CN111265153A

CN111265153A - Robot control method and device and robot

Info

Publication number: CN111265153A
Application number: CN202010202733.9A
Authority: CN
Inventors: 高超; 吴飞
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2020-03-20
Filing date: 2020-03-20
Publication date: 2020-06-12
Anticipated expiration: 2040-03-20
Also published as: CN111265153B

Abstract

The application provides a control method and device of a robot and the robot, wherein the control method comprises the following steps: collecting motion parameters of the robot in the cleaning task; and controlling the execution and stopping of the water pumping action of the robot according to the motion parameters of the robot. According to the robot control method and device and the robot, execution and stopping of water pumping actions of the robot are controlled according to motion parameters of the robot in a cleaning task, so that the uniformity of water outlet of the robot in the cleaning task is guaranteed, and the cleaning effect is improved.

Description

Robot control method and device and robot

Technical Field

The present disclosure relates to the field of intelligent home appliance technologies, and in particular, to a method and an apparatus for controlling a robot, and a computer-readable storage medium.

Background

Along with the development of artificial intelligence technology, the household robot is more and more intelligent, can automatically complete ground cleaning tasks without manual intervention, and greatly lightens housework burden of users.

During a cleaning task, the robot needs to control the flow of effluent onto the cloth to wet the cloth to clean the floor. In the prior art, a water pump of a robot is controlled by a motor, but due to the limitation of a structural scheme, the water outlet is not controlled to be kept uninterrupted and the flow rate is very low, and the operation of the motor is generally controlled discontinuously to drive the water pump to control the water outlet or not to outlet until the robot finishes working, and the water outlet stops.

This way of controlling the water pump at time intervals has drawbacks in the following scenarios:

1) the robot needs to stay in place for some other reason, such as performing in-place positioning, performing computation on a computation path and the like, occupying a processor, transmitting some critical information and the like.

2) The robot is stuck for some reason, stopping in place: such as being entangled with a wire, or falling under a step, failing to go up, etc.

3) The robot is for some reason always walking in a small area, e.g. being blocked in a corner, etc.

In the above scenes, if the water pump is controlled according to the time interval, water can be discharged from some areas too much, floor tiles or boards on the ground of the areas can be damaged in an accelerated manner, the robot can slip and cannot walk seriously, and then the water is discharged more and the robot slips more; other areas have little water and are not clean. In summary, the control method of the prior art can cause uneven water outlet, thereby affecting the cleaning effect.

Disclosure of Invention

In view of the above, embodiments of the present application provide a method and an apparatus for controlling a robot, and a computer-readable storage medium, so as to solve technical defects in the prior art.

The embodiment of the application provides a control method of a robot, which comprises the following steps: collecting motion parameters of the robot in the cleaning task; and controlling the execution and stopping of the water pumping action of the robot according to the motion parameters of the robot.

Optionally, the motion parameters include: the movement distance and the water pumping time;

controlling the execution and stopping of the water pumping action of the robot according to the motion parameters of the robot, and the method comprises the following steps:

recording the movement distance of the robot in the process of traveling;

under the condition that the movement distance reaches a distance threshold value, controlling the robot to execute the current water pumping action and record the water pumping time of the current water pumping action, and resetting and re-recording the recorded movement distance of the robot;

and controlling the robot to stop executing the current water pumping action when the water pumping time reaches a time threshold.

Optionally, before controlling the robot to perform the current water pumping action, the method further comprises:

detecting abnormal conditions of the robot, and judging whether the abnormal conditions exist or not;

if so, controlling the robot to continue to move, and continuing to detect the abnormal condition of the robot;

and if not, controlling the robot to execute the current water pumping action.

Optionally, in the process of controlling the robot to perform the current water pumping action, the method includes:

if so, controlling the robot to pause and execute the current water pumping action, pausing and recording the water pumping time of the current water pumping action, and continuing to detect the abnormal condition of the robot;

and if not, controlling the robot to continuously execute the current water pumping action, continuously recording the water pumping time of the current water pumping action, and resetting and re-recording the recorded movement distance of the robot.

Optionally, the exception condition comprises: the robot detects being entangled, the robot detects being stuck, and the robot is located in at least one of the water pumping prohibition areas.

Optionally, the motion parameters include: the movement distance, the movement area and the water pumping time;

recording the movement distance of the robot in the process of traveling;

under the condition that the movement distance reaches a distance threshold value, calculating a corresponding movement area according to the movement distance recorded by the robot;

under the condition that the movement area reaches an area threshold value, controlling the robot to execute the current water pumping action and record the water pumping time of the current water pumping action, and resetting and re-recording the recorded movement distance of the robot;

and controlling the robot to stop executing the current water pumping action under the condition that the water pumping time of the robot executing the current water pumping action reaches a time threshold.

Optionally, the method further comprises: and under the condition that the movement area does not reach the area threshold value, controlling the robot to continuously travel and record the movement distance, and continuously calculating the corresponding movement area according to the movement distance recorded by the robot.

and if not, controlling the robot to execute the current water pumping action.

Optionally, in the process of controlling the robot to perform the current water pumping action, the method further includes:

Optionally, before collecting the motion parameters of the robot in the cleaning task, the method further comprises:

under the condition that a trigger instruction of the cleaning task is received, the robot executes an initial water pumping action and clears the motion parameters;

when the duration of the initial water pumping operation reaches the initial water pumping time, the robot stops performing the initial water pumping operation and starts traveling.

Optionally, the method further comprises: and dynamically adjusting the distance threshold value and the time threshold value by detecting an environment parameter value of the environment where the robot is located.

The embodiment of the application discloses a robot, which comprises a mechanical body, wherein the mechanical body is provided with at least one processor and at least one memory for storing computer instructions;

the at least one processor is configured to execute computer instructions to implement the following method:

collecting motion parameters of the robot in the cleaning task;

and controlling the execution and stopping of the water pumping action of the robot according to the motion parameters of the robot.

the at least one processor is specifically configured to:

recording the movement distance of the robot in the process of traveling;

Optionally, before controlling the robot to perform the current pumping action, the at least one processor is configured to:

and if not, controlling the robot to execute the current water pumping action.

Optionally, in the course of controlling the robot to perform the current water pumping action, the at least one processor is configured to:

the at least one processor is specifically configured to:

recording the movement distance of the robot in the process of traveling;

Optionally, the at least one processor is further configured to: and under the condition that the movement area does not reach the area threshold value, controlling the robot to continuously travel and record the movement distance, and continuously calculating the corresponding movement area according to the movement distance recorded by the robot.

Optionally, before controlling the robot to perform the current water pumping action, the at least one processor is further configured to:

and if not, controlling the robot to execute the current water pumping action.

Optionally, in the controlling the robot to perform the current water pumping action, the at least one processor is further configured to:

Optionally, before collecting the motion parameters of the robot in the cleaning task, the at least one processor is further configured to:

Optionally, the at least one processor is further configured to: and dynamically adjusting the distance threshold value and the time threshold value by detecting an environment parameter value of the environment where the robot is located.

The embodiment of the application discloses controlling means of robot includes:

a collection module configured to collect motion parameters of the robot in a cleaning task;

a control module configured to control execution and stop execution of a pumping action of the robot according to a motion parameter of the robot.

The embodiment of the application discloses a computer readable storage medium, which stores computer instructions, and the instructions are executed by a processor to realize the following steps of the method:

collecting motion parameters of the robot in the cleaning task; and controlling the execution and stopping of the water pumping action of the robot according to the motion parameters of the robot.

According to the robot control method and device and the robot, the execution and the stop of the water pumping action of the robot are controlled according to the motion parameters of the robot in the cleaning task, so that the uniformity of water outlet of the robot in the cleaning task is ensured, and the cleaning effect is improved.

Further, the robot control method and device and the robot provided by the application can control the execution of the water pumping action of the robot according to the movement distance of the robot, control the robot to execute the water pumping action under the condition that the movement distance of the robot reaches a distance threshold value, and control the stopping execution of the water pumping action according to the water pumping time of the robot, so that the uniform water discharge in a cleaning task is realized, and the condition that the water discharge is uneven due to the fact that the robot stays in place or moves in a small area due to working reasons is avoided.

Further, according to the control method and device for the robot and the robot, abnormal condition detection can be performed when the moving distance of the robot reaches the distance threshold value, so that the robot is prevented from performing water pumping action under the abnormal condition, and water pumping is performed after the abnormal condition is relieved, so that the cleaning effect is improved.

Further, the robot control method and device and the robot provided by the application can control the execution of the water pumping action of the robot according to the movement distance of the robot and the movement area of the robot, so that the situation that the water is excessively accumulated in a certain area due to the fact that the water pumping action is executed under the condition that the movement distance of the robot reaches a distance threshold value but the corresponding movement area is too small is avoided.

Further, according to the control method and device for the robot and the robot, in the process of pumping water by the robot, detection of abnormal conditions of the robot can be kept, water pumping is suspended under the abnormal conditions until the abnormal conditions are finished, and water pumping is continued until the water pumping time is met, so that the situation that the robot continues to pump water under the condition that abnormality occurs when water pumping is performed is avoided, and the cleaning effect is improved.

Drawings

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

fig. 2 is a schematic diagram of a travel route of a robot in a cleaning process according to a first embodiment of the present application;

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

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

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

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

fig. 7 is a schematic structural diagram of a robot according to a sixth embodiment of the present application;

fig. 8 is a schematic structural diagram of a cleaning device of a robot according to a seventh embodiment of the present application.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.

The terminology used in the description of the one or more embodiments is for the purpose of describing the particular embodiments only and is not intended to be limiting of the description of the one or more embodiments. As used in one or more embodiments of the present specification 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. It should also be understood that the term "and/or" as used in one or more embodiments of the present specification refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It will be understood that, although the terms first, second, etc. may be used herein in one or more embodiments to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first can also be referred to as a second and, similarly, a second can also be referred to as a first without departing from the scope of one or more embodiments of the present description. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.

In order to solve the technical problem that the cleaning effect is affected due to the fact that the robot control method in the prior art causes uneven water outlet, the application provides a robot control method and device, a robot and a computer readable storage medium, and the robot control method and device collect motion parameters of the robot in a cleaning task; and then the execution and the stop of the water pumping action of the robot are controlled according to the motion parameters of the robot, so that the uniform water outlet of the robot in the cleaning task is ensured, and the following embodiments are described in detail one by one.

First, the robot according to the present application will be schematically explained. The robot mentioned in the present application can be various intelligent devices with cleaning functions, for example, a sweeping robot with sweeping and cleaning functions, a cleaning robot with cleaning function alone, and the like are included. In the cleaning task described in the present application, during the driving of the robot, a cleaning member such as a rag disposed under the robot wipes a surface to be cleaned, such as a floor, a surface of an object, and the like. The robot can be used in a cleaning scene, including floors of places such as families, markets and schools, and can also comprise surfaces of various objects, such as flat plate surfaces.

In the present application, various shapes of the robot are not limited, such as an oval shape, a circular shape, a convex polygon shape, and the like, and the robot may implement the logic of the control method of the present application by installing software, APP in a controller used in cooperation with the robot, or writing a program in a corresponding device inside the robot.

An embodiment of the application discloses a control method of a robot, as shown in fig. 1, including the following steps 101-102:

101. the motion parameters of the robot in the cleaning task are collected.

In this embodiment, the motion parameters include not only parameters that can directly determine the motion status of the robot, such as the motion distance, the water pumping time, and the motion area of the robot, but also pose of the robot, the rotation speed and current of the rollers, the rotation speed and current of the floor brush or the side brush, and the like, as parameters that indirectly determine the motion status of the robot.

Wherein, for the movement distance of the robot, the collection can be realized by counting a series of movement point coordinates passed by the robot in the process of traveling. The collection of coordinates of the moving points of the robot can be realized by a control device built in the robot or a controller connected to the robot. And further, the moving points of the robot can be displayed through a display screen integrally connected with the controller or connected with each other, so that the moving track and the moving points of the robot can be displayed more intuitively.

In a specific mode, the distance between every two adjacent motion points of the robot can be counted, and then the motion distance of the robot is counted by recording results.

In another specific mode, the difference of the statistical modes can be realized according to the difference of the motion tracks of the robot. The motion track of the robot can be divided into various types, such as spiral, clip, bow and the like. Taking a bow-shaped figure as an example, since the motion of the robot between two changes of direction is a linear motion, the distance between the starting motion point and the ending motion point of the robot between every two changes of direction can be recorded to reduce the number of times of statistics.

Wherein, for the motion area of the robot, the collection can be realized based on the coordinates of a series of motion points passed by the robot in the process of traveling. Taking the example of a robot being a circular robot with a radius of R centimeters, for the case of a robot traveling from one motion point A1 to another motion point a2, the area of motion of the robot should be the area covered by a distance A1a2 of a circle with a radius of R centimeters passing through the two motion points A1 and a 2. It should be noted that if the motion points a1 and a2 are motion points that have already been traveled during the robot traveling process, indicating that the robot has already traveled the path, the statistics of the motion area of the robot should not be included to avoid the situation that the robot repeatedly walks in a certain area and pumps water.

As shown in fig. 2, the robot shown in fig. 2 is a circular robot, and the radius of the circular robot is 30 cm. The motion path of the robot passes through motion points A1-A2-A3-A4-A2-A3 in sequence.

For the 1 st statistic, the robot passes motion points A1 and a2 in order, and the robot motion area is 30 cm circle passing the area covered by distance A1a 2.

For the statistics of the 2 nd to 4 th times, the same as the statistics logic of the 1 st time, are not listed in this embodiment.

For the 5 th statistic, the robot passes through the motion points a2 and A3 in sequence, and then does not perform the motion area statistic again for the 5 th statistic, which is the same as the 2 nd statistic.

Under the statistical method, if the robot repeatedly walks in a certain area, although the moving distance of the robot reaches the distance threshold value, the moving area does not reach the area threshold value, and in this case, the robot should not perform the water pumping action.

In addition, it is known that, in the statistical process of the movement areas, it is inevitable that the movement areas in the plurality of statistical processes partially overlap each other, as shown in the statistics of the 2 nd and 3 rd times in fig. 2. On one hand, the robot needs to be prevented from traveling in a repeated area as much as possible when the traveling path of the robot is planned; on the other hand, in the process of the robot moving, in order to ensure the cleaning effect, the overlapping of the motion areas is inevitable, and the area of the overlapping area occupies a small proportion of the motion area, and the judgment logic of the robot based on the motion area is not seriously influenced.

The rotating speed of the roller and the rotating speed of the floor brush or the side brush can be obtained through a speed sensor arranged in the robot, and the current of the roller and the current of the floor brush or the side brush can be obtained through the running parameters of a motor arranged in the robot.

The statistics of the water pumping time can be realized by a timer built in the robot or other control devices with timing functions.

102. And controlling the execution and stopping of the water pumping action of the robot according to the motion parameters of the robot.

It should be noted that the robot will maintain a constant travel during the cleaning task and for some reason will need to stay in place, but will not stop traveling because of the water pumping action. That is, the robot performs pumping while traveling during the pumping operation.

The water pumping operation in this embodiment may include controlling a motor of the robot to move, and driving a water pump to control water in a water tank of the robot to flow out to cleaning elements such as cleaning cloth to soak the cleaning elements such as the cleaning cloth, and wiping the ground or other surfaces to be cleaned during the moving process of the robot; it may also include driving a water pump to control the flow of water from the water tank of the robot or spraying it onto the floor or other surface to be cleaned, the robot then relying on the cleaning elements to perform a wiping of the floor or other surface to be cleaned during travel.

Specifically, there are various execution logics for controlling execution and stopping execution of the water pumping action of the robot according to the motion parameters, for example, the robot may control execution of the water pumping action of the robot according to the motion distance and stop executing the water pumping action if the water pumping time is satisfied.

For another example, the robot may control the execution of the pumping action of the robot according to the movement distance and the movement area, and stop executing the pumping action when the pumping time is satisfied.

For example, when the robot satisfies the movement distance or the movement distance and the movement area, the robot may further determine an abnormal condition and control the execution of the pumping operation of the robot when the abnormal condition is not satisfied or the abnormal condition is canceled.

For example, during the water pumping action of the robot, the robot can further judge the abnormal condition, suspend water pumping when the abnormal condition occurs, and control the robot to continue to pump water until the water pumping time is met after the abnormal condition is relieved.

According to the control method of the robot provided by the embodiment, the execution and the stop of the water pumping action of the robot are controlled according to the motion parameters of the robot in the cleaning task, so that the uniform water outlet of the robot in the cleaning task is ensured, and the cleaning effect is improved.

For the situations that the robot stays in place actively or passively, and the robot is blocked in a corner and can only walk in a small area and the like which are not suitable for pumping water, the control method of the embodiment can avoid the robot from performing water pumping action under the situations, avoid the situation that the water outlet of the robot is uneven, avoid the accelerated damage of floor tiles or boards on the ground of the area caused by excessive water outlet of the area, and also avoid the phenomenon that the robot slips and cannot walk and enters into dead circulation that the robot slips more and the robot slips more due to excessive water outlet.

In the cleaning task, how to define the trigger conditions for executing the water pumping action and stopping executing the water pumping action is the key of the control method of the application. The application does not limit the specific implementation manner of the trigger condition, and all the trigger conditions that can enable the robot to execute the water pumping action and stop executing the water pumping action are applicable to the embodiment of the application. The following embodiments of the present application will present several exemplary implementations.

The second embodiment of the present application discloses a control method of a robot, referring to fig. 3, including the following steps 301 to 305:

301. collecting motion parameters of a robot in a cleaning task, wherein the motion parameters comprise: distance of movement and pumping time.

In this embodiment, the specific method for collecting the motion parameters has been described in detail in the foregoing embodiments, and is not repeated in this embodiment.

In this embodiment, the cleaning task is to wipe the surface of the object to be cleaned by a cleaning member such as a rag disposed below the robot while the robot is driven to travel.

In particular, the cleaning task of the robot needs to be performed upon receiving a trigger instruction of the cleaning task. For robots, there are various ways of receiving a trigger instruction for a cleaning task.

In a specific use scenario, a trigger instruction of a cleaning task is generated through a control button arranged on a mechanical body of the robot. The control key can be a physical key or a virtual key displayed in the touch display screen. Based on this, the user can generate a trigger instruction through operating the control button, and the trigger instruction is used for triggering the robot to execute the cleaning task.

In another specific use scenario, the trigger instruction of the cleaning task is generated by a remote controller used in cooperation with the robot. Based on the above, the user can install the control software of the robot on the terminal equipment such as a mobile phone and a computer, and send various control instructions, such as a trigger instruction of a cleaning task, to the robot through the operation of the user on the terminal equipment with the control software.

In a further specific use case, the trigger instructions for the cleaning task are generated according to a predefined program execution logic. In this scenario, before the robot is powered on, the execution logic of the robot, for example, the logic for executing the sweeping task, the cleaning task, and the recharging task, is predefined. Then, after the robot executes the sweeping task, a trigger instruction of the cleaning task is automatically generated.

Optionally, in the case of receiving a trigger command for a cleaning task, the robot does not travel immediately, but first performs an initial water pumping action to wet the cleaning elements such as rags, so as to ensure the cleaning effect of the robot on the surface to be cleaned after the start of travel; and the robot clears the motion parameters in the memory or the cache to ensure the accuracy of the statistical result.

When the duration of the initial water pumping operation reaches the initial water pumping time, the robot stops performing the initial water pumping operation and starts traveling. Wherein, initial pump water time can set up according to actual demand, for example according to environmental parameter, the surface parameter of treating cleaning, the water absorption performance of rag etc. for example initial pump water time can set up 5 seconds, 10 seconds etc..

302. And recording the movement distance of the robot in the process of traveling.

The collection of the record of the movement distance of the robot can be realized by counting a series of movement point coordinates passed by the robot in the process of traveling. The distance between every two adjacent motion points of the robot can be counted, and the distance between a plurality of motion points of the robot can also be counted. For a specific statistical manner, reference is made to the description of the foregoing embodiment, which is not repeated herein.

303. And judging whether the movement distance reaches a distance threshold value, if so, executing a step 304, and if not, executing a step 302.

In this embodiment, the distance threshold may be preset, or may be dynamically adjusted according to other conditions. The conditions may be a variety of, for example, the water-soluble nature of the cleaning elements, such as wipes, the mechanical scheme of the robot, and the environmental parameter values of the environment in which the robot is located.

Taking the example of dynamically adjusting the distance threshold by detecting an environmental parameter value of the environment in which the robot is located, in particular, in an implementation, the temperature or the humidity of the environment in which the robot is located is obtained by a temperature sensor or a humidity sensor, and the distance threshold is adjusted according to the temperature or the humidity. More directly, the temperature sensor or the humidity sensor is arranged in contact with the cleaning cloth, so that the temperature or the humidity of the cleaning cloth can be acquired more accurately. The higher the temperature, the greater the distance threshold; the higher the humidity, the larger the distance threshold.

In another possible embodiment, the current ambient temperature or humidity is pulled through the network environment and the pulled temperature or humidity is transmitted to the robot, so that the robot adjusts the distance threshold according to the received temperature or humidity.

304. And controlling the robot to execute the current water pumping action, recording the water pumping time of the current water pumping action, and resetting and re-recording the recorded movement distance of the robot.

In this embodiment, the robot carries out the action of pumping, can be for the inside water pump motor start of signal control robot, and then drive water pump carries cleaning element such as rag with the water in the water tank of robot on to soak cleaning element.

After the water pumping action is started, the recorded movement distance of the robot is cleared and recorded again, so that preparation is made for the next movement distance statistics.

Optionally, step 304 includes steps S3041 to S3043:

s3041, detecting an abnormal condition of the robot, and determining whether the abnormal condition exists, if so, executing step S3042, and if not, executing step S3043.

Specifically, there are various abnormal conditions such as the robot detecting being entangled, the robot detecting being stuck, the robot being located in the water pumping inhibited area.

In the case where the robot is wound, for example, by an electric wire or a data wire, the pose of the robot changes, and the rotation speed or current of the side brush or the floor brush of the robot changes. Based on this, whether the robot is entangled or not can be judged by detecting whether the pose of the robot changes or detecting the change of the rotating speed or current of the side brush or the floor brush of the robot. In this case, the robot may continue traveling, such as turning or reversing travel, to unwind the wound condition.

The situation that whether the robot is stuck is detected can be judged by judging whether the rotating speed of the roller of the robot changes suddenly or judging the deviation of the traveling route of the robot and the planned route.

In addition, whether the robot detects that the robot is located in the water pumping forbidding area or not can be indirectly judged through identification of the ultrasonic sensor or other motion parameters. In the cleaning task of the robot, the ground media to be cleaned may be complex, such as at least one of tiles, floors, and carpets. For carpet areas, it is not appropriate to pump water to avoid wetting the carpet. Specifically, complex ground media such as carpets can be identified by an ultrasonic sensor of the robot; or can be judged by the rotating speed or the current of the ground brush. When the robot moves to the carpet, the rotating speed of the floor brush is reduced and the current is increased due to the action of friction force. Based on this, whether the robot is located at the carpet can be judged by the rotation speed or current of the floor brush.

S3042, controlling the robot to pause and execute the current water pumping action, pause and record the water pumping time of the current water pumping action, and continue to execute the step S3041.

S3043, controlling the robot to continuously execute the current water pumping action, continuously recording the water pumping time of the current water pumping action, and resetting and re-recording the recorded movement distance of the robot.

In this embodiment, through steps S3041 to S3043, it may be achieved that, in the process of performing water pumping by the robot, detection of an abnormal condition of the robot may be maintained, water pumping is suspended under the abnormal condition until the abnormal condition is over, and water pumping is continued until the water pumping time is met, so as to avoid that the robot continues to pump water even when abnormality occurs during the water pumping operation, and improve the cleaning effect.

305. And controlling the robot to stop executing the current water pumping action under the condition that the water pumping time of the robot executing the current water pumping action reaches a time threshold.

In this embodiment, the time threshold may be preset, or may be dynamically adjusted according to other conditions. The conditions may be a variety of, for example, the water-soluble nature of the cleaning elements, such as wipes, the mechanical scheme of the robot, and the environmental parameter values of the environment in which the robot is located.

Taking the example of dynamically adjusting the time threshold by detecting the environmental parameter value of the environment where the robot is located, specifically, in an implementation, the temperature or the humidity of the environment where the robot is located is obtained by a temperature sensor or a humidity sensor, and the time threshold is adjusted according to the temperature or the humidity. More directly, the temperature sensor or the humidity sensor is arranged in contact with the cleaning cloth, so that the temperature or the humidity of the cleaning cloth can be acquired more accurately. The higher the temperature, the larger the time threshold; the higher the humidity, the larger the time threshold.

In another possible embodiment, the current ambient temperature or humidity is pulled through the network environment and the pulled temperature or humidity is transmitted to the robot, so that the robot adjusts the time threshold according to the received temperature or humidity.

In yet another possible embodiment, the distance threshold and the time threshold may also be dynamically adjusted according to environmental parameter values of the environment in which the robot is located. The adjustment logic of the distance threshold and the time threshold is as follows: the higher the temperature is, the larger the unit time threshold corresponding to the unit distance threshold is; the higher the humidity, the smaller the unit time threshold value corresponding to the unit distance threshold value.

The control method of the robot provided by the embodiment can control the execution of the water pumping action of the robot according to the movement distance of the robot, control the robot to execute the water pumping action when the movement distance of the robot reaches the distance threshold value, and control the stop execution of the water pumping action according to the water pumping time of the robot, so as to realize uniform water discharge in a cleaning task and avoid the occurrence of uneven water discharge caused by the fact that the robot stays in place due to working reasons or moves in a small area.

Further, according to the control method of the robot, in the process that the robot performs water pumping, abnormal condition detection on the robot can be kept, water pumping is suspended under the abnormal condition until the abnormal condition is finished, and water pumping is continued until the water pumping time is met, so that the situation that the robot continues to pump water under the condition that abnormality occurs during water pumping is avoided, and the cleaning effect is improved.

For the purpose of schematically illustrating the scheme of the present embodiment, an example of a specific control method of the robot is listed below to facilitate understanding of implementation of the scheme.

Cleaning example 1 of robot

In one embodiment, the cleaning logic for the robot is as follows: travel to movement distance to reach distance threshold-perform pumping action until pumping time reaches time threshold.

The specific flow of the control method of the robot is as follows:

a1, the robot starts the cleaning task.

Wherein the cleaning task needs to be executed upon receiving a trigger instruction of the cleaning task. For robots, there are various ways of receiving a trigger instruction for a cleaning task, for example:

generating a trigger instruction of a cleaning task through a control button arranged on a mechanical body of the robot;

the robot control method comprises the steps that control software of the robot is installed on terminal equipment such as a mobile phone and a computer which are used in a matched mode with the robot, and a trigger instruction of a cleaning task is sent to the robot through operation of a user on the terminal equipment with the control software;

before the robot is started, the execution logic of the robot is predefined, for example, the logic of executing a sweeping task, a cleaning task and a returning and charging task. Then, after the robot executes the sweeping task, a trigger instruction of the cleaning task is automatically generated.

a2, the robot executes the initial water pumping action and clears the motion parameters.

Specifically, the robot does not travel immediately, but first performs an initial pumping action to wet the cleaning elements, such as rags, to ensure the cleaning effect of the robot on the surface to be cleaned after the start of travel.

In addition, for the situation that the robot executes other tasks before executing the cleaning task and the motion parameters of other tasks are pre-stored in the memory or the cache of the robot, the robot clears the motion parameters in the memory or the cache to ensure the accuracy of the statistical result.

a3, when the duration of the initial water pumping action reaches the initial water pumping time, the robot stops executing the initial water pumping action, starts to travel and collects the movement distance L of the robot in the cleaning task.

a4, recording the movement distance L of the robot in the process of traveling.

a5, when the movement distance L reaches a distance threshold value, controlling the robot to execute the current water pumping action and record the water pumping time T of the current water pumping action, and clearing and recording the recorded movement distance L of the robot again.

a6, when the water pumping time T for the robot to execute the current water pumping action reaches the time threshold, controlling the robot to stop executing the current water pumping action.

a7, controlling the robot to continue to move, and repeating the steps a 4-a 6 until the robot finishes the cleaning task of the target area.

Cleaning example 2 of robot

In one embodiment, the cleaning logic for the robot is as follows: the distance from the travel to the movement reaches a distance threshold value, the water pumping action is executed, abnormal conditions are judged in the water pumping process, and the time from water pumping to water pumping reaches a time threshold value.

The specific flow of the control method of the robot is as follows:

b1, the robot starts the cleaning task.

b2, the robot executes the initial water pumping action and clears the motion parameters.

b3, when the duration of the initial water pumping action reaches the initial water pumping time, the robot stops executing the initial water pumping action, starts to travel and collects the movement distance L of the robot in the cleaning task.

b4, recording the movement distance L of the robot in the process of traveling.

b5, when the movement distance L reaches the distance threshold value, controlling the robot to execute the current water pumping action.

b6, detecting abnormal conditions of the robot, judging whether the abnormal conditions exist, if so, executing the step b7, and if not, executing the step b 8.

b7, controlling the robot to pause the current water pumping action, pausing and recording the water pumping time of the current water pumping action, and continuing to execute the step b 6.

b8, controlling the robot to continue to execute the current water pumping action, continuing to record the water pumping time of the current water pumping action, and clearing and re-recording the recorded movement distance of the robot.

b9, judging whether the water pumping time T of the robot for executing the current water pumping action reaches the time threshold, if so, executing the step b10, and if not, executing the step b 6.

b10, controlling the robot to stop executing the current water pumping action.

b11, controlling the robot to continue to move, and repeating the steps b 4-b 10 until the robot finishes the cleaning task of the target area.

An embodiment of the present application discloses a control method of a robot, referring to fig. 4, including:

401. collecting motion parameters of a robot in a cleaning task, wherein the motion parameters comprise: distance of movement and pumping time.

In particular, the cleaning task of the robot needs to be performed upon receiving a trigger instruction of the cleaning task. For the robot, there are various ways to receive the trigger command of the cleaning task, and the foregoing embodiments have been described in detail, and are not repeated herein.

402. And recording the movement distance of the robot in the process of traveling.

403. And judging whether the movement distance reaches a distance threshold value, if so, executing a step 404, and if not, executing a step 402.

In this embodiment, the distance threshold may be preset, or may be dynamically adjusted according to other conditions. The foregoing embodiments have been described in detail, and are not repeated herein.

404. And (3) detecting abnormal conditions of the robot, judging whether the abnormal conditions exist or not, if so, executing step 405, and if not, executing step 406.

405. The robot is controlled to continue to travel and continue to step 404.

406. And controlling the robot to execute the current water pumping action, recording the water pumping time of the current water pumping action, and resetting and re-recording the recorded movement distance of the robot.

Optionally, step 406 includes steps S4061 to S4063:

s4061, an abnormal condition is detected for the robot, and it is determined whether an abnormal condition exists, if so, step S4062 is executed, and if not, step S4063 is executed.

S4062, the robot is controlled to pause the current water pumping action, the water pumping time of the current water pumping action is paused to be recorded, and the step S4061 is continuously executed.

S4063, controlling the robot to continue to execute the current water pumping action, continuing to record the water pumping time of the current water pumping action, and resetting and re-recording the recorded movement distance of the robot.

In this embodiment, through steps S4061 to S4063, it may be achieved that, in the process of performing water pumping by the robot, detection of an abnormal condition of the robot may be maintained, water pumping is suspended under the abnormal condition until the abnormal condition is completed, and water pumping is continued until the water pumping time is met, so that the robot is prevented from continuing to pump water even when abnormality occurs during the water pumping operation, and the cleaning effect is improved.

407. And controlling the robot to stop executing the current water pumping action under the condition that the water pumping time of the robot executing the current water pumping action reaches a time threshold.

In this embodiment, the time threshold may be preset, or may be dynamically adjusted according to other conditions. The conditions may be a variety of, for example, the water-soluble nature of the cleaning elements, such as wipes, the mechanical scheme of the robot, and the environmental parameter values of the environment in which the robot is located. The foregoing embodiments have been described in detail, and are not repeated herein.

Further, the control method of the robot according to the embodiment may perform abnormal condition detection when the movement distance of the robot reaches the distance threshold value, so as to prevent the robot from performing a water pumping operation under the abnormal condition, and perform water pumping after the abnormal condition is removed, so as to improve the cleaning effect.

According to the control method of the robot, in the process that the robot performs water pumping, abnormal condition detection on the robot can be kept, water pumping is suspended under the abnormal condition until the abnormal condition is finished, and water pumping is continued until the water pumping time is met, so that the situation that the robot continues to pump water under the condition that abnormality occurs when water pumping action is performed is avoided, and the cleaning effect is improved.

Cleaning example 3 of robot

In one embodiment, the cleaning logic for the robot is as follows: the step of moving until the moving distance reaches a distance threshold value, the step of judging an abnormal condition, and the step of executing water pumping action until the water pumping time reaches a time threshold value.

The specific flow of the control method of the robot is as follows:

c1, the robot starts the cleaning task.

c2, the robot executes the initial water pumping action and clears the motion parameters.

c3, when the duration of the initial water pumping action reaches the initial water pumping time, the robot stops executing the initial water pumping action, starts to travel and collects the movement distance of the robot in the cleaning task.

c4, recording the movement distance of the robot in the process of traveling.

c5, when the movement distance reaches the distance threshold, detecting the abnormal condition of the robot, judging whether the abnormal condition exists, if yes, executing step c6, and if not, executing step c 7.

c6, controlling the robot to continue to travel, and continuing to execute the step c 5.

And c7, controlling the robot to execute the current water pumping action, recording the water pumping time of the current water pumping action, and clearing and recording the recorded movement distance of the robot again.

c8, when the water pumping time for the robot to execute the current water pumping action reaches the time threshold value, controlling the robot to stop executing the current water pumping action.

c9, controlling the robot to continue to move, and repeating the steps c 4-c 8 until the robot finishes the cleaning task of the target area.

Cleaning example 4 of robot

In one embodiment, the cleaning logic for the robot is as follows: the distance from the travel to the movement reaches a distance threshold value, an abnormal condition is judged, a water pumping action is executed, the abnormal condition is judged in the water pumping process, and the time from water pumping to water pumping reaches a time threshold value.

The specific flow of the control method of the robot is as follows:

d1, the robot starts the cleaning task.

Wherein the cleaning task needs to be executed upon receiving a trigger instruction of the cleaning task. For the robot, there are various ways to receive the trigger command of the cleaning task, which have been described in detail in the foregoing embodiments, and are not described herein again.

d2, the robot executes the initial water pumping action and clears the motion parameters.

d3, when the duration of the initial water pumping action reaches the initial water pumping time, the robot stops executing the initial water pumping action, starts to travel and collects the movement distance of the robot in the cleaning task.

d4, recording the movement distance of the robot in the process of traveling.

d5, when the movement distance reaches the distance threshold, detecting the abnormal condition of the robot, judging whether the abnormal condition exists, if yes, executing step d6, and if not, executing step d 7.

d6, controlling the robot to continue to travel, and continuing to execute the step d 5.

d7, controlling the robot to execute the current water pumping action, detecting the abnormal condition of the robot, judging whether the abnormal condition exists, if so, executing the step d8, and if not, executing the step d 9.

d8, controlling the robot to pause the current water pumping action, pausing and recording the water pumping time of the current water pumping action, and continuing to execute the step d 7.

d9, controlling the robot to continue to execute the current water pumping action, continuing to record the water pumping time of the current water pumping action, and clearing and recording the recorded movement distance of the robot again.

d10, judging whether the water pumping time of the robot for executing the current water pumping action reaches the time threshold, if so, executing the step d11, and if not, executing the step d 7.

d11, controlling the robot to stop executing the current water pumping action.

d12, controlling the robot to continue to move, and repeating the steps d 4-d 11 until the robot finishes the cleaning task of the target area.

The fourth embodiment of the present application discloses a control method of a robot, referring to fig. 5, including:

501. collecting motion parameters of a robot in a cleaning task, wherein the motion parameters comprise: distance of movement, area of movement and pumping time.

In particular, the cleaning task of the robot needs to be performed upon receiving a trigger instruction of the cleaning task. For the robot, there are various receiving modes of the trigger instruction of the cleaning task, which have been described in detail in the foregoing embodiments, and are not described in detail in this embodiment.

502. And recording the movement distance of the robot in the process of traveling.

503. And judging whether the movement distance reaches a distance threshold value, if so, executing a step 504, and if not, executing a step 502.

504. And calculating the corresponding movement area according to the movement distance recorded by the robot.

In particular, for the motion area of the robot, the collection may be achieved based on counting the coordinates of a series of motion points that the robot passes through during travel. The specific calculation process for the movement area of the robot has been described in detail in the first embodiment, and is not repeated herein.

According to the control method, the execution of the water pumping action of the robot can be controlled according to the movement distance of the robot and the movement area of the robot through recording the movement area of the robot, so that the situation that the water is excessively accumulated in a certain area due to the fact that the water pumping action is executed under the condition that the movement distance of the robot reaches the distance threshold value but the corresponding movement area is too small is avoided.

505. It is determined whether the movement area reaches the area threshold, if so, go to step 506, otherwise, go to step 504.

Wherein, the area threshold value can be preset according to the actual motion scene of the robot.

506. And controlling the robot to execute the current water pumping action, recording the water pumping time of the current water pumping action, and resetting and re-recording the recorded movement distance of the robot.

Alternatively, step 506 includes steps S5061 to S5063:

s5061, an abnormal condition is detected in the robot, and it is determined whether or not an abnormal condition exists, if so, step S5062 is executed, and if not, step S5063 is executed.

Specifically, there are various abnormal conditions such as the robot detecting being entangled, the robot detecting being stuck, the robot being located in the water pumping inhibited area. How to determine the abnormal condition of the robot has been described in detail in the foregoing embodiments, and will not be described herein again.

And S5062, controlling the robot to suspend executing the current water pumping action, suspending recording the water pumping time of the current water pumping action, and continuing to detect the abnormal condition of the robot.

And S5063, controlling the robot to continuously execute the current water pumping action, continuously recording the water pumping time of the current water pumping action, and resetting and recording the recorded movement distance of the robot.

In this embodiment, through steps S5061 to S5063, it can be realized that during the process of pumping water by the robot, the abnormal condition detection of the robot is maintained, and the pumping of water is suspended under the abnormal condition until the abnormal condition is over, and then the pumping of water is continued until the pumping time is met, so that the robot is prevented from continuing to pump water even when the abnormality occurs during the pumping operation, and the cleaning effect is improved.

507. And controlling the robot to stop executing the current water pumping action under the condition that the water pumping time of the robot executing the current water pumping action reaches a time threshold.

In this embodiment, the time threshold may be preset, or may be dynamically adjusted according to other conditions. The conditions may be various, such as the water-soluble characteristics of the cleaning elements, such as rags, the mechanical scheme of the robot, and the environmental parameter values of the environment in which the robot is located, which have been described in detail in the foregoing embodiments and will not be described herein again.

Further, the method of the embodiment can control the execution of the water pumping action of the robot according to the movement distance of the robot and the movement area of the robot, so as to avoid the situation that the water is pumped under the condition that the movement distance of the robot reaches the distance threshold value but the corresponding movement area is too small, and the water is accumulated in a certain area too much.

Further, in the method of the embodiment, in the process of executing water pumping by the robot, abnormal condition detection on the robot can be kept, water pumping is suspended under the abnormal condition until the abnormal condition is finished, and water pumping is continued until the water pumping time is met, so that the situation that the robot continues to pump water even if abnormality occurs during water pumping is executed is avoided, and the cleaning effect is improved.

Cleaning example 5 of robot

In one embodiment, the cleaning logic for the robot is as follows: and (4) when the water pumping device travels until the movement distance reaches a distance threshold value, the water pumping device continues to travel until the movement area reaches an area threshold value, and the water pumping action is executed until the water pumping time reaches a time threshold value.

The specific flow of the control method of the robot is as follows:

e1, the robot starts the cleaning task.

Wherein the cleaning task needs to be executed upon receiving a trigger instruction of the cleaning task. For the robot, there are various ways to receive the trigger command of the cleaning task, and the foregoing embodiments have been described in detail, and are not repeated herein.

e2, the robot executes the initial water pumping action and clears the motion parameters.

e3, when the duration of the initial water pumping action reaches the initial water pumping time, the robot stops executing the initial water pumping action, starts to travel and collects the movement distance of the robot in the cleaning task.

e4, recording the movement distance L of the robot in the process of traveling.

e5, when the movement distance reaches the distance threshold value, calculating the corresponding movement area according to the movement distance recorded by the robot.

e6, judging whether the movement area reaches the area threshold value, if not, executing a step e7, and if so, executing a step e 8.

e7, controlling the robot to continue to travel and record the movement distance, and continuing to execute the step e 6.

e8, controlling the robot to execute the current water pumping action and recording the water pumping time of the current water pumping action, and clearing and recording the recorded movement distance of the robot again.

e9, judging whether the water pumping time T of the robot for executing the current water pumping action reaches the time threshold, if so, executing step e10, and if not, executing step e 8.

e10, controlling the robot to stop executing the current water pumping action.

e11, controlling the robot to continue to move, and repeating the steps e 4-e 10 until the robot finishes the cleaning task of the target area.

Cleaning example 6 of robot

In one embodiment, the cleaning logic for the robot is as follows: the method comprises the steps of moving until the moving distance reaches a distance threshold value, continuing to move until the moving area reaches an area threshold value, executing water pumping action, judging abnormal conditions in the water pumping process, and pumping water until the time from water pumping reaches a time threshold value.

The specific flow of the control method of the robot is as follows:

f1, the robot starts the cleaning task.

f2, the robot executes the initial water pumping action and clears the motion parameters.

f3, when the duration of the initial water pumping action reaches the initial water pumping time, the robot stops executing the initial water pumping action, starts to travel and collects the movement distance L of the robot in the cleaning task.

f4, recording the movement distance L of the robot in the process of traveling.

f5, when the movement distance reaches a distance threshold value, calculating a corresponding movement area according to the movement distance recorded by the robot.

f6, judging whether the movement area reaches the area threshold value, if not, executing a step f7, and if so, executing a step f 8.

f7, controlling the robot to continue to travel and record the movement distance, and continuing to execute the step f 6.

f8, controlling the robot to execute the current water pumping action.

f9, detecting abnormal conditions of the robot, judging whether the abnormal conditions exist, if yes, executing step f10, and if not, executing step f 11.

f10, controlling the robot to pause the current water pumping action, pausing and recording the water pumping time of the current water pumping action, and continuing to execute the step f 9.

And f11, controlling the robot to continue to execute the current water pumping action, continuing to record the water pumping time of the current water pumping action, and clearing and re-recording the recorded movement distance of the robot.

f12, judging whether the water pumping time T of the robot for executing the current water pumping action reaches the time threshold, if so, executing step f13, and if not, continuing executing step f 8.

f13, controlling the robot to stop executing the current water pumping action.

f14, controlling the robot to continue to move, and repeating the steps f 4-f 13 until the robot finishes the cleaning task of the target area.

An embodiment of the present application fifth discloses a control method of a robot, referring to fig. 6, including:

601. collecting motion parameters of a robot in a cleaning task, wherein the motion parameters comprise: distance of movement, area of movement and pumping time.

602. And recording the movement distance of the robot in the process of traveling.

603. And judging whether the movement distance reaches a distance threshold value, if so, executing a step 604, and if not, executing a step 602.

604. And calculating the corresponding movement area according to the movement distance recorded by the robot.

605. And judging whether the movement area reaches an area threshold value, if so, executing a step 606, and if not, executing a step 604.

606. And (4) detecting abnormal conditions of the robot, judging whether the abnormal conditions exist or not, if so, executing step 607, and if not, executing step 608.

607. The robot is controlled to continue to travel and continue to perform step 606.

608. And controlling the robot to execute the current water pumping action, recording the water pumping time of the current water pumping action, and resetting and re-recording the recorded movement distance of the robot.

Alternatively, step 608 includes steps S6081 to S6083:

s6081, an abnormal condition is detected for the robot, and whether or not an abnormal condition exists is determined, if yes, step S6082 is executed, and if not, step S6083 is executed.

And S6082, controlling the robot to suspend executing the current water pumping action, suspending recording the water pumping time of the current water pumping action, and continuing to detect the abnormal condition of the robot.

And S6083, controlling the robot to continuously execute the current water pumping action, continuously recording the water pumping time of the current water pumping action, and resetting and re-recording the recorded movement distance of the robot.

In this embodiment, through steps S6081 to S6083, it may be achieved that, in the process of performing water pumping by the robot, detection of an abnormal condition of the robot may be maintained, water pumping is suspended under the abnormal condition until the abnormal condition is completed, and water pumping is continued until the water pumping time is met, so that the robot is prevented from continuing to pump water even when abnormality occurs during the water pumping operation, and the cleaning effect is improved.

609. And controlling the robot to stop executing the current water pumping action under the condition that the water pumping time of the robot executing the current water pumping action reaches a time threshold.

Further, the method of the embodiment can perform the abnormal condition detection when the moving area of the robot reaches the area threshold value, so as to prevent the robot from performing the water pumping action under the abnormal condition, and perform the water pumping action after the abnormal condition is removed, so as to improve the cleaning effect.

Cleaning example 7 of robot

In one embodiment, the cleaning logic for the robot is as follows: the method comprises the steps of moving until the moving distance reaches a distance threshold value, continuing to move until the moving area reaches an area threshold value, judging an abnormal condition, and executing a water pumping action until the water pumping time reaches a time threshold value.

The specific flow of the control method of the robot is as follows:

g1, the robot starts the cleaning task.

g2, the robot executes the initial water pumping action and clears the motion parameters.

g3, when the duration of the initial water pumping action reaches the initial water pumping time, the robot stops executing the initial water pumping action, starts to travel and collects the movement distance of the robot in the cleaning task.

g4, recording the movement distance L of the robot in the process of traveling.

And g5, when the movement distance L reaches the distance threshold value, calculating the corresponding movement area S according to the movement distance recorded by the robot.

g6, judging whether the movement area S reaches the area threshold value, if not, executing a step g7, and if so, executing a step g 8.

g7, controlling the robot to continue to travel and record the movement distance, and continuing to execute the step g 6.

g8, detecting abnormal conditions of the robot, judging whether the abnormal conditions exist, if yes, executing step g9, and if not, executing step g 10.

g9, controlling the robot to continue to travel, and continuing to execute the step g 8.

And g10, controlling the robot to perform the current water pumping action, recording the water pumping time of the current water pumping action, and resetting and re-recording the recorded movement distance of the robot.

g11, judging whether the water pumping time T of the robot for executing the current water pumping action reaches a time threshold, if so, executing step g12, and if not, executing step g 10.

And g12, controlling the robot to stop executing the current water pumping action.

g13, controlling the robot to continue to move, and repeating the steps g 4-g 12 until the robot finishes the cleaning task of the target area.

Cleaning example 8 of robot

In one embodiment, the cleaning logic for the robot is as follows: the method comprises the steps of moving until the moving distance reaches a distance threshold value, continuing to move until the moving area reaches an area threshold value, judging an abnormal condition, executing a water pumping action, judging the abnormal condition in the water pumping process, and pumping water until the water pumping time reaches a time threshold value.

The specific flow of the control method of the robot is as follows:

h1, the robot starts the cleaning task.

h2, the robot performs the initial water pumping action and clears the motion parameters.

h3, when the duration of the initial water pumping action reaches the initial water pumping time, the robot stops executing the initial water pumping action, starts to travel and collects the movement distance of the robot in the cleaning task.

h4, recording the movement distance L of the robot in the process of traveling.

h5, when the movement distance L reaches the distance threshold value, calculating the corresponding movement area S according to the movement distance recorded by the robot.

h6, judging whether the movement area S reaches the area threshold value, if not, executing a step h7, and if so, executing a step h 8.

h7, controlling the robot to continue to travel and record the movement distance, and continuing to execute the step h 6.

h8, detecting abnormal conditions of the robot, judging whether the abnormal conditions exist, if so, executing a step h9, and if not, executing a step h 10.

h9, controlling the robot to continue to travel, and continuing to execute the step h 8.

h10, controlling the robot to execute the current water pumping action.

h11, detecting abnormal conditions of the robot, judging whether the abnormal conditions exist, if so, executing a step h12, and if not, executing a step h 13.

h12, controlling the robot to pause the current water pumping action, pausing and recording the water pumping time of the current water pumping action, and continuing to execute the step h 11.

h13, controlling the robot to continue to execute the current water pumping action, continuing to record the water pumping time of the current water pumping action, and clearing and re-recording the recorded movement distance of the robot.

h14, judging whether the water pumping time T of the robot for executing the current water pumping action reaches a time threshold, if so, executing a step h15, and if not, continuing executing a step h 10.

h15, controlling the robot to stop executing the current water pumping action.

h16, controlling the robot to continue to move, and repeating the steps h 4-h 15 until the robot finishes the cleaning task of the target area.

The sixth embodiment discloses a robot, see fig. 7, which includes a machine body 70, and the machine body is provided with at least one processor 701 and at least one memory 702 for storing computer instructions.

Wherein the memory 702 is used for storing programs for supporting the robot to execute the control method in the foregoing embodiments, and the processor 701 is configured to execute the programs stored in the memory.

In addition to one or more processors 701 and one or more memories 702, the machine body 70 is provided with some basic components of the robot, such as a driving component, a cleaning component, a camera, a sensor component, a power supply component, and the like. Alternatively, the drive assembly may include drive wheels, drive motors, universal wheels, and the like. Alternatively, the sweeping assembly may include a sweeping motor, a floor brush, a dust suction fan, and the like. The basic components and the structures of the basic components included in different robots are different, and the embodiments of the present application are only some examples.

It is noted that one or more processors 701 and one or more memories 702 may be disposed inside the machine body, or disposed on the surface of the machine body 70.

The machine body 70 is an execution mechanism by which the robot performs a task of a job, and can execute an operation designated by a processor in a certain environment. The machine body 70 shows the appearance of the robot to some extent. In the present embodiment, the external form of the robot is not limited, and may be, for example, a circle, an ellipse, a triangle, a convex polygon, or the like.

The one or more memories 702 are used primarily to store computer instructions that may be executed by the one or more processors 701 to cause the one or more processors 701 to control the machine body 700 of the robot to perform cleaning tasks. In addition to storing computer instructions, the one or more memories 702 may also be configured to store other various data to support operations on the robot. Examples of such data include instructions for any application or method operating on the robot, map data of the environment/scene in which the robot is located, information of the area to be cleaned, cleaning time, and so forth.

The memory or memories 702 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

One or more processors 701, which may be considered a control system for the robot, may be used to execute computer instructions stored in one or more memories 702 to control the robot to perform cleaning tasks.

The at least one processor 701 is configured to execute computer instructions to implement the following method: collecting motion parameters of the robot in the cleaning task; and controlling the execution and stopping of the water pumping action of the robot according to the motion parameters of the robot.

Wherein, for the motion area of the robot, the collection can be realized based on the coordinates of a series of motion points passed by the robot in the process of traveling. The specific statistical process of the motion area is described in detail in the first embodiment, and is not described herein again.

Optionally, in a specific use situation, the robot of this embodiment may control the execution of the water pumping action of the robot according to the movement distance of the robot, so as to achieve uniform water discharge in the cleaning task, and avoid the occurrence of uneven water discharge caused by the robot staying in place or moving in a small area due to work reasons.

In particular, the at least one processor is specifically configured to:

recording the movement distance of the robot in the process of traveling;

Optionally, before controlling the robot to perform the current pumping action, the at least one processor is configured to: detecting abnormal conditions of the robot, and judging whether the abnormal conditions exist or not;

and if not, controlling the robot to execute the current water pumping action.

Alternatively, in another specific use case, the robot of the embodiment may control the execution of the water pumping action of the robot according to not only the movement distance of the robot but also the movement area of the robot.

In particular, the at least one processor is specifically configured to:

recording the movement distance of the robot in the process of traveling;

Optionally, before controlling the robot to perform the current water pumping action, the at least one processor is further configured to: detecting abnormal conditions of the robot, and judging whether the abnormal conditions exist or not;

and if not, controlling the robot to execute the current water pumping action.

Wherein the exception condition includes: the robot detects being entangled, the robot detects being stuck, and the robot is located in at least one of the water pumping prohibition areas.

In another specific use case, the robot provided in this embodiment may keep detecting an abnormal condition of the robot during the process of pumping water, and suspend pumping water under the abnormal condition until the abnormal condition is over, and continue pumping water until the water pumping time is met, so as to avoid that the robot continues pumping water under the condition that an abnormality occurs while performing the water pumping action, thereby improving the cleaning effect.

Specifically, in the process of controlling the robot to execute the current water pumping action, the at least one processor is further configured to:

Optionally, before collecting the motion parameters of the robot in the cleaning task, the at least one processor is further configured to: under the condition that a trigger instruction of the cleaning task is received, the robot executes an initial water pumping action and clears the motion parameters; when the duration of the initial water pumping operation reaches the initial water pumping time, the robot stops performing the initial water pumping operation and starts traveling.

The robot provided by the embodiment controls the execution and stop execution of the water pumping action of the robot according to the motion parameters of the robot in the cleaning task, so that the uniformity of water outlet of the robot in the cleaning task is ensured, and the cleaning effect is improved.

Further, the robot of the embodiment can control the execution of the water pumping action of the robot according to the movement distance of the robot, control the robot to execute the water pumping action when the movement distance of the robot reaches a distance threshold value, and control the stop execution of the water pumping action according to the water pumping time of the robot, so as to realize uniform water discharge in a cleaning task and avoid the occurrence of uneven water discharge caused by the fact that the robot stays in place due to work reasons or moves in a small area.

Further, the robot of the embodiment may perform abnormal condition detection when the movement distance reaches the distance threshold value, so as to prevent the robot from performing a water pumping operation under the abnormal condition, and perform water pumping after the abnormal condition is resolved, so as to improve the cleaning effect.

Further, the robot of the embodiment can control the execution of the water pumping action of the robot according to the movement distance of the robot and the movement area of the robot, so as to avoid the situation that the water is excessively accumulated in a certain area due to the fact that the water pumping action is executed under the condition that the movement distance of the robot reaches the distance threshold value but the corresponding movement area is too small.

Further, in the process of executing water pumping, the robot of the embodiment can keep detecting abnormal conditions of the robot, suspend water pumping under the abnormal conditions until the abnormal conditions are finished, and continue water pumping until the water pumping time is met, so that the robot is prevented from continuing water pumping under the condition that abnormality occurs when water pumping is executed, and the cleaning effect is improved.

The seventh embodiment discloses a cleaning device of a robot, referring to fig. 8, including:

a collection module 801 configured to collect motion parameters of the robot in a cleaning task;

a control module 802 configured to control execution and stop of the water pumping action of the robot according to the motion parameters of the robot.

Optionally, the motion parameters include: the movement distance and the water pumping time; the control module 802 includes:

a movement distance recording unit configured to record a movement distance of the robot during travel;

the water pumping action execution unit is configured to control the robot to execute the current water pumping action and record the water pumping time of the current water pumping action under the condition that the movement distance reaches a distance threshold value, and clear and record the recorded movement distance of the robot again;

a timing unit configured to control the robot to stop performing the current water pumping action if a water pumping time for the robot to perform the current water pumping action reaches a time threshold.

Optionally, in a case that the movement distance reaches a distance threshold, the control module further includes:

an abnormality detection unit configured to detect an abnormal condition of the robot, determine whether the abnormal condition exists, if so, execute the advancing unit, and if not, execute the pumping action execution unit;

a traveling unit configured to control the robot to continue traveling and to continue to execute the abnormality detecting unit;

and the water pumping action execution unit is configured to control the robot to execute the current water pumping action and record the water pumping time of the current water pumping action, and clear and record the recorded movement distance of the robot again.

Optionally, in the process that the pumping action execution unit controls the robot to execute the current pumping action and record the pumping time of the current pumping action, and clears and records the recorded movement distance of the robot,

the anomaly detection unit is further specifically configured to: detecting abnormal conditions of the robot, judging whether the abnormal conditions exist or not, if so, executing a pause unit, and if not, executing a water pumping action by a water pumping action execution unit;

a pause unit configured to: controlling the robot to pause and execute the current water pumping action, pausing and recording the water pumping time of the current water pumping action, and continuing to detect the abnormal condition of the robot;

a pumping action execution unit configured to: and controlling the robot to continuously execute the current water pumping action, continuously recording the water pumping time of the current water pumping action, and resetting and re-recording the recorded movement distance of the robot.

the control module 802 includes:

the movement distance recording unit is configured to record the movement distance of the robot in the process of traveling;

a movement area recording unit configured to calculate a corresponding movement area according to the movement distance recorded by the robot when the movement distance reaches a distance threshold;

the water pumping action execution unit is configured to control the robot to execute the current water pumping action and record the water pumping time of the current water pumping action under the condition that the movement area reaches an area threshold value, and clear and record the recorded movement distance of the robot again;

Optionally, the movement area recording unit is further configured to: and under the condition that the movement area does not reach the area threshold value, controlling the robot to continuously travel and record the movement distance, and continuously calculating the corresponding movement area according to the movement distance recorded by the robot.

Optionally, before the water pumping action execution unit controls the robot to execute the current water pumping action, the control module further includes:

the abnormality detection unit is configured to detect an abnormal condition of the robot, judge whether the abnormal condition exists, if so, execute the advancing unit, and if not, execute the water pumping action execution unit;

the traveling unit is configured to control the robot to continue traveling and to continue executing the abnormality detecting unit;

the water pumping action execution unit is configured to control the robot to execute the current water pumping action.

Optionally, the abnormality detecting unit is further specifically configured to: detecting abnormal conditions of the robot, judging whether the abnormal conditions exist or not, if so, executing a pause unit, and if not, executing a water pumping action by a water pumping action execution unit;

Optionally, the apparatus further comprises:

the initial water pumping unit is configured to execute an initial water pumping action and clear the motion parameters under the condition that a trigger instruction of the cleaning task is received;

and an initial water pumping timing unit configured to stop performing the initial water pumping action and start traveling when the duration of the initial water pumping action reaches an initial water pumping time.

Optionally, the apparatus further comprises: a threshold adjustment module configured to dynamically adjust the distance threshold and the time threshold by detecting an environmental parameter value of an environment in which the robot is located.

According to the cleaning device of the robot, the execution and the stop of the water pumping action of the robot are controlled according to the motion parameters of the robot in the cleaning task, so that the uniformity of water outlet of the robot in the cleaning task is ensured, and the cleaning effect is improved.

The above is a schematic solution of the cleaning device of the robot of the present embodiment. It should be noted that the technical solution of the cleaning device and the technical solution of the control method of the robot belong to the same concept, and for details of the technical solution of the cleaning device not described in detail, reference may be made to the description of the technical solution of the control method of the robot.

An embodiment of the present application further provides a computer readable storage medium storing computer instructions that, when executed by a processor, implement the steps of:

collecting motion parameters of the robot in the cleaning task;

recording the movement distance of the robot in the process of traveling;

Optionally, before controlling the robot to perform the current water pumping action, the processor further performs the following steps: detecting abnormal conditions of the robot, and judging whether the abnormal conditions exist or not;

and if not, controlling the robot to execute the current water pumping action.

Optionally, in the process of controlling the robot to perform the current water pumping action, the processor further performs the following steps:

the processor further performs the steps of:

recording the movement distance of the robot in the process of traveling;

Optionally, the processor further performs the following steps:

and under the condition that the movement area does not reach the area threshold value, controlling the robot to continuously travel and record the movement distance, and continuously calculating the corresponding movement area according to the movement distance recorded by the robot.

Optionally, before controlling the robot to perform the current water pumping action, the processor further performs the following steps:

and if not, controlling the robot to execute the current water pumping action, recording the water pumping time of the current water pumping action, and resetting and re-recording the recorded movement distance of the robot.

Optionally, before collecting the motion parameters of the robot in the cleaning task, the processor further performs the following steps:

Optionally, the processor further performs the following steps: and dynamically adjusting the distance threshold value and the time threshold value by detecting an environment parameter value of the environment where the robot is located.

The above is an illustrative scheme of a computer-readable storage medium of the present embodiment. It should be noted that the technical solution of the storage medium is the same as the technical solution of the control method of the robot described above, and for details that are not described in detail in the technical solution of the storage medium, reference may be made to the description of the technical solution of the control method of the robot described above.

The computer instructions comprise computer program code which may be in the form of source code, object code, an executable file or some intermediate form, or the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

The preferred embodiments of the present application disclosed above are intended only to aid in the explanation of the application. Alternative embodiments are not exhaustive and do not limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the application and the practical application, to thereby enable others skilled in the art to best understand and utilize the application. The application is limited only by the claims and their full scope and equivalents.

Claims

1. A method for controlling a robot, comprising:

collecting motion parameters of the robot in the cleaning task;

2. The control method of claim 1, wherein the motion parameters comprise: the movement distance and the water pumping time;

recording the movement distance of the robot in the process of traveling;

3. The control method according to claim 2, wherein before controlling the robot to perform the current water pumping action, the method further comprises:

and if not, controlling the robot to execute the current water pumping action.

4. A control method according to claim 2 or 3, wherein, in controlling the robot to perform the current water pumping action, the method comprises:

5. The control method according to claim 4, wherein the abnormal condition includes:

the robot detects being entangled, the robot detects being stuck, and the robot is located in at least one of the water pumping prohibition areas.

6. The control method of claim 1, wherein the motion parameters comprise: the movement distance, the movement area and the water pumping time;

recording the movement distance of the robot in the process of traveling;

7. The control method of claim 6, wherein the method further comprises:

8. The control method according to claim 6, wherein before controlling the robot to perform the current water pumping action, the method further comprises:

and if not, controlling the robot to execute the current water pumping action.

9. The control method according to claim 6 or 8, wherein in controlling the robot to perform the current water pumping action, the method further comprises:

10. The control method according to claim 9, wherein the abnormal condition includes:

11. The control method of claim 1, wherein prior to collecting the motion parameters of the robot in the cleaning task, the method further comprises:

12. The control method according to claim 2 or 6, characterized in that the method further comprises:

and dynamically adjusting the distance threshold value and the time threshold value by detecting an environment parameter value of the environment where the robot is located.

13. A robot is characterized by comprising a machine body, wherein at least one processor and at least one memory for storing computer instructions are arranged on the machine body;

collecting motion parameters of the robot in the cleaning task;

14. The robot of claim 13, wherein the motion parameters include: the movement distance and the water pumping time;

the at least one processor is specifically configured to:

recording the movement distance of the robot in the process of traveling;

15. The robot of claim 14, wherein prior to controlling the robot to perform the current pumping action, the at least one processor is configured to:

and if not, controlling the robot to execute the current water pumping action.

16. A robot as claimed in claim 14 or 15, wherein, in controlling the robot to perform the current pumping action, the at least one processor is configured to:

17. The robot of claim 13, wherein the motion parameters include: the movement distance, the movement area and the water pumping time;

the at least one processor is specifically configured to:

recording the movement distance of the robot in the process of traveling;

18. The robot of claim 17, wherein said at least one processor is further configured to: and under the condition that the movement area does not reach the area threshold value, controlling the robot to continuously travel and record the movement distance, and continuously calculating the corresponding movement area according to the movement distance recorded by the robot.

19. The robot of claim 17, wherein prior to controlling the robot to perform the current pumping action, the at least one processor is further configured to:

and if not, controlling the robot to execute the current water pumping action.

20. A robot as claimed in claim 17 or 19, wherein in controlling the robot to perform the current pumping action, the at least one processor is further adapted to:

21. The robot of claim 13, wherein prior to collecting the robot's motion parameters in the cleaning task, the at least one processor is further configured to:

22. A robot as claimed in claim 14 or 17, wherein the at least one processor is further configured to: and dynamically adjusting the distance threshold value and the time threshold value by detecting an environment parameter value of the environment where the robot is located.

23. A control device for a robot, comprising:

24. A computer readable storage medium storing computer instructions, wherein the instructions when executed by a processor implement the steps of:

collecting motion parameters of the robot in the cleaning task;