribute;

when the on-off state of the function switch item is the on-state, starting the function module corresponding to the function switch item;

and when the on-off state of the functional switch item is the off state, closing the functional module corresponding to the functional switch item.

Further, the function switch item includes at least one of: a water outlet switch item of the water tank, a suction force change switch item and a multiple cleaning switch item.

Further, the first type attribute comprises a drive-in prohibition switch item; correspondingly, the control module 22 is further configured to:

and when the drive-in prohibition switch item is in an off state, determining that the robot can enter the first sub-area, and controlling the robot to drive into the first sub-area.

And when the entry switch item is in an on state, determining that the robot is prohibited from entering the first sub-area, and controlling the robot to move so as to bypass the first sub-area.

Further, the first type attribute also comprises an off-going prohibition switch item; correspondingly, the control module 22 is further configured to:

when the off-line forbidding switch item is in an on state, controlling the robot to always keep walking in the first sub-area;

and when the off-line forbidding switch item is in an off state, the robot is controlled to drive away from the first subarea after the functional operation defined by the configuration attribute is completed in the first subarea.

Fig. 9 shows a schematic structural diagram of a cleaning robot provided in an embodiment of the present application. As shown, the cleaning robot includes: a memory 31 and a processor 32. Wherein,

the memory 31 is used for storing programs;

the processor 32, coupled to the memory 31, is configured to execute the program stored in the memory 31 to:

The above-mentioned memory 31 may be configured to store other various data to support operations on the cleaning robot. Examples of such data include instructions for any application or method operating on the cleaning robot. The memory 31 may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

The processor 32 may also implement other functions besides the above functions when executing the program in the memory 31, which may be specifically referred to the description of the foregoing embodiments.

Further, as shown in fig. 9, the cleaning robot further includes: display 34, power components 35, audio components 36, communications components 33, and other components. Only some of the components are schematically shown in fig. 9, and it is not meant that the cleaning robot includes only the components shown in fig. 9.

Accordingly, the present application further provides a computer-readable storage medium storing a computer program, where the computer program can implement the steps or functions of the robot control method provided in the foregoing embodiments when the computer program is executed by a computer.

Fig. 10 shows a schematic structural diagram of a cleaning robot provided in an embodiment of the present application. As shown in fig. 10, the cleaning robot includes: a memory 41 and a processor 42. Wherein,

the memory 41 is used for storing programs;

the processor 42, coupled to the memory 41, is configured to execute the program stored in the memory 41 to:

The above-described memory 41 may be configured to store other various data to support operations on the cleaning robot. Examples of such data include instructions for any application or method of operation at the cleaning robot. The memory 41 may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

The processor 42 may also implement other functions besides the above functions when executing the program in the memory 41, which may be specifically referred to the description of the foregoing embodiments.

Further, as shown in fig. 10, the server device further includes: display 44, power components 45, audio components 46, communications components 43, and the like. Only some of the components are schematically shown in fig. 10, and it is not meant that the cleaning robot includes only the components shown in fig. 10.

Here, it should be noted that: the cleaning robot may be a sweeping robot, a sweeping and mopping integrated robot, and the like, which is not particularly limited in this application embodiment.

The above-described embodiments of the apparatus are merely illustrative, and 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 modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A robot control method, comprising:

2. The method according to claim 1, wherein the at least one sub-area includes a first sub-area, and the configuration attribute of the first sub-area is a first configuration attribute; and

determining, according to the first configuration attribute, a region processing logic of the first sub-region, including:

acquiring the switch state of at least one switch item contained in the first configuration attribute;

determining a region processing logic of the first sub-region according to the switch state of the at least one switch item.

3. The method of claim 2, wherein the switching term comprises at least one of:

an entry-forbidding switch item, an exit-forbidding switch item, a water tank outlet switch item, an attraction change switch item and a multiple cleaning switch item.

4. The method of claim 3, wherein the regional processing logic comprises logic items related to path planning; and

determining a region processing logic of the first sub-region according to the switch state of the at least one switch item, comprising:

5. The method of claim 3, wherein the region processing logic comprises logic items related to functional operations; and

6. The method according to any one of claims 1 to 5, wherein planning the travel path and the corresponding functional operation of the robot according to the zone processing logic of the sub-zones comprises:

7. The method of claim 6, wherein planning the travel path and corresponding functional operations of the robot according to the zone processing logic of the sub-zones further comprises:

planning a driving path of the robot in the path planning space;

8. The method of any one of claims 1 to 5, further comprising:

responding to a sub-region creating event triggered by a user, and acquiring region boundary information of a new sub-region created by the user;

setting a region identifier for the new subregion;

and storing the boundary information in association with the area identification of the new sub-area.

9. The method of claim 8, further comprising:

responding to attribute configuration operation of a user for a new sub-area, and determining the configuration attribute of the new sub-area based on the operation result of the attribute configuration operation;

associating the configuration attribute with a sub-region identification of the new sub-region.

10. The method of claim 9, further comprising:

setting a region type for the new subregion;

and storing the region type in association with the region identification of the new sub-region.

11. The method of claim 10, further comprising:

if the operation result contains a classification switch item and the switch state of the classification switch item is an on state, acquiring at least one fifth sub-area which is the same as the area type of the new sub-area;

updating the configuration attribute of the at least one fifth sub-region to the configuration attribute of the new sub-region.

12. The method of claim 8, further comprising:

receiving attribute configuration information sent by the mobile terminal aiming at the new subregion;

and performing local associated storage on the configuration attributes carried in the attribute configuration information and the sub-area identifications of the new sub-area.

13. A robot control method, comprising:

14. The method of claim 13, wherein the second type of attribute comprises at least one function switch item; and

according to the second type of attribute, carrying out open-close control on at least one functional module on the robot, wherein the open-close control comprises the following steps:

15. The method of claim 14, wherein the function switch items comprise at least one of:

a water outlet switch item of the water tank, a suction force change switch item and a multiple cleaning switch item.

16. The method according to any one of claims 13 to 14, wherein the first type of attribute comprises a drive-off switch item; and

the method further comprises the following steps:

when the drive-in prohibition switch item is in an off state, determining that the robot can enter the first sub-area, and controlling the robot to drive into the first sub-area;

17. The method of claim 16, wherein the first type of attribute further comprises an off-drive-prohibited switch item; and

the method further comprises the following steps:

when the switch item for forbidding the running-out is in an on state, controlling the robot to always keep walking in the first sub-area;

and when the off-drive prohibiting switch item is in an off state, the robot is controlled to drive away from the first sub-area after the functional operation defined by the configuration attribute is completed in the first sub-area.

18. A cleaning robot, characterized by comprising: a memory and a processor; wherein,

the memory is used for storing programs;

19. A cleaning robot is characterized by comprising a memory and a processor; wherein,

the memory is used for storing programs;