CN111185900B

CN111185900B - Robot control method and cleaning robot

Info

Publication number: CN111185900B
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: 2023-08-29
Anticipated expiration: 2038-11-14
Also published as: CN111185900A

Abstract

The embodiment of the application provides a robot control method and a cleaning robot. The method comprises the following steps: acquiring configuration attributes of at least one sub-area in a robot work area; determining the region processing logic of each sub-region according to the configuration attribute of the at least one sub-region; and planning a walking path of the robot and corresponding functional operation based on the region processing logic of each sub-region. According to the technical scheme provided by the embodiment of the application, the configuration attribute is 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 attribute of the subarea; namely, when the robot is required to shield the subarea function, a user does not need to remove a physical medium or delete the subarea on the map; when the robot subarea function is needed, the physical medium does not need to be replaced or the subareas are arranged on the map; the workload of the user is reduced, and the use is more convenient; furthermore, 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 technology, cleaning robots (such as sweeping robots) are becoming more and more versatile. For example, when the cleaning robot walks onto a carpet in a room, suction force is increased and cleaning is performed a plurality of times. When the cleaning robot walks to the wood floor, the cleaning robot returns to the default suction force; etc.

A user can place a physical medium (such as a magnet) around the carpet to allow the cleaning robot to identify the subarea in which the carpet is located by detecting the physical medium; or the user sets the subarea where the carpet is located on the map, and then the robot determines whether to enter the subarea where the carpet is located according to the area parameters on the map. When a certain sweep needs to use a pattern of shielded subareas (i.e., no carpet subareas need to be identified), the user needs to manually remove the physical medium or delete subareas on the map. The next time the sub-region mode needs to be enabled, the user resets again.

Disclosure of Invention

The present application provides a robot control method and a cleaning robot capable of solving or partially solving the above problems.

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

acquiring configuration attributes of at least one sub-area in a robot work area;

Determining the region processing logic of each sub-region according to the configuration attribute of the at least one sub-region;

and planning a walking path of the robot and corresponding functional operation 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 robot is monitored to walk to the boundary of the first subarea, acquiring the configuration attribute of the first subarea;

when the permission to enter the first subarea is determined according to the first type of attribute in the configuration attributes, according to the second type of attribute in the configuration attributes, at least one functional module on the robot is controlled to be opened and closed so that the robot walks in the first subarea to perform functional operation defined by the second type of attribute.

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 to the memory, is configured to execute the program stored in the memory for:

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;

According to the technical scheme provided by the embodiment of the application, the configuration attribute is 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 attribute of the subarea; namely, when the robot is required to shield the subarea function, a user does not need to remove a physical medium or delete the subarea on the map; when the robot subarea function is needed, the physical medium does not need to be replaced or the subareas are arranged on the map; the workload of the user is reduced, and the use is more convenient; furthermore, robot work mode switching is more flexible.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

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

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

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

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

fig. 5 is a schematic flow chart of a robot control method according to another embodiment of the present application;

fig. 6 is a flow chart 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 application;

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

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

Fig. 10 is a schematic structural view of a cleaning robot according to another embodiment of the present application.

Detailed Description

In the prior art, the division modes of the subareas are generally divided into two types:

the first is physical partitioning

Physical partitioning requires that things detectable by a robot, such as physical media (e.g., magnetic strips), be placed in a set location. For example, the 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 sub-region physically divided by recognizing the magnet 2.

The second is virtual partitioning

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

In the practical use process, a user can have different requirements on one or a plurality of sub-areas in a working area (such as a living room) in a certain work of the robot. Assuming that there is a sub-area (such as a carpeted area) in the living room, sometimes the user needs to increase the suction force and/or perform multiple cleaning operations on the sub-area, and sometimes the user does not need to perform special treatment on the sub-area, i.e. the entire living room area is cleaned by adopting the default suction force. For convenience of the following description, the former is described as the robot operating in the enabled sub-area mode, and the latter is described as the robot operating in the shielded sub-area mode.

If the subarea division uses physical division, when the robot is switched from enabling the subarea mode to shielding the subarea mode, a user is required to manually take away a physical medium (such as a magnetic stripe); the robot is switched back to the sub-region enabling mode from the sub-region shielding mode, and the magnetic strips are required to be manually placed at the set positions by a user. The user has large workload and inconvenient use.

If the sub-region division uses virtual division, when the robot is switched from enabling the sub-region mode to shielding the sub-region mode, virtual lines or virtual closed spaces drawn by a user on the map need to be deleted. When the robot is switched back to the sub-region enabling mode from the sub-region shielding mode, a user needs to debug for many times to draw a proper virtual line or virtual closed space on the map again. Multiple debugging is needed because the map itself has errors, and the user can be different from the ideal subarea according to the subarea drawn by the scale on the map; the user needs to repeatedly adjust the position of the virtual line or the outline of the virtual closed space according to the actual running condition of the robot so as to find a proper virtual line or virtual closed space. Similarly, the virtual division can avoid the disassembly and assembly of the physical medium, but the virtual division process is too complicated, the use is unchanged, and the use desire of users is reduced.

Therefore, the application provides a mode for adding configuration attributes for divided subareas so as to solve a plurality of problems in the prior art.

In order to enable those skilled in the art to better understand the present application, the following description will make clear and complete descriptions of the technical solutions according to the embodiments of the present application with reference to the accompanying drawings.

In some of the flows described in the description of the application, the claims, and the figures described above, a number of operations occurring in a particular order are included, and the operations may be performed out of order or concurrently with respect to the order in which they occur. The sequence numbers of operations such as 101, 102, etc. are merely used to distinguish between the various operations, and the sequence numbers themselves do not represent any order of execution. In addition, 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" and "second" herein are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, and are not limited to the "first" and the "second" being different types. Furthermore, the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Fig. 3 is a schematic flow chart of a robot control method according to an embodiment of the application. The execution subject of the method provided in this embodiment may be a control device, which may be a piece of hardware with an embedded program integrated on the robot, or may be an application software installed in the robot, or may be a piece of tool software embedded in an operating system of the robot, which is not limited in this embodiment. The robot may be a sweeping robot, a washing and mopping integrated robot, or the like. As shown in fig. 3, the method includes:

101. configuration attributes of at least one sub-region within the robot work area are obtained.

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

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

In the above 101, the configuration attribute of the sub-area includes one or more switch items and a switch state of each switch item; in particular implementations, the switching terms may include, but are not limited to, at least one of: a stop driving-in switch item, a stop driving-out switch item, a water tank water outlet switch item, a suction change switch item and a multiple cleaning switch item. Of course, the configuration properties of the sub-regions may also be characterized by one or more characteristic parameters; for example, the characteristic parameter a characterizes a forbidden drive-in, the characteristic parameter b characterizes a forbidden drive-out, the characteristic parameter c characterizes a suction level, the characteristic parameter d characterizes a water tank water yield, 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 specific grade by taking different values; the cleaning action of the robot is finer.

In the implementation, the configuration attribute of each sub-region can be preset by a user and stored locally; the configuration attribute of each subarea can be obtained from the local when the robot starts working. Alternatively, the configuration properties of each sub-region are stored in a remote device (cell phone, computer, server, etc.); the robot obtains the configuration attribute of each subarea from the remote equipment through remote communication when starting work.

What is needed here is that: some of the sweeping robots have a dust collection function only, and some of the sweeping robots are provided with water tank cleaning cloth, so that the sweeping robots have not only the dust collection function but also the mopping function. For robots with attached water tank wipes, the switch may include a water tank outlet switch. Generally, two types of robots with water tank rags are adopted, and one type of robots adopts an automatic water seepage water tank, and the rags are coated on the water seepage side of the water tank; another type uses a water pump to pump the water from the tank to the wipe.

The region processing logic for each sub-region determined at 102 above may include logic items associated with path planning. The robot may perform path planning based on logical terms related to the path planning. For example, when the area processing logic of the area a includes a logic item for stopping the 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 that prohibits the robot from exiting the sub-area B, the robot only plans the path of the robot within 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 related to the functional operation. For example, when the area treatment logic of the area C comprises a logic item for allowing the water in the water tank to be discharged, the water seepage port of the water tank is opened after the robot drives to the area C so as to seep water into the rag on the robot or a water pump is started so as to pump water in the water tank out to the rag on the robot; for another example, when the zone processing logic of zone D includes a change suction logic item, the robot changes the current suction (e.g., increases suction) after traveling to zone D.

According to the technical scheme provided by the embodiment, the configuration attribute is 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 attribute of the subarea; namely, when the robot is required to shield the subarea function, a user does not need to remove a physical medium or delete the subarea on the map; when the robot subarea function is needed, the physical medium does not need to be replaced or the subareas are arranged on the map; the workload of the user is reduced, and the use is more convenient; furthermore, robot work mode switching is more flexible.

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

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

1022. and determining the area processing logic of the first subarea according to the switching state of the at least one switching item.

In particular implementations, the switching terms may include, but are not limited to, at least one of: a stop driving-in switch item, a stop driving-out switch item, a water tank water outlet switch item, a suction change switch item and a multiple cleaning switch item. The on state of the switching 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 restricted-driving-in switch item and the switch state of the restricted-driving-in switch item is an on state, taking the restricted-driving-in logic item related to path planning as one item of area processing logic of the first subarea;

if the at least one switch item comprises a restricted-driving-in switch item and the switch state of the restricted-driving-in switch item is an off state, taking an allowed-driving-in logic item related to path planning as one item of area processing logic of the first subarea;

if the at least one switch item comprises an exit-forbidden switch item and the switch state of the exit-forbidden switch item is an on state, taking an exit-forbidden logic item related to path planning as one item of area processing logic of the first subarea;

and if the at least one switch item comprises an exit-forbidden switch item and the switch state of the exit-forbidden switch item is an off state, taking an exit-allowed logic item related to path planning as one item of area processing logic of the first subarea.

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 an allowable water tank water outlet logic item related to function operation as one item of area processing logic of the first subarea;

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 function operation as one item of area processing logic of the first subarea;

if the at least one switching item comprises a suction change switching item and the switching state of the suction change switching item is an on state, taking a suction change logic item related to function operation as one item of area processing logic of the first subarea;

if the at least one switching item comprises a suction change switching item and the switching state of the suction change switching item is an off state, taking a suction unchanged logic item related to function operation as one item of area processing logic of the first subarea;

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 on state, taking a multi-time cleaning logic item related to function operation as one item of area processing logic of the first subarea;

And if the at least one switch item comprises a plurality of cleaning switch items and the switch state of the plurality of cleaning switch items is an off state, taking a single cleaning logic item related to function operation as one item of the area processing logic of the first subarea.

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

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

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

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

For example, when the area processing logic of the second subarea comprises a logic item for allowing water from the water tank, the control robot opens the water seepage port of the water tank to infiltrate water in the water tank into the cleaning cloth when driving in the second subarea, or starts the water pump to work so as to pump the water in the water tank out onto the cleaning cloth. When the area processing logic of the two subareas comprises a suction force changing logic item, controlling the robot to increase the power of a fan so as to increase the suction force when the robot runs in the second subarea; etc.

What needs to be explained here is: the above is only illustrative of the limited number of functional operations possible with robots. In the implementation, the switch item included in the configuration attribute is set by the user according to the actual situation of the robot, which is not particularly limited in this embodiment.

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

1033. and when the area processing logic of the at least one third sub-area contains the drive-in prohibition logic item, determining a path planning space based on the boundary information of the at least one third sub-area.

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

1034. And planning the running path of the robot in the path planning space.

Similarly, the path planning may refer to related content in the prior art, and will not be described herein.

1035. When the robot walks in the fourth subarea according to the traveling path, the robot is controlled to execute corresponding functional operation according to the logic item related to the functional operation contained in the area processing logic of the fourth subarea.

As can be seen from the foregoing, in the technical solution provided in this embodiment, a configuration attribute is added for a sub-region (including a physically divided sub-region or a virtually divided sub-region) that has already been divided, so that a user can easily and flexibly switch a robot between a sub-region enabling mode and a sub-region shielding mode by adjusting the configuration attribute. For example, in the first cleaning, the user needs to implement multiple cleaning functions on a certain subarea, and a switch item (i.e., multiple cleaning switch item) corresponding to the function of the subarea can be turned on; the robot then performs several sweeps for this particular sub-area during this sweep. During the second cleaning, the user needs to shield the specific subarea for a plurality of cleaning functions, and can close the multi-cleaning switch item of the specific subarea, so that the robot cannot clean the specific subarea for a plurality of times during the second cleaning process.

The following describes the control actions corresponding to the robot when each switch item is in an on state and an off state, respectively.

1. Switch item for preventing driving-in

When the stop drive-in switch item is in an on state, the robot travel range does not enter a sub-area having configuration attributes including the on state stop drive-in switch item.

When the stop drive-in switch item is in the off state, the robot can enter a subarea with configuration attributes containing the off state stop drive-in switch item when walking.

2. Switch item for prohibiting driving out

When the exit prohibition switch item is in an on state, the robot walking range does not exceed the subarea of which the configuration attribute contains the exit prohibition switch item in the on state.

When the exit prohibition switch item is in the off state, the robot can exceed the subarea with the configuration attribute containing the exit prohibition switch item in the related state when walking.

3. Water outlet switch item of water tank

When the water outlet switch item of the water tank is in an on state, the robot walks to enter a subarea with the configuration attribute containing the water outlet switch item of the water tank in the on state, and the water seepage port of the water tank is opened or the water pump is opened so as to clean the floor by mopping water.

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

4. Suction force changing switch item

When the suction force change switch item is in an on state, and the robot walks to enter a subarea with the configuration attribute containing the on state water absorption change switch item, the power of the fan is increased to improve the suction force.

When the suction force change switch item is in an off state, the robot walks to enter a subarea with configuration attributes including the suction force change switch item in an on state, and the current power of the fan is not changed to clean with common suction force.

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

105. setting a region identifier for the new sub-region;

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

In 104, the user may trigger the event of creating the sub-region by touching a control key, a touch screen, etc. on the robot; for example, the robot is provided with a touch screen, and after a user draws a virtual line or a virtual closed space on a map displayed by the touch screen and confirms the virtual line or the virtual closed space, the sub-region creating event is triggered. Or after the user finishes the creation of the subarea through the subarea creation interface of the application APP of the mobile phone (or the tablet personal computer and other equipment), the robot triggers the subarea creation event after monitoring the subarea creation information sent by the mobile phone.

When the sub-region is formed after a virtual straight line drawn by a user, the region boundary information of the sub-region can comprise 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 more the irregular line is approximated;

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 coordinates of the shape and the shape feature points; for example, a sub-region formed by a circular virtual enclosure, the region boundaries of which may include dot coordinates and radii; the sub-region formed by the rectangular virtual closed empty space, and the boundary of the region can comprise the coordinates of one corner of the rectangle and the lengths of two sides extending from the corner; and so on, as long as the position and the region range of the sub-region on the map can be clearly expressed;

when the sub-region is formed by an irregular virtual enclosure drawn by a user, the region boundary of the sub-region may include coordinates of a plurality of points on the outline of the irregular virtual enclosure; 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 subarea, and determining the configuration attribute of the new subarea based on the operation result of the attribute configuration operation;

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

In 107, the user may implement attribute configuration operation on the new sub-region through the corresponding control key on the robot; for example, a plurality of switch keys (such as a switch key for stopping driving in, a switch key for stopping driving out, a switch key for discharging water from a water tank, a switch key for sucking, a switch key for cleaning for a plurality of times, and the like) are arranged on the robot, a user firstly touches the first control to select a new subarea as an attribute configuration object, and then touches each switch key to complete attribute configuration. Or, the user can use the mobile phone (or the tablet personal computer and other equipment) to perform configuration operation on the attribute of the new subarea, and the mobile phone (or the tablet personal computer and other equipment) sends the operation result of the user to the robot after the user operation is completed; for example, a user provides an attribute configuration interface through a mobile phone APP, selects a new sub-area to be configured, displays each switch key on a touch interface, and confirms and sends the switch keys to the robot after the operation is completed.

What is also needed here is: one or some of the switching items of different subareas in the same working space cannot be simultaneously in an on state. For example, the exit prohibition switch items cannot be simultaneously in the on state. Assuming that the subarea A and the subarea B are both in the working area of the robot, if the switch items for prohibiting the running-out of the subarea A and the subarea B are in an on state, the robot cannot judge which subarea to walk in, namely the confusion of control logic occurs. In order to avoid the problems, for the switch items such as the exit prohibition switch item, the robot judges whether the exit prohibition switch of the subarea is in an on state when the user configures, if so, prompts the user that the exit prohibition switch cannot be configured, or further informs the user that the exit prohibition switch item is in the on state, so that the user can modify the subarea; and if not, allowing the user to configure.

In addition to the above-described implementation of the attribute configuration operation for the new sub-region in steps 107 and 108, the following method may be used to implement the attribute configuration operation for the new sub-region. 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 for the new sub-area;

108', carrying out local association storage on the configuration attribute carried in the attribute configuration information and the sub-area identification of the new sub-area.

109. setting a region type for the new sub-region;

110. and storing the region type and the region identification of the new sub-region in an associated mode.

In specific implementation, according to the cleaning force, the region types can be divided into: strong cleaning type, normal cleaning type, etc.; according to the material of the cleaning surface of the area, the types of the area can be divided into: wool texture type, wood type, tile type, etc.; the division basis of the region types in this embodiment is not particularly limited.

111. If the operation result contains a classifying switch item and the switch state of the classifying switch item is an on state, acquiring at least one fifth subarea with the same area type as the new subarea;

112. updating the configuration attribute of the at least one fifth subarea to the configuration attribute of the new subarea.

In specific implementation, when attribute configuration is performed on the subareas, an area type can be configured for the subareas. For example, in a room, carpets are paved at the sofa and the bedside, and the cleaning modes required by the two places are the same; the region types of the sofa carpeted subregion and the bedside carpeted subregion can thus be set to be identical. Classifying different subareas, and enabling a user to perform attribute configuration on one subarea in the subareas, so that other subareas of the subarea can be updated synchronously, and the operation of the user is simplified.

The classifying switch item can also be used as an item displayed in a configuration attribute interface, and after the attribute configuration is carried out on the target subarea by a user, if the classifying switch item is touched to enable the classifying switch item to be in an on state, the configuration attributes of other subareas with the same area type as the target subarea are synchronously updated to be the configuration attributes of the target subarea.

The technical scheme provided by the embodiment will be further described below in conjunction with a specific application scenario.

Application scenario 1

The sofa of the user living room is paved with a carpet, and other areas are wood floors. Because carpet cleaning requires a large suction force, a user would like to set up a carpet sub-area to clean with a large suction force in the carpet sub-area, while cleaning with a normal suction force in a wood floor sub-area other than the carpet. And the user opens the APP on the mobile phone and enters the map setting interface. And (3) based on the scale of the map, a carpet boundary 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 find the ideal boundary after multiple times of adjustment by adjusting the boundary on the map according to the actual running condition of the robot. After the boundary is determined, a sub-region identifier is set for the sub-region, and boundary information (boundary size, coordinates and the like) and the sub-region identifier are stored in a correlated manner. The user enters an attribute configuration interface of the mobile phone APP; the attribute configuration interface displays a sub-area identification option and a plurality of switch items (such as a switch item for stopping driving in, a switch item for stopping driving out, a switch item for cleaning for a plurality of times, a switch item for water outlet of a water tank, a switch item for suction change, and the like). Assuming that the default states of all the switch items are off states, a user selects a sub-area identifier corresponding to the carpet sub-area on an attribute configuration interface, and dials the suction change switch item to an on state; then selecting a sub-area identifier corresponding to the wood floor area on the attribute configuration interface, and dialing a water outlet switch item of the water tank to an on state. After the setting is finished, the user clicks to confirm, and then the attribute configuration of the carpet subarea and the attribute configuration process of the wood floor subarea are finished. The switch items which are not operated by the user in the configuration process are all in a default off state. The user starts the robot to work, and the robot obtains the configuration attribute of the carpet subarea and the configuration attribute of the wood floor subarea contained in the living room. The robot performs path planning based on a living room map, adopts ordinary suction to clean when walking on a wood floor subarea according to the planned path, and starts a water seepage port of a water tank or a water pump to enable the water tank to discharge water so as to clean the floor by mopping through a wet rag and drives away after single cleaning is completed; when the carpet is walked to the carpet subarea according to the planned path, the large suction is adopted for cleaning, the water seepage port of the water tank is closed or the water pump is closed so as to avoid water outlet of the water tank, and the carpet is driven away after the single cleaning is completed.

Application scenario 2

When the configuration attribute of the carpet subarea is set, the user dials the stop drive-in switch item to an on state. When the user sets the configuration attribute of the wood floor subarea, the water outlet switch item of the water tank and the cleaning switch item for many times are set to be in an on state, the drive-in switch item is prevented, the drive-out switch item is prevented, and the suction change switch item is set to be in an off state. The user starts the robot to work, and the robot obtains the configuration attribute of the carpet subarea and the configuration attribute of the wood floor subarea contained in the living room. The robot knows that the carpet subarea is prevented from entering based on the configuration attribute of the carpet subarea; at the moment, the robot plans a walking path which only walks in the wood floor subarea based on the area information of the wood floor subarea; and the common suction cleaning, the water seepage opening of the water tank or the water pump is started to enable the water tank to discharge water so as to clean the floor by mopping through the seeped rag, and the water tank is driven away or stops working after the cleaning is finished for a plurality of times.

What is needed here is that: after the user dials the switch item for stopping driving into the on state, other switch items on the configuration interface can be displayed in a mode of being incapable of being touched (such as gray display).

Application scenario 3

When the configuration attribute of the carpet subarea is set, a user dials the forbidden driving-out switch item and the suction force change switch item to an on state, and the forbidden driving-in switch item, the water tank water outlet switch item and the multiple cleaning switch items are all in off states. When a user starts the robot to work, the robot monitors that the current position is in the carpet subarea, a walking path of the robot only walks in the carpet subarea is planned based on the area information of the carpet subarea, the robot is cleaned by adopting high suction, and a water seepage port of the water tank is closed or a water pump is closed so as to avoid water outlet of the water tank.

Application scenario 4

The user wants to do not distinguish the subareas, and the same cleaning strategy is adopted for the whole living room area. At this time, the user can cancel the sub-region function through the mobile phone APP. After the function of the subarea is canceled, the robot performs path planning according to the whole area of the living room after starting the work, and uniformly adopts common suction cleaning, and the water seepage port of the water tank is closed or the water pump is closed so as to avoid water outlet of the water tank. After the user cancels the sub-region function, the region information of the carpet sub-region and the corresponding configuration attribute are still stored locally; the next time the user wishes to use the sub-area function, he can call out from it. Compared with the prior art, the technical scheme provided by the embodiment does not need to divide the subareas again, so that the workload of a user is reduced.

Fig. 5 is a schematic flow chart of a robot control method according to another embodiment of the present application. The execution subject of the method provided in this embodiment may be a control device, which may be a piece of hardware with an embedded program integrated on the robot, or may be an application software installed in the robot, or may be a piece of tool software embedded in an operating system of the robot, which is not limited in this embodiment. The robot may be a sweeping robot, a washing and mopping integrated robot, or the like. As shown in fig. 5, the method includes:

201. And when the robot walks to the boundary of the first subarea, acquiring the configuration attribute of the first subarea.

202. When the permission to enter the first subarea is determined according to the first type of attribute in the configuration attributes, according to the second type of attribute in the configuration attributes, at least one functional module on the robot is controlled to be opened and closed so that the robot walks in the first subarea to perform functional operation defined by the second type of attribute.

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 a water tank, a suction change switch item, a cleaning switch item for a plurality of times and the like; the second type of attribute may include, but is not limited to: the entry-prohibition switch item and the exit-prohibition switch item are prohibited.

In 202, the "performing the opening and closing control on at least one functional module on the robot according to the second type of attribute in the configuration attribute" may specifically be implemented by the following steps:

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

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

2023. And when the switch state of the function switch item is the off state, closing the function module corresponding to the function switch item.

Assume that the second type attribute includes three functional switch items, which are respectively: a water outlet switch item of the water tank, a suction change switch item and a multi-time cleaning switch item. If the water outlet opening and closing item of the water tank is in an open state, the water seepage opening of the water tank opens the seepage water to the rag or starts the water pump of the robot to pump the water in the water tank to the rag; if the on-off state of the suction change switch item is an on state, the power of the elevator robot fan is increased to increase the suction; if the switch state of the multi-cleaning switch item is in an on state, the multi-cleaning function module is started. What needs to be explained here is: the water outlet switch item and the functional module corresponding to the suction change item of the water tank are all solid hardware, and the cleaning functional module corresponding to the cleaning switch item for a plurality of times is a virtual module, for example, a section of control program is started by calling. Therefore, the functional module mentioned in this embodiment may be physical hardware (such as a valve or a water pump for controlling the water seepage port of the water tank) on the robot, or may be a virtual module (such as a control program), which is not limited in this embodiment.

When the first type of attribute includes a switch item for preventing the driving-in, the method provided in this embodiment may further include the following steps:

203. and when the stop driving-in switch item is in an off state, determining that the robot can enter the first subarea, and controlling the robot to drive in the first subarea.

204. And when the no-drive switch item is in an on state, determining that the robot is prohibited to enter the first subarea, and controlling the robot to move so as to bypass the first subarea.

Further, the first type attribute further includes a switch item for prohibiting the driving-out. Correspondingly, the method provided by the embodiment may further include the following steps:

205. And when the exit prohibition switch item is in an on state, controlling the robot to always keep walking in the first subarea.

206. And when the exit prohibition switch item is in an off state, the robot is controlled to leave the first subarea after the robot completes the function operation defined by the configuration attribute in the first subarea.

What is needed here is that: in this embodiment, the steps that are the same as those in the foregoing embodiment may be referred to the corresponding content in the foregoing embodiment, and will not be described herein again.

Fig. 6 is a schematic flow chart 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 robot walks to the boundary of the first subarea, acquiring the configuration attribute of the first subarea.

302. Determining whether to allow access to the first sub-area based on a no-drive-in switch item; if yes, go to step 303-306; otherwise, step 308 is performed.

303. And according to the second type attribute in the configuration attribute, performing opening and closing control on at least one functional module on the robot so as to enable the robot to perform functional operation defined by the second type attribute when the robot walks in the first subarea.

304. Determining whether to allow exiting the first sub-area based on the exit prohibition 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 subarea, controlling the robot to drive away from the first subarea.

306. The robot is controlled to always keep walking in the first subarea.

307. The robot is controlled 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 repeated herein.

Application scenario 5

The configuration attributes of a plurality of subareas in the living room are preset by a user through the mobile phone, and the configuration attributes of all subareas are local to the robot. The user starts the robot to work, and the robot cleans from the starting point, and monitors whether the robot moves to the edge of a preset subarea or not while walking. The robot walks in the wood floor sub-area and when monitoring movement to the edge of the carpet sub-area, the robot invokes the configuration attribute of the carpet sub-area. If the first attribute of the configuration attribute is the stop-drive-in switch item and the stop-drive-in switch item is in an on state, the robot bypasses the carpet subarea and continues to walk. If the first type of the configuration attribute is a stop-drive-in switch item and the stop-drive-in switch item is in an off state, the robot enters a carpet subarea, and then at least one functional module on the robot is controlled to be opened and closed according to the second type of the configuration attribute.

Fig. 7 is 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. Wherein, the obtaining module 11 is configured to obtain a configuration attribute of at least one sub-area in the 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 region processing logic of each sub-region.

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

Further, the switching item includes at least one of: a stop driving-in switch item, a stop driving-out switch item, a water tank water outlet switch item, a suction change switch item and a multiple cleaning switch item.

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

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

Further, the planning module 23 is further configured to:

when the area processing logic of the second subarea exists in the area processing logic of each subarea and comprises a logic item for prohibiting the running out, planning a running path of the robot in the second subarea;

And controlling the robot to execute corresponding functional operation when running in the second subarea according to the logic item related to the functional operation contained in the area processing logic of the second subarea.

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

determining a path planning space based on boundary information of at least one third sub-region when the region processing logic of each sub-region does not have region processing logic including a drive-out prohibition logic item and the region processing logic of at least one third sub-region includes a drive-in prohibition logic item;

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

when the robot walks in the fourth subarea according to the traveling path, the robot is controlled to execute corresponding functional operation according to the logic item related to the functional operation contained in the area processing logic of the fourth subarea.

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

the acquiring module 11 is further configured to acquire area boundary information of the new sub-area created by the user in response to a sub-area creation event triggered by the user;

The setting module is used for setting an area identifier for the new subarea;

and the association module is used for storing the boundary information and the area identification of the new subarea in an associated manner.

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

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

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

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

the setting module is further configured to set an area type for the new sub-area;

and the association module is also used for storing the area type and the area identification of the new subarea in an associated manner.

the obtaining module 11 is further configured to obtain at least one fifth sub-area having the same area type as the new sub-area 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 subarea into the configuration attribute of the new subarea.

the receiving module is used for receiving attribute configuration information sent by the mobile terminal aiming at the new subarea;

and the association module is also used for locally carrying out association storage on the configuration attribute carried in the attribute configuration information and the sub-area identifier of the new sub-area.

What needs to be explained here is: the robot control device provided in the foregoing embodiments may implement the technical solutions described in the foregoing method embodiments, and the specific implementation principles of the foregoing modules or units may refer to corresponding contents in the foregoing method embodiments, which are not described herein again.

Fig. 8 is a schematic structural view of a robot control device according to another embodiment of the present application. As shown in fig. 8, the robot control device includes: the acquisition module 21 and the control module 22. The acquiring module 21 is configured to acquire a configuration attribute of the first sub-area when the robot walks to the boundary of the first sub-area; the control module 22 is configured to perform on-off control on at least one functional module on the robot according to a second type attribute in the configuration attributes when determining that the robot is allowed to enter the first sub-area according to the first type attribute in the configuration attributes, so that functional operations defined by the second type attribute are performed when the robot walks in the first sub-area.

In the technical scheme provided by the embodiment of the application, the configuration attribute is 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 attribute of the subarea; namely, when the robot is required to shield the subarea function, a user does not need to remove a physical medium or delete the subarea on the map; when the robot subarea function is needed, the physical medium does not need to be replaced or the subareas are arranged on the map; the workload of the user is reduced, and the use is more convenient; furthermore, robot work mode switching is more flexible.

Further, the second type attribute comprises at least one function switch item; accordingly, 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 switch state of the function switch item is an on state, starting a function module corresponding to the function switch item;

and when the switch state of the function switch item is the off state, closing the function module corresponding to the function switch item.

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

Further, the first type attribute comprises a switch item for preventing driving in; accordingly, the control module 22 is further configured to:

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

And when the drive-in prevention switch item is in an on state, determining that the robot is prohibited to enter the first subarea, and controlling the robot to move so as to bypass the first subarea.

Further, the first type attribute further comprises a switch item for prohibiting the driving-out; accordingly, the control module 22 is further configured to:

when the exit-prohibition switch item is in an on state, controlling the robot to always keep walking in the first subarea;

and when the exit-forbidden switch item is in an off state, the robot is controlled to leave the first subarea after the robot completes the function operation defined by the configuration attribute in the first subarea.

Fig. 9 is a schematic view showing a structure of a cleaning robot according to 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 a program;

the processor 32 is coupled to the memory 31 for executing the program stored in the memory 31 for:

The above-described 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 disk.

The processor 32 may realize other functions in addition to the above functions when executing the program in the memory 31, and the above description of the embodiments can be specifically referred to.

Further, as shown in fig. 9, the cleaning robot further includes: a display 34, a power supply component 35, an audio component 36, a communication component 33, and other components. Only part of the components are schematically shown in fig. 9, which does not mean that the cleaning robot only comprises the components shown in fig. 9.

Accordingly, the embodiments of the present application also provide a computer-readable storage medium storing a computer program capable of implementing the steps or functions of the robot control method provided in the above embodiments when the computer program is executed by a computer.

Fig. 10 is a schematic view showing a structure of a cleaning robot according to 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 for storing a program;

the processor 42 is coupled to the memory 41 for executing the program stored in the memory 41 for:

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 operating at the cleaning robot. The memory 41 may be implemented by any type of volatile or non-volatile memory device or combination thereof, 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 disk.

The processor 42 may realize other functions in addition to the above functions when executing the program in the memory 41, and the above description of the embodiments can be specifically referred to.

Further, as shown in fig. 10, the server device further includes: a display 44, a power supply assembly 45, an audio assembly 46, a communication assembly 43, and other components. Only part of the components are schematically shown in fig. 10, which does not mean that the cleaning robot only comprises the components shown in fig. 10.

What needs to be explained here is: the cleaning robot may be a sweeping robot, a sweeping and mopping integrated robot, or the like, and the embodiment of the present application is not particularly limited thereto.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present application without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A robot control method, comprising:

determining the region processing logic of each sub-region according to the configuration attribute of the at least one sub-region; wherein the configuration attribute comprises a switch state of at least one switch item, the switch item comprising at least one of: a stop driving-in switch item, a stop driving-out switch item, a water tank water outlet switch item, a suction change switch item and a multiple cleaning switch item;

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

wherein the region processing logic comprises logic items; the logic item is related to the switch state of the switch item;

when the restricted-entry switch item is in an on state, the related logic item is a restricted-entry logic item related to path planning; in the off state, the related logic item is an allowed entry logic item related to path planning;

when the exit-forbidden switch item is in an on state, the related logic item is an exit-forbidden logic item related to path planning; in the off state, the related logic item is an allowed exit logic item related to path planning;

When the water outlet switch item of the water tank is in an on state, the related logic item is a logic item which is related to the function operation and allows the water outlet of the water tank to be carried out; in the off state, the related logic item is a logic item for prohibiting water outlet of the water tank related to the function operation;

when the suction change switch item is in an on state, the related logic item is a suction change logic item related to the function operation; in the off state, the related logic item is a suction unchanged logic item related to the function operation;

when the multiple cleaning switch item is in an on state, the related logic item is the multiple cleaning logic item related to the function operation; in the off state, the associated logical item is a single sweep logical item associated with the function operation.

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

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

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

and determining the area processing logic of the first subarea according to the switching state of the at least one switching item.

3. The method of claim 2, wherein the region processing logic comprises logic items related to path planning; and

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

4. The method of claim 2, wherein the region processing logic comprises logic items related to functional operations; and

5. The method according to any of claims 1 to 4, wherein planning the travel path of the robot and the corresponding functional operations according to the zone processing logic of the sub-zones comprises:

6. The method of claim 5, wherein planning the travel path of the robot and the corresponding functional operations according to the region processing logic of each sub-region further comprises:

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

7. The method according to any one of claims 1 to 4, further comprising:

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

setting a region identifier for the new sub-region;

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

8. The method as recited in claim 7, further comprising:

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

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

9. The method as recited in claim 8, further comprising:

setting a region type for the new sub-region;

and storing the region type and the region identification of the new sub-region in an associated mode.

10. The method as recited in claim 9, further comprising:

if the operation result contains a classifying switch item and the switch state of the classifying switch item is an on state, acquiring at least one fifth subarea with the same area type as the new subarea;

updating the configuration attribute of the at least one fifth subarea to the configuration attribute of the new subarea.

11. The method as recited in claim 7, further comprising:

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

and carrying out local association storage on the configuration attribute carried in the attribute configuration information and the sub-area identifier of the new sub-area.

12. A robot control method, comprising:

when the first type of attribute in the configuration attribute is determined to be allowed to enter the first sub-area, according to the on-off state of at least one function switch item contained in the second type of attribute in the configuration attribute, at least one function module on the robot is controlled to be opened and closed so that the robot walks in the first sub-area, and functional operation defined by the second type of attribute is performed;

wherein the function switch item comprises at least one of the following: a water outlet switch item, a suction change switch item and a multiple cleaning switch item of the water tank;

when the water outlet switch of the water tank is in an open state, the water seepage port of the water tank is opened or the water pump is started; when in the closing state, the water seepage port of the water tank or the water pump is closed;

when the suction change switch is in an open state, the power of the fan is increased; when in the off state, the current power of the fan is not changed;

when the multiple cleaning switch is in the open state, starting the multiple cleaning function module; and in the off state, the cleaning function module is closed for a plurality of times.

13. The method of claim 12, wherein the first type of attribute comprises a no-drive-in switch item; and

The method further comprises the steps of:

when the stop driving-in switch item is in an off state, determining that the robot can enter the first subarea, and controlling the robot to drive in the first subarea;

and when the no-drive switch item is in an on state, determining that the robot is prohibited to enter the first subarea, and controlling the robot to move so as to bypass the first subarea.

14. The method of claim 13, wherein the first type of attribute further comprises a disable-exit switch item; and

the method further comprises the steps of:

when the exit prohibition switch item is in an on state, controlling the robot to always keep walking in the first subarea;

and when the exit prohibition switch item is in an off state, the robot is controlled to leave the first subarea after the robot completes the function operation defined by the configuration attribute in the first subarea.

15. A cleaning robot, comprising: a memory and a processor; wherein,,

the memory is used for storing programs;

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

the memory is used for storing programs;

when the permission of entering the first subarea is determined according to a first type attribute in the configuration attributes, according to the switch state of at least one function switch item contained in a second type attribute in the configuration attributes, at least one function module on the robot is controlled to be opened and closed so that the robot walks in the first subarea, and functional operation defined by the second type attribute is performed;