CN111265151B - Robot control method, device and storage medium - Google Patents

Robot control method, device and storage medium Download PDF

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Publication number
CN111265151B
CN111265151B CN201811482743.1A CN201811482743A CN111265151B CN 111265151 B CN111265151 B CN 111265151B CN 201811482743 A CN201811482743 A CN 201811482743A CN 111265151 B CN111265151 B CN 111265151B
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China
Prior art keywords
robot
area
mode
working
environment map
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CN201811482743.1A
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CN111265151A (en
Inventor
周川艳
李晓文
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Ecovacs Robotics Suzhou Co Ltd
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Ecovacs Robotics Suzhou Co Ltd
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Priority to CN201811482743.1A priority Critical patent/CN111265151B/en
Priority to CN202211165878.1A priority patent/CN115444314A/en
Priority to CN202211165896.XA priority patent/CN115429159A/en
Publication of CN111265151A publication Critical patent/CN111265151A/en
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Abstract

The embodiment of the invention provides a robot control method, a device and a storage medium, wherein the method comprises the following steps: marking a drag forbidding area on the environment map; determining a working mode of the robot; determining a working area of the robot according to the working mode and the dragging forbidding area; and controlling the robot to work in the work area. Through the scheme, the user can mark the drag-forbidden region on the environment map corresponding to the environment where the robot is located, so that the follow-up robot can automatically identify the working region based on the marking result of the drag-forbidden region and the current working mode where the robot is located in the working process.

Description

Robot control method, device and storage medium
Technical Field
The present invention relates to the field of computer technologies, and in particular, to a robot control method, apparatus, and storage medium.
Background
With the development of artificial intelligence technology, various intelligent robots increasingly enter people's lives, such as logistics robots, floor sweeping robots, and the like.
For the sweeping robot, when a user uses the sweeping robot to sweep in a home environment, in order to protect some articles in the home environment or places where the sweeping robot is not expected to reach, a virtual wall needs to be arranged to block the articles or the places where the sweeping robot is not expected to reach, so as to prevent the sweeping robot from touching the articles or reaching the places.
Once a virtual wall area (i.e. the area enclosed by the virtual wall) is set, the sweeping robot will not enter the area to work in any working mode.
Disclosure of Invention
Embodiments of the present invention provide a robot control method, apparatus, and storage medium, which enable a robot currently in a certain working mode to work in an area supporting the working mode.
The embodiment of the invention provides a robot control method, which comprises the following steps:
marking a drag forbidding area on the environment map;
determining a working mode of the robot;
determining a working area of the robot according to the working mode and the drag forbidding area;
and controlling the robot to work in the working area.
An embodiment of the present invention provides a robot control apparatus, including:
the area marking module is used for marking a drag forbidding area on the environment map;
the working mode determining module is used for determining the working mode of the robot;
the working area determining module is used for determining the working area of the robot according to the working mode and the dragging forbidding area;
and the work control module is used for controlling the robot to work in the work area.
An embodiment of the present invention provides a robot, including: the machine comprises a machine body, a first processor and a first memory, wherein the first processor and the first memory are arranged on the machine body; wherein the first memory is to store one or more computer instructions that when executed by the first processor implement:
marking a drag forbidding area on the environment map;
determining a working mode of the robot;
determining a working area of the robot according to the working mode and the dragging forbidding area;
and controlling the robot to work in the working area.
Embodiments of the present invention provide a computer-readable storage medium storing computer instructions that, when executed by one or more processors, cause the one or more processors to perform at least the following:
marking a drag forbidding area on the environment map;
determining a working mode of the robot;
determining a working area of the robot according to the working mode and the drag forbidding area;
and controlling the robot to work in the working area.
The embodiment of the invention provides a robot control method, which comprises the following steps:
displaying a map setting interface, wherein the map setting interface comprises an environment map of an environment where the robot is located, an editing tool and an area type option related to a working mode of the robot;
determining a target area type selected from the area type options by a user;
in response to a region selection operation performed by the user on the environment map through the editing tool, marking the target region type on the selected region to obtain a new environment map;
sending the new environment map to the robot so that the robot works according to the new environment map;
the region type option includes at least a drag-forbidden region.
An embodiment of the present invention provides a robot control apparatus, including:
displaying a map setting interface, wherein the map setting interface comprises an environment map of an environment where the robot is located, an editing tool and an area type option related to a working mode of the robot;
determining a target area type selected from the area type options by a user;
in response to a region selection operation performed by the user on the environment map through the editing tool, marking the target region type on the selected region to obtain a new environment map;
sending the new environment map to the robot so that the robot works according to the new environment map;
the region type option includes at least a drag-forbidden region.
An embodiment of the present invention provides a user terminal, including: a second processor and a second memory to store one or more computer instructions, wherein the one or more computer instructions, when executed by the second processor, implement:
displaying a map setting interface, wherein the map setting interface comprises an environment map of an environment where the robot is located, an editing tool and an area type option related to a working mode of the robot;
determining a target area type selected from the area type options by a user;
marking the target area type on the selected area to obtain a new environment map in response to an area selection operation performed on the environment map by the user through the editing tool;
sending the new environment map to the robot so that the robot works according to the new environment map;
the region type option includes at least a drag-forbidden region.
An embodiment of the present invention provides a computer-readable storage medium storing computer instructions, which when executed by one or more processors, cause the one or more processors to perform at least the following:
displaying a map setting interface, wherein the map setting interface comprises an environment map of an environment where the robot is located, an editing tool and an area type option related to a working mode of the robot;
determining a target area type selected from the area type options by a user;
in response to a region selection operation performed by the user on the environment map through the editing tool, marking the target region type on the selected region to obtain a new environment map;
sending the new environment map to the robot so that the robot works according to the new environment map;
the region type option includes at least a drag-forbidden region.
The user can mark the region type on the environment map corresponding to the environment on the machine, and the marking result reflects the region range which can be acted by each working mode. Specifically, the drag prohibition area may be marked on the environment map, so that when the user sets the robot to work in a certain working mode, the robot may determine the working area corresponding to the current working mode according to the drag prohibition area marked on the environment map, and then control the robot to work in the working area. Based on this, the user only needs to set the drag-forbidden area on the environment map once, so that the subsequent robot can automatically identify the working area based on the setting result of the drag-forbidden area and the current working mode.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a flowchart of a robot control method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an interface change state of a map setting interface of a robot control App according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a robot control apparatus according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a robot corresponding to the robot control device provided in the embodiment shown in fig. 3;
fig. 5 is a schematic structural diagram of another robot control apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a user terminal corresponding to the robot control device provided in the embodiment shown in fig. 5.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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 invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "the plural" typically includes at least two, but does not exclude the presence of at least one.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.
The words "if", as used herein may be interpreted as "at \8230; \8230whenor" when 8230; \8230when or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrases "comprising one of \8230;" does not exclude the presence of additional like elements in an article or system comprising the element.
In addition, the sequence of steps in each method embodiment described below is only an example and is not strictly limited.
Before the robot control method provided by the embodiment of the invention is introduced, a floor sweeping robot is taken as an example, and a solution of user requirements is introduced. The user requirements may be: the user desires to have certain areas of the home, such as carpeted areas, to be simply sucked up and not mopped (simply by vacuuming and not mopping with a rag). To meet the user demand, one solution is: virtual wall technology is used. The virtual wall technology is to simply establish a virtual wall for a certain area on an environment map corresponding to the sweeping robot, namely, to enclose the area by using a virtual wall. If the virtual wall technology is adopted, the setting of the virtual wall needs to be changed again every time the working mode of the sweeping robot is changed (for example, the cleaning cloth bracket is installed or removed). Such as: when the cleaning cloth support is installed, a virtual wall needs to be arranged in a carpet area, so that the cleaning robot is ensured not to enter the carpet area for cleaning; when the rag support is dismounted, the virtual wall in the carpet area is canceled, so that the floor sweeping robot can enter the carpet area to suck dust when the rag support is dismounted. So, the user all will carry out virtual wall setting again when loading or unloading the rag support at every turn, and it is not good to use the convenience, moreover, if the user forgets to carry out virtual wall setting again, will lead to installing the robot of sweeping the floor of rag support and climb carpet to make dirty carpet or make the carpet press the root to obtain the dust absorption and handle.
To this end, embodiments of the present invention provide another solution: and marking a dragging forbidding area on the environment map, and determining the working area of the robot according to the working mode of the robot and the dragging forbidding area marked on the environment map so that the sweeping robot can work by using different maps when in different working modes.
This solution is specifically illustrated below in connection with the following embodiments.
Fig. 1 is a flowchart of a robot control method according to an embodiment of the present invention, and as shown in fig. 1, the method may include the following steps:
101. drag-forbidden areas are marked on the environment map.
102. The working mode of the robot is determined.
103. And determining the working area of the robot according to the working mode of the robot and the drag forbidding area marked on the environment map.
104. And controlling the robot to work in the work area.
Alternatively, the robot herein may be a sweeping robot.
In an alternative, determining the operation mode of the robot may be implemented as: and identifying the state of a working component on the robot, and determining the working mode of the robot according to the state of the working component.
With respect to a sweeping robot, at present, the sweeping robot can support two working modes of sweeping and mopping aiming at a cleaning task. The sweeping robot can identify the current working mode of the sweeping robot according to the state of the rag bracket, and at the moment, the working assembly is the rag bracket. Specifically, when the rag bracket is in the installed state, the sweeping robot is considered to be in a mopping mode or a sucking and mopping mode; when the rag bracket is in the uninstalled state, namely the uninstalled state, the sweeping robot is considered to be in a dust collection mode.
In another alternative, determining the working mode of the robot may be further implemented as: a selection button of a working mode is arranged on the robot body of the robot, so that a user can select the current working mode of the robot, and at the moment, the sweeping robot determines the working mode of the robot according to the selection operation of the user. It is understood that the selection button may be a physical button or a virtual button. For example, if the user clicks a dust collection button, the working mode is determined to be a dust collection mode; if the user clicks the suction and mopping button, determining that the working mode is a suction and mopping mode, namely a mode of sweeping and mopping; if the user clicks the floor-mopping button, the operation mode is determined to be the floor-mopping mode.
In addition, in order to further increase the degree of intellectualization of the robot and to make it more convenient for the user to use the robot, an Application program (App) for controlling the robot has appeared and is called a robot control App. The user can control the use of the robot and the related management based on the robot control App. The robot control APP can be arranged on the robot and can also be arranged on the mobile terminal. Based on this, in another alternative, the working mode of the robot is determined, and the following steps can be further implemented: the user can select the working mode from the robot control App, and then based on the selection of the user, the robot control App issues a control instruction carrying the selected working mode to the sweeping robot, so that the sweeping robot determines the working mode to be in according to the control instruction.
In this embodiment, the environment map is a map of the environment where the robot is located.
In an alternative, the process of making zone type marks such as drag forbidden zones on the environment map can be realized by a robot control App installed in the robot, and at the moment, the body of the robot is provided with a display screen so as to realize man-machine interaction with a user. In particular, the marking of the drag-forbidden area on the environment map may be implemented on the robot side with reference to the following procedure:
displaying a map setting interface, wherein the map setting interface comprises an environment map, an editing tool and an area type option;
determining a target area type selected from the area type options by a user;
marking a target area type on the selected area in response to an area selection operation performed on the environment map by the user through an editing tool; wherein the region type option at least comprises a drag and drop forbidden region.
In another alternative, the process of making zone type marks such as drag forbidden zones on the environment map may be implemented by a robot control App installed in the mobile terminal device. The mobile terminal equipment can be a mobile phone, a tablet computer and other user terminals. In particular, the marking of the drag-forbidden area on the environment map may be implemented on the robot side with reference to the following procedure:
displaying a map setting interface, wherein the map setting interface comprises an environment map of an environment where the robot is located, an editing tool and area type options related to a working mode of the robot, and the area type options at least comprise drag-forbidden areas;
determining a target area type selected by a user from the area type options;
marking a target area type on the selected area to obtain a new environment map in response to an area selection operation performed on the environment map by a user through an editing tool;
and sending the new environment map to the robot so that the robot works according to the new environment map.
Whichever of the above two approaches is adopted, the common point is that the drag prohibition area and other area type marks are realized based on the robot control App. Therefore, it is described below how the user implements the above-described marking process by means of the robotically controlled App.
Assuming that a map setting interface is included in the robot control App, the user can pop up the map setting interface by clicking an entry button of the map setting interface. The map setting interface comprises an environment map of the environment where the robot is located, an editing tool used for editing operation on the environment map, and area type options related to the work mode supported by the robot.
The process of marking the drag forbidden zone is schematically illustrated in conjunction with the interface state change diagram illustrated in fig. 2.
As shown in fig. 2, the map setting interface may include a map display area, an area type option display area, and an editing tool display area from top to bottom, and may further include a function control, such as an exit button.
Wherein an environment map of the environment in which the robot is located, such as the map illustrated in fig. 2, may be presented in the map display area. In practical applications, the environment map may show the environment where the robot is located, such as a complete house map of the home.
One or more area types may be displayed in the area type option display area, and two area types, i.e., "virtual wall" and "drag prohibited area" are illustrated in fig. 2. Various editing tools, such as the various box selection graphics illustrated in fig. 2 for making region selections, may be displayed in the editing tool display area.
It is worth noting that, alternatively, multiple region type options may share the environmental map displayed in the map display area. That is, as illustrated in fig. 2, it is assumed that the user selects the area type of the virtual wall first, and two virtual wall areas, namely, a virtual wall a and a virtual wall B, illustrated in the drawing are set on the environment map, and then, if the user wants to set the drag prohibiting area, the user may switch to the area type of the drag prohibiting area, at this time, the environment map set by the virtual wall may be displayed in the map display area, and the user may continue to set the drag prohibiting area, such as the drag prohibiting area C, illustrated in the drawing on the environment map.
Of course, after another area type is switched and selected, an initial environment map may be displayed in the map display area, the setting of the environment map is completed by the user, and when the user exits from the map setting interface, the robot may summarize various setting results of the user on the environment map on one environment map.
In this context, the environment map is mainly set by marking the region type on the environment map.
As can be seen from the schematic illustration in fig. 2, in general, in the embodiment of the present invention, a walking area which can be entered/prohibited by the robot in a certain operation mode may be marked on the environment map. And a variety of zone type options related to the mode of operation may be provided in the map-setting interface for the purpose of supporting the tagging.
The correlation between the working mode and the region type may be represented as: the area corresponding to a certain area type supports a certain working mode, or may also be embodied as: the region corresponding to a certain region type does not support a certain operation mode.
For convenience of understanding, for example, assuming that the operation mode of the sweeping robot is a mopping mode, the area type corresponding to the mopping mode may be a draggable area or a dragout area, and the draggable area and the dragout area are two area type options. Thus, the user can draw an area range in which mopping can be performed on the environment map, or draw an area range in which mopping is prohibited on the environment map.
In consideration of the fact that in practical applications, when the robot is in a certain working mode, most of the area supports the working mode, the user can adopt a mode of drawing a forbidden area which does not support the working mode in the environment map, that is, the definition that the area corresponding to a certain area type does not support the certain working mode can be adopted, so as to reduce the drawing complexity of the user.
When a user wants to perform map setting for a certain area type, this area type may be selected, so that the selected area type, called a target area type, is determined based on the selection operation of the user. For example, in fig. 2, if the user selects the "drag-forbidden region", the target region type is determined to be the "drag-forbidden region".
After the target area type is selected, an area corresponding to the target area type may be demarcated on the environment map using an editing tool, and the target area type may be marked on the demarcated area. Wherein the marking of the region type can be implemented as: drawing area boundary lines corresponding to different area types in different line styles on the environment map, or storing the corresponding relation between the area types and the area position ranges.
The above briefly introduces a marking process of a region type, such as a drag-forbidden region, on an environment map, based on which, when a subsequent robot is in a certain working mode, a working region corresponding to the working mode can be determined according to a marking result of the region type, so as to work in the working region.
Assuming that the drag-forbidden area has been marked on the environment map based on the marking process described above, the following example illustrates how the robot works based on the marking result of the drag-forbidden area in different working modes:
on one hand, if the robot works in the mopping mode or the sucking-mopping mode, the working area of the robot is determined to be a walking area on the environment map except for the mopping prohibition area. At this time, the drag prohibition area marked on the environment map is a prohibition area of the robot in the mopping mode or the suction drag mode.
On the other hand, if the robot works in the dust collection mode, the working area of the robot is determined to be a walking area including a drag prohibition area on the environment map. At this time, the drag prohibition area marked on the environment map is a non-prohibition area of the robot in the dust collection mode.
It should be noted that, in the above two aspects, it is assumed that the environment map is marked only by one area type, i.e., the drag-prohibited area.
In practical applications, besides the area type mark of the drag-forbidden area, the environment map may also include other area type mark results, for example, the area type mark results of the virtual wall may be included.
At this time, based on the virtual wall area and the drag prohibition area marked on the environment map, the process of determining the working area corresponding to the robot in the current working mode may be implemented as follows:
on one hand, if the robot works in the mopping mode or the sucking-mopping mode, the working area of the robot is determined to be a walking area on the environment map except the mopping forbidding area and the virtual wall area. At this time, the drag prohibition area and the virtual wall area marked on the environment map are prohibition areas of the robot in the mopping mode or the sucking and dragging mode.
On the other hand, if the robot works in the dust collection mode, the working area of the robot is determined to be a walking area on the environment map except the virtual wall area. At this time, the virtual wall area marked on the environment map is an prohibited area of the robot in the dust collection mode, and the prohibited area marked on the environment map is a non-prohibited area of the robot in the dust collection mode.
In summary, after the work area corresponding to the robot in the current work mode is determined by combining the area type marking result, such as the drag prohibition area marking result, on the environment map, the robot is controlled to work in the work area.
For the purpose of controlling the robot to work in the working area, optionally, the working path of the robot may be planned according to the working area in response to the starting of the robot, so as to control the robot to work along the working path. That is, when the robot starts working, the determined working area is combined to plan a path for the robot, so that the robot travels according to the planned path.
Optionally, the control purpose of the robot working in the working area can also be realized by the following modes:
positioning the current position of the robot in the environment map;
and if the distance between the current position of the robot in the environment map and the drag forbidding area meets the set condition, controlling the robot to be far away from the drag forbidding area.
Because the robot moves based on the environment map in the working process, the robot can change the walking direction in time when finding that the robot approaches the drag forbidding area through the positioning of the position of the robot and the marking result of the drag forbidding area on the environment map, and the robot is prevented from entering the drag forbidding area.
The robot position positioning mode can be realized by adopting the existing scheme, and is not explained in the embodiment. The setting condition may be less than a predetermined value.
In summary, the user can mark the region type on the environment map corresponding to the environment where the machine is located, and the marking result reflects the region range where each working mode can act. Therefore, when the user sets the robot to work in a certain working mode, the robot can determine the working area corresponding to the current working mode according to the area type marked on the environment map, and further control the robot to work in the working area. Based on this, the user only needs to set the working area corresponding to each working mode once (or only needs to set the no-entry area corresponding to each working mode once), so that the robot can enter the working area corresponding to the current working mode to work in the subsequent working process.
The role of the region-type marking result in the foregoing is briefly described below in one practical scenario.
The cleaning cloth support is detached from the sweeping robot by a user, a power supply is started to enable the sweeping robot to start sweeping, after the sweeping robot is started, the current state is determined to be in a dust collection mode according to the state of the cleaning cloth support, an environment map is read, and when the environment map is found to be provided with only a plurality of virtual wall areas and a mopping prohibition area, the sweeping robot starts dust collection, and when the environment map is moved to the virtual wall areas, the cleaning cloth support is rotated in a direction far away from the virtual wall areas; when the robot moves to the non-mopping area, the robot enters the area to suck dust. At a certain moment, the user stops the dust collection work of the sweeping robot, and then the sweeping robot is started after the sweeping robot is installed with the rag bracket. At the moment, the sweeping robot determines that the sweeping robot is in the mopping mode or the suction mopping mode at present according to the state of the cleaning cloth support, then reads the environment map, finds that the virtual wall area and the mopping forbidding area are marked in the environment map, and does not enter the virtual wall area and the mopping forbidding area in the mopping process.
The robot control apparatus of one or more embodiments of the present invention will be described in detail below. Those skilled in the art will appreciate that these robotic control devices may each be configured using commercially available hardware components through the steps taught in this scenario.
Fig. 3 is a schematic structural diagram of a robot control apparatus according to an embodiment of the present invention, and as shown in fig. 3, the apparatus includes: the system comprises an area marking module 11, an operation mode determining module 12, an operation area determining module 13 and an operation control module 14.
And the area marking module 11 is used for marking the drag forbidding area on the environment map.
And the working mode determining module 12 is used for determining the working mode of the robot.
And a working area determining module 13, configured to determine a working area of the robot according to the working mode and the drag prohibiting area.
And the work control module 14 is used for controlling the robot to work in the work area.
The robot control device may be located in a robot, which may alternatively be a sweeping robot.
Optionally, the working area determining module 13 may be specifically configured to: if the robot works in a mopping mode or a sucking mopping mode, determining that the working area of the robot is a walking area on the environment map except the mopping prohibition area; and if the robot works in a dust collection mode, determining that the working area of the robot is each walking area including the dragging forbidding area on the environment map.
Optionally, the working mode determining module 12 may be specifically configured to: identifying a state of a working component on the robot; and determining the working mode of the robot according to the state of the working assembly.
Optionally, the area marking module 11 may be further configured to: marking a virtual wall area on the environment map.
Based on this, optionally, the working area determining module 13 may be further configured to: and determining the working area of the robot according to the working mode, the dragging forbidding area and the virtual wall area.
At this time, the working area determining module 13 may specifically be configured to: if the robot works in a mopping mode or a sucking-mopping mode, determining that the working area of the robot is a walking area on the environment map except the mopping forbidding area and the virtual wall area; and if the robot works in a dust collection mode, determining that the working area of the robot is a walking area on the environment map except the virtual wall area.
Optionally, the area marking module 11 may be specifically configured to: displaying a map setting interface, wherein the map setting interface comprises the environment map, an editing tool and area type options, and the area type options at least comprise the drag-forbidden area; determining a target area type selected from the area type options by a user; marking the target area type on the selected area in response to an area selection operation performed by the user on the environment map through the editing tool.
Optionally, the operation control module 14 may be configured to: locating a current position of the robot in the environment map; and if the distance between the position and the dragging forbidding area meets the set condition, controlling the robot to be far away from the dragging forbidding area.
The apparatus shown in fig. 3 may perform the robot control method provided in the embodiment shown in fig. 1, and for parts not described in detail in this embodiment, reference may be made to the related description of the embodiment shown in fig. 1, and details are not repeated here.
Having described the internal functions and structure of the robot control device, in one possible design, the structure of the robot control device may be implemented as part of a robot, which may include, as shown in fig. 4: a machine body 21, a first processor 22 and a first memory 23 provided on the machine body 21. Wherein the first memory 23 is used for storing a program for supporting the robot to execute the robot control method provided in the embodiment shown in fig. 1, and the first processor 22 is configured to execute the program stored in the first memory 23.
The program comprises one or more computer instructions which, when executed by the first processor 22, are capable of performing the steps of:
marking a drag forbidding area on the environment map;
determining a working mode of the robot;
determining a working area of the robot according to the working mode and the drag forbidding area;
and controlling the robot to work in the working area.
Optionally, the first processor 22 is further configured to perform all or part of the steps in the foregoing embodiment shown in fig. 1.
The robot structure may further include a first communication interface 24 for communicating with other devices or a communication network.
Additionally, embodiments of the present invention provide a computer-readable storage medium storing computer instructions that, when executed by one or more processors, cause the one or more processors to perform at least the following:
marking a drag forbidding area on the environment map;
determining a working mode of the robot;
determining a working area of the robot according to the working mode and the drag forbidding area;
and controlling the robot to work in the working area.
Fig. 5 is a schematic structural diagram of another robot control apparatus according to an embodiment of the present invention, and as shown in fig. 5, the apparatus includes: display module 31, processing module 32, and sending module 33.
The display module 31 is configured to display a map setting interface, where the map setting interface includes an environment map of an environment where the robot is located, an editing tool, and an area type option related to a working mode of the robot, and the area type option at least includes a drag-prohibited area.
A processing module 32, configured to determine a target area type selected by the user from the area type options; and marking the target area type on the selected area to obtain a new environment map in response to the area selection operation performed on the environment map by the user through the editing tool.
And the sending module 33 is configured to send the new environment map to the robot, so that the robot works according to the new environment map.
Fig. 5 depicts the internal functions and structure of a robot control device, which in one possible design may be implemented as a mobile terminal device such as a cell phone, tablet, PC, etc., which may include, as shown in fig. 6: a second processor 41 and a second memory 42. Wherein the second memory 42 is used for storing program codes, and the second processor 41 is configured for executing the program codes stored in the second memory 42.
The program code comprises one or more computer instructions which, when executed by the second processor 41, are capable of implementing the steps of:
displaying a map setting interface, wherein the map setting interface comprises an environment map of an environment where the robot is located, an editing tool and an area type option related to a working mode of the robot;
determining a target area type selected from the area type options by a user;
in response to a region selection operation performed by the user on the environment map through the editing tool, marking the target region type on the selected region to obtain a new environment map;
sending the new environment map to the robot so that the robot works according to the new environment map;
the region type option includes at least a drag-forbidden region.
The user terminal may also comprise a second communication interface 43 for communicating with other devices, such as a robot or a communication network.
Additionally, embodiments of the present invention provide a computer-readable storage medium storing computer instructions that, when executed by one or more processors, cause the one or more processors to perform at least the following:
displaying a map setting interface, wherein the map setting interface comprises an environment map of an environment where the robot is located, an editing tool and an area type option related to a working mode of the robot;
determining a target area type selected from the area type options by a user;
in response to a region selection operation performed by the user on the environment map through the editing tool, marking the target region type on the selected region to obtain a new environment map;
sending the new environment map to the robot so that the robot works according to the new environment map;
the region type option includes at least a drag-forbidden region.
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 adding a necessary general hardware platform, and of course, can also be implemented by a combination of hardware and software. With this understanding in mind, the above-described solutions and/or portions thereof that are prior art may be embodied in the form of a computer program product, which may be embodied on one or more computer-usable storage media having computer-usable program code embodied therein (including but not limited to disk storage, CD-ROM, optical storage, etc.).
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention 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 of the embodiments of the present invention.

Claims (10)

1. A robot control method, comprising:
marking a drag forbidding area on the environment map;
determining an operating mode of the robot, comprising: identifying a state of a working component on the robot; determining the working mode of the robot according to the state of the working assembly; the working mode is one of a mopping mode, a dust collection mode and a suction mopping mode;
determining a working area of the robot according to the working mode and the drag forbidding area, wherein the working area comprises:
if the robot works in a mopping mode or a sucking mopping mode, determining that the working area of the robot is a walking area on the environment map except the mopping prohibition area;
if the robot works in a dust collection mode, determining that the working area of the robot is each walking area including the dragging forbidding area on the environment map;
and controlling the robot to work in the working area.
2. The method of claim 1, further comprising:
further, marking a virtual wall area on the environment map;
and determining the working area of the robot according to the working mode, the dragging forbidding area and the virtual wall area.
3. The method of claim 2, wherein determining a work area of the robot from the work mode, the drag forbidden zone, and the virtual wall area comprises:
if the robot works in a mopping mode or a sucking-mopping mode, determining that the working area of the robot is a walking area on the environment map except the mopping forbidding area and the virtual wall area;
and if the robot works in a dust collection mode, determining that the working area of the robot is a walking area on the environment map except the virtual wall area.
4. The method of claim 1, wherein the marking of the drag prohibited area on the environment map comprises:
displaying a map setting interface, wherein the map setting interface comprises the environment map, an editing tool and an area type option;
determining a target area type selected from the area type options by a user;
in response to a region selection operation performed by the user on the environment map through the editing tool, marking the target region type on the selected region;
the region type option includes at least the drag prohibited region.
5. The method of claim 1, wherein the controlling the robot to work within the work area comprises:
locating a current position of the robot in the environment map;
and if the distance between the position and the dragging forbidding area meets the set condition, controlling the robot to be far away from the dragging forbidding area.
6. The method of any one of claims 1 to 5, wherein the robot is a sweeping robot.
7. A robot control method, comprising:
displaying a map setting interface, wherein the map setting interface comprises an environment map of an environment where the robot is located, an editing tool and an area type option related to a working mode of the robot; the working mode is one of a mopping mode, a dust collection mode and a suction mopping mode;
determining a target area type selected from the area type options by a user;
in response to a region selection operation performed by the user on the environment map through the editing tool, marking the target region type on the selected region to obtain a new environment map;
sending the new environment map to the robot so that the robot works according to the new environment map;
the region type option at least comprises a drag-forbidden region;
the robot works according to the new environment map, including:
identifying a state of a working component on the robot;
determining the working mode of the robot according to the state of the working component
If the robot works in a mopping mode or a sucking-mopping mode, determining that the working area of the robot is a walking area on the new environment map except the mopping prohibition area;
and if the robot works in a dust collection mode, determining that the working area of the robot is each walking area including the drag forbidding area on the new environment map.
8. A robot control apparatus, comprising:
the area marking module is used for marking the drag forbidding area on the environment map;
the working mode determining module is used for determining the working mode of the robot and comprises the following steps: identifying a state of a working component on the robot; determining the working mode of the robot according to the state of the working component; the working mode is one of a mopping mode, a dust collection mode and a suction mopping mode;
the working area determining module is used for determining the working area of the robot according to the working mode and the dragging forbidding area, and comprises:
if the robot works in a mopping mode or a sucking mopping mode, determining that the working area of the robot is a walking area on the environment map except the mopping prohibition area;
if the robot works in a dust collection mode, determining that the working area of the robot is a walking area including the drag forbidding area on the environment map;
and the work control module is used for controlling the robot to work in the work area.
9. A robot control apparatus, comprising:
the display module is used for displaying a map setting interface, and the map setting interface comprises an environment map of the environment where the robot is located, an editing tool and an area type option related to the working mode of the robot; the working mode is one of a mopping mode, a dust collection mode and a suction mopping mode;
the processing module is used for determining a target area type selected from the area type options by a user; in response to a region selection operation performed by the user on the environment map through the editing tool, marking the target region type on the selected region to obtain a new environment map;
the sending module is used for sending the new environment map to the robot so that the robot can work according to the new environment map;
the region type option at least comprises a drag-forbidden region;
the robot works according to the new environment map, including:
identifying a state of a working component on the robot;
determining the working mode of the robot according to the state of the working assembly;
if the robot works in a mopping mode or a sucking-mopping mode, determining that the working area of the robot is a walking area on the new environment map except the mopping prohibition area;
and if the robot works in a dust collection mode, determining that the working area of the robot is each walking area including the dragging forbidding area on the new environment map.
10. A computer-readable storage medium storing computer instructions that, when executed by one or more processors, cause the one or more processors to perform at least the following:
displaying a map setting interface, wherein the map setting interface comprises an environment map of an environment where the robot is located, an editing tool and an area type option related to a working mode of the robot; the working mode is one of a mopping mode, a dust collection mode and a suction mopping mode;
determining a target area type selected from the area type options by a user;
marking the target area type on the selected area to obtain a new environment map in response to an area selection operation performed on the environment map by the user through the editing tool;
sending the new environment map to the robot so that the robot works according to the new environment map;
the region type option at least comprises a drag-forbidden region;
the robot works according to the new environment map, including:
identifying a state of a working component on the robot;
determining the working mode of the robot according to the state of the working component;
if the robot works in a mopping mode or a sucking mopping mode, determining that the working area of the robot is a walking area on the new environment map except for the mopping prohibition area;
and if the robot works in a dust collection mode, determining that the working area of the robot is each walking area including the dragging forbidding area on the new environment map.
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