WO2023273899A1

WO2023273899A1 - Avoidance method and apparatus of mobile robot, storage medium, and electronic apparatus

Info

Publication number: WO2023273899A1
Application number: PCT/CN2022/099074
Authority: WO
Inventors: 崔凌
Original assignee: 追觅创新科技(苏州)有限公司
Priority date: 2021-07-02
Filing date: 2022-06-16
Publication date: 2023-01-05
Also published as: CN113467452A

Abstract

An avoidance method and apparatus of a mobile robot, a storage medium, and an electronic apparatus. The avoidance method of a mobile robot comprises: obtaining a first region list of an environment map corresponding to the mobile robot, wherein the first region list comprises: one or more target regions, and position information of the one or more target regions on the environment map, and the probability that the mobile robot gets stuck in the target region is greater than a preset threshold (S202); according to the position information, correspondingly displaying the one or more target regions in the environment map, and in response to a selection operation of a target object, select a second region list in the first region list (S204); and sending the second region list to the mobile robot to instruct the mobile robot to avoid the target region comprised in the second region list during travel (S206). Use of the avoidance method of a mobile robot resolves the problem that a cleaning robot is easily trapped in a narrow space in the process of cleaning the ground.

Description

Method and device for avoiding mobile robot, storage medium and electronic device

The present invention claims the priority of the following patent application: a Chinese patent application submitted to the China Patent Office on July 02, 2021, with the application number 202110753693.1, and the title of the invention is "avoidance method and device, storage medium and electronic device for mobile robots", The entire contents of the above-mentioned patent applications are hereby incorporated by reference.

【Technical field】

The present invention relates to the communication field, in particular to a method and device for avoiding a mobile robot, a storage medium and an electronic device.

【Background technique】

With the development of science and technology, sweeping robots are becoming more and more common in daily life, but there are many problems in the use of sweeping robots, and they are not smart enough. trapped, making it impossible to proceed with cleaning.

In related technologies, the method of escape usually adopted by sweeping robots is to search whether there is a path that can escape from the trapped state, but limited by the sensor accuracy of the sweeper and the error of the establishment of the map, it is difficult to obtain ideal results for narrow spaces, so Machines are also prone to getting stuck.

In view of related technologies, the sweeping robot is easy to be trapped in a narrow space during the process of cleaning the ground, and no effective solution has been proposed yet.

【Content of invention】

The object of the present invention is to provide a mobile robot avoidance method and device, a storage medium and an electronic device, so as to at least solve the problem that the sweeping robot is easily trapped in a narrow space during the process of cleaning the ground.

The purpose of the present invention is to realize through the following technical solutions:

According to an aspect of an embodiment of the present invention, a method for avoiding a mobile robot is provided, the method comprising: acquiring a first area list of an environment map corresponding to the mobile robot, wherein the first area list includes: One or more target areas, and the location information of the one or more target areas on the environmental map, the probability of the mobile robot being stuck in the target area is greater than a preset threshold; according to the location information Correspondingly display the one or more target areas in the environment map, and select a second area list in the first area list in response to the selection operation of the target object; send the second area list to the mobile robot list, to instruct the mobile robot to avoid the target areas included in the second area list during travel.

Further, sending the second area list to the mobile robot to instruct the mobile robot to avoid the target areas included in the second area list during travel includes: sending the mobile robot the the second area list to instruct the mobile robot to perform the following operations: obtain the target area included in the second area list; set the location of the target area included in the second area list in the environment map virtual wall.

Further, obtaining the first area list of the environment map corresponding to the mobile robot includes: instructing the mobile robot to travel on the area indicated by the environment map; during the travel of the mobile robot, receiving the The first area list sent by the mobile robot, wherein the first area list is a target area list detected by the mobile robot.

Further, obtaining the first area list of the environment map corresponding to the mobile robot includes: sending the environment map corresponding to the mobile robot to the server, so as to instruct the server to determine all areas corresponding to the environment map through big data analysis. The first area list; receiving the first area list sent by the server.

According to yet another aspect of the embodiments of the present invention, there is also provided an avoidance method for a mobile robot, the method comprising: receiving a second area list sent by a mobile terminal, wherein the second area list is determined by the following method: The mobile terminal acquires a first area list of the environment map corresponding to the mobile robot, wherein the first area list includes: one or more target areas, and the one or more target areas are in the environment map The location information on the mobile terminal, the probability of the mobile robot being stuck in the target area is greater than a preset threshold; the mobile terminal correspondingly displays the one or more target areas in the environment map according to the location information, And in response to the selection operation of the target object, select a second area list in the first area list; control the mobile robot to avoid the target area included in the second area list during the traveling process.

Further, controlling the mobile robot to avoid the target areas included in the second area list includes: obtaining the target areas included in the second area list; in the environment map, the A virtual wall is set on the position of the target area included in the second area list.

Further, before receiving the second area list sent by the mobile terminal, the method further includes: controlling the mobile robot to travel on the area indicated by the environment map; during the travel of the mobile robot, acquiring the The mobile robot detects the first area list, and sends the first area list to the mobile terminal.

Further, before obtaining the first area list detected by the mobile robot, the method further includes: determining that the mobile robot has detected the target area in at least one of the following ways: within a first preset time period Within the period, the driving wheels of the mobile robot are idling; within the second preset period of time, the moving distance of the mobile robot is less than the preset distance; within the third preset period of time, the mobile robot has multiple moving directions .

According to still another aspect of the embodiments of the present invention, there is also provided an avoidance device for a mobile robot, the device comprising: an acquisition module, configured to acquire a first area list of the environment map corresponding to the mobile robot, wherein the The first area list includes: one or more target areas, and the location information of the one or more target areas on the environment map, the probability of the mobile robot being stuck in the target area is greater than a preset Threshold; a selection module, configured to display the one or more target areas in the environmental map according to the position information, and select a second area list in the first area list in response to a selection operation of the target object a sending module, configured to send the second area list to the mobile robot, to instruct the mobile robot to avoid target areas included in the second area list during travel.

According to yet another aspect of the embodiments of the present invention, there is also provided an avoidance device for a mobile robot, the device comprising: a receiving module, configured to receive a second area list sent by a mobile terminal, wherein the second area list is passed through Determined in the following manner: the mobile terminal acquires a first area list of the environment map corresponding to the mobile robot, wherein the first area list includes: one or more target areas, and the one or more target areas According to the location information on the environment map, the probability of the mobile robot being stuck in the target area is greater than a preset threshold; and the one or more target areas are correspondingly displayed in the environment map according to the location information , and in response to the selection operation of the target object, select the second area list in the first area list; the avoidance module is used to control the mobile robot to avoid the targets included in the second area list during the traveling process area.

According to yet another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, where a computer program is stored in the storage medium, wherein the computer program is set to execute any of the above-mentioned The avoidance method of the mobile robot described above.

According to yet another embodiment of the embodiments of the present invention, there is also provided an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to perform any of the above An avoidance method for mobile robots as described in one.

Through the present invention, the first area list in the environment map corresponding to the mobile robot is obtained, wherein the probability of one or more target areas in the first area list of the mobile robot being stuck is greater than a preset threshold, and correspondingly displayed in the environment map The one or more target areas, so as to respond to the selection operation of the target object, select a second area list in the first area list, and then send the second area list to the mobile robot to indicate that the mobile robot is traveling, Avoid target areas included in the second area list. By adopting the above technical solution, the problem that the sweeping robot is easily trapped in a narrow space during the process of cleaning the ground is solved. Furthermore, the target object selects the second area list from the first area list, so that the sweeping robot avoids the target area included in the second area list, avoiding the probability that the sweeping robot is trapped in a narrow space during the process of cleaning the ground.

【Description of drawings】

The accompanying drawings described here are used to provide a further understanding of the present invention, and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute improper limitations to the present invention. In the attached picture:

Fig. 1 is a block diagram of the hardware structure of a mobile terminal or a mobile robot of a method for avoiding a mobile robot according to an embodiment of the present invention;

Fig. 2 is a flowchart (1) of a method for avoiding a mobile robot according to an embodiment of the present invention;

Fig. 3 is a flow chart (2) of a method for avoiding a mobile robot according to an embodiment of the present invention;

Fig. 4 is a flow chart (3) of a method for avoiding a mobile robot according to an embodiment of the present invention;

FIG. 5 is a structural block diagram (1) of an avoidance device for a mobile robot according to an embodiment of the present invention;

Fig. 6 is a structural block diagram (2) of an avoidance device for a mobile robot according to an embodiment of the present invention.

【detailed description】

Hereinafter, the present invention will be described in detail with reference to the drawings and examples. It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence.

The method embodiments provided by the embodiments of the present invention may be executed in a mobile terminal, a mobile robot, or a similar computing device. Taking running on a mobile terminal or a mobile robot as an example, FIG. 1 is a block diagram of a hardware structure of a mobile terminal or a mobile robot according to an avoidance method for a mobile robot according to an embodiment of the present invention. As shown in FIG. 1 , a mobile terminal or a mobile robot may include one or more (only one is shown in FIG. 1 ) processors 102 (the processor 102 may include but not limited to a microprocessor (Microprocessor Unit, MPU for short) or A processing device such as a programmable logic device (Programmable logic device, referred to as PLD) and a memory 104 for storing data. Optionally, the above-mentioned mobile terminal or mobile robot may also include a transmission device 106 for communication functions and input and output Device 108. Those of ordinary skill in the art can understand that the structure shown in Figure 1 is only schematic, and it does not limit the structure of the above-mentioned mobile terminal or mobile robot. For example, the mobile terminal or mobile robot can also include Show more or less components, or have the same function as shown in Figure 1 or a different configuration with more functions than shown in Figure 1.

The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the avoidance method of the mobile robot in the embodiment of the present invention, the processor 102 runs the computer program stored in the memory 104, thereby Executing various functional applications and data processing is to realize the above-mentioned method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory located remotely relative to the processor 102, and these remote memories may be connected to a mobile terminal or a mobile robot through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission device 106 is used to receive or transmit data via the network. The specific example of the above-mentioned network may include a wireless network provided by a communication provider of a mobile terminal or a mobile robot. In one example, the transmission device 106 includes a network interface controller (NIC for short), which can be connected to other network devices through a base station so as to communicate with the Internet. In an example, the transmission device 106 may be a radio frequency (Radio Frequency, RF for short) module, which is used to communicate with the Internet in a wireless manner.

In this embodiment, a mobile robot avoidance method is provided, which is applied to a mobile terminal. FIG. 2 is a flow chart (1) of a mobile robot avoidance method according to an embodiment of the present invention. As shown in FIG. 2 , the The process includes the following steps:

Step S202, obtaining a first area list of the environment map corresponding to the mobile robot, wherein the first area list includes: one or more target areas, and the one or more target areas in the environment map The location information on the above, the probability of the mobile robot being stuck in the target area is greater than a preset threshold;

Step S204, correspondingly displaying the one or more target areas in the environmental map according to the position information, and selecting a second area list in the first area list in response to a selection operation of a target object;

It should be noted that the target object in this embodiment is a user who uses a mobile terminal to control a mobile robot, and the mobile terminal will display the corresponding information in the environment map on the screen of the mobile terminal according to the location information in the first area list. One or more target areas, and then the target object can perform corresponding operations on the environment map on the mobile terminal, and select the second area list from the first area list. The one or more target areas are displayed on the environment map. Specifically, the one or more target areas can be displayed in different colors on the environment map, so that the target object can be seen more clearly, and a quick decision can be made. choose. The above-mentioned mobile terminal may specifically be a mobile device such as a mobile phone or a tablet computer.

Step S206 , sending the second area list to the mobile robot to instruct the mobile robot to avoid target areas included in the second area list during travel.

Through the above steps, the first area list in the environment map corresponding to the mobile robot is obtained, wherein the probability of one or more target areas in the first area list of the mobile robot being stuck is greater than the preset threshold, and correspondingly displayed in the environment map The one or more target areas, so as to respond to the selection operation of the target object, select a second area list in the first area list, and then send the second area list to the mobile robot to indicate that the mobile robot is traveling, Avoid target areas included in the second area list. By adopting the above technical solution, the problem that the sweeping robot is easily trapped in a narrow space during the process of cleaning the ground is solved. Furthermore, the target object selects the second area list from the first area list, so that the sweeping robot avoids the target area included in the second area list, reducing the probability of the sweeping robot being trapped in a narrow space during the process of cleaning the ground.

It should be noted that the sending of the second area list to the mobile robot to instruct the mobile robot to avoid the target area included in the second area list during travel is mainly through the following methods: The mobile robot sends the second area list to instruct the mobile robot to perform the following operations: acquire target areas included in the second area list; Set a virtual wall at the location of the target area.

That is to say, after the target object selects the second area list from the first area list on the mobile terminal, the mobile terminal will send the second area list to the mobile robot, and then the mobile robot can obtain the information contained in the second area list. The target area, and a virtual wall is set on the boundary of the target area included in the second area list in the environment map. After the mobile robot moves to the boundary of the target area, it cannot continue to move forward, which reduces the probability of the mobile robot being stuck.

Further, the mobile terminal may acquire the first area list in the following manner: instruct the mobile robot to travel on the area indicated by the environment map; and receive all information sent by the mobile robot during the travel of the mobile robot The first area list, wherein the first area list is a target area list detected by the mobile robot.

It can be seen that the mobile terminal needs to instruct the mobile robot to walk on the area indicated by the environment map, and the mobile robot will walk on the area indicated by the environment map according to the default program when it does not know which areas have a high probability of sending stuck , and then when the mobile robot is walking, if the mobile robot freezes, the mobile robot will record the stuck area and the corresponding location information, and store them in the first area list. Furthermore, after the mobile robot has finished walking the area specified by the entire environment map, the first area list will store all areas where the probability of freezing is greater than the preset threshold and the corresponding location information. Furthermore, the mobile robot sends the first area list to the mobile terminal, and the mobile terminal receives the first area list sent by the mobile robot.

Optionally, the mobile terminal may also acquire the first area list in the following manner: send the environment map corresponding to the mobile robot to the server, so as to instruct the server to determine the first area list corresponding to the environment map through big data analysis. An area list: receiving the first area list sent by the server.

Since the environmental maps of most families have a relatively high similarity, the target areas with a high probability of being stuck by the mobile robot may be the same, so the mobile robot can send the environmental map to the server, and the server determines the corresponding location of the environmental map through big data analysis. The first area list, then the server sends the first area list to the mobile terminal, and the mobile terminal receives the first area list sent by the server.

It should be noted that some of the areas in the first area list may be recorded by the mobile robot due to its own failure, or due to an error in the data analysis of the server, so the target object selects from the first area list Selecting the second area list can improve the accuracy.

In this embodiment, a mobile robot avoidance method is also provided, which is applied to a mobile robot. FIG. 3 is a flow chart (2) of a mobile robot avoidance method according to an embodiment of the present invention. As shown in FIG. 3 , The process includes the following steps:

Step S302, receiving a second area list sent by the mobile terminal, wherein the second area list is determined in the following manner: the mobile terminal acquires a first area list of the environment map corresponding to the mobile robot, wherein the second area list An area list includes: one or more target areas, and location information of the one or more target areas on the environment map, and the probability of the mobile robot being stuck in the target area is greater than a preset threshold ; The mobile terminal correspondingly displays the one or more target areas in the environmental map according to the location information, and selects a second area list in the first area list in response to a selection operation of the target object;

Step S304, controlling the mobile robot to avoid the target areas included in the second area list during the traveling process.

It should be noted that, according to the location information in the first area list, the mobile terminal will display the one or more target areas corresponding to the environment map on the screen of the mobile terminal, and then the target object can view the environment map on the mobile terminal. Doing so, select the second region list from the first region list. The one or more target areas are displayed on the environment map. Specifically, the one or more target areas can be displayed in different colors on the environment map, so that the target object can be seen more clearly, and a quick decision can be made. choose. The above-mentioned mobile terminal may specifically be a mobile device such as a mobile phone or a tablet computer.

Through the above steps, receive the target object selection sent by the mobile terminal and have multiple areas with a high probability of freezing, and then control the mobile robot to avoid the multiple areas sent by the mobile terminal during the process of traveling. By adopting the above technical solution, the problem that the sweeping robot is easily trapped in a narrow space during the process of cleaning the ground is solved. Furthermore, multiple areas with a higher probability of getting stuck in the selection of the avoidance target object are obtained, which reduces the probability of the sweeping robot being trapped in a narrow space during the process of cleaning the ground.

Further, controlling the mobile robot to avoid the target areas included in the second area list during travel may be achieved in the following manner: acquiring the target areas included in the second area list; In the map, a virtual wall is set on the position of the target area included in the second area list.

By setting a virtual wall at the position of the target area included in the second area list in the environment map, the mobile robot cannot continue to move forward after moving to the boundary of the target area, reducing the probability of the mobile robot sending stuck.

It should be noted that, before receiving the second area list sent by the mobile terminal, it is necessary to control the mobile robot to travel on the area indicated by the environment map; during the travel of the mobile robot, obtain the the detected first area list, and send the first area list to the mobile terminal.

That is to say, the mobile robot needs to walk on the area specified by the environment map, so as to first record the first area list, and send the recorded first area list to the mobile terminal, and the target object will start from the first area on the mobile terminal. The second area list is selected from the list, so that the mobile terminal sends the second area list to the mobile robot, so that the mobile robot can receive the second area list and avoid the target area included in the second area list.

Further, before obtaining the first area list detected by the mobile robot, the mobile robot may determine that the mobile robot has detected the target area in at least one of the following ways: within a first preset time period, the The driving wheels of the mobile robot are idling; during the second preset time period, the moving distance of the mobile robot is less than the preset distance; within the third preset time period, the mobile robot has multiple moving directions.

It should be noted that the first preset time, the second preset time and the third preset time may be the same or different. When the driving wheels of the mobile robot spin idly, it means that the mobile robot is not moving and is trapped in a certain area. The preset distance can be zero or a number close to zero. When the moving distance of the mobile robot is less than the preset distance, it means that the mobile robot may be stuck by an object. When the mobile robot has multiple moving directions, it means that the mobile robot is trying to get out of trouble from different directions.

Apparently, the above-described embodiments are only part of the embodiments of the present invention, not all of them. In order to better understand the avoidance method of the mobile robot, the above process is described below in conjunction with the embodiments, but it is not used to limit the technical solutions of the embodiments of the present invention, specifically:

In an optional embodiment, FIG. 4 is a flowchart (3) of an avoidance method for a mobile robot according to an embodiment of the present invention, and the specific steps are as follows:

Step S402: record the location where the machine is frequently stuck during the cleaning process (equivalent to the location information in the above embodiment) on the app map (equivalent to the environmental map on the mobile terminal in the above embodiment);

Step S404: After the cleaning is finished, the user (equivalent to the target object in the above embodiment) selects an area that is easy to be trapped, so that the machine needs to avoid in the future;

Step S406: During the subsequent cleaning, the machine identifies the easily trapped area. If it is identified, execute step S410. If not, execute step S408;

Step S408: normal cleaning;

Step S410: The machine effectively avoids the easily trapped area;

Step S412: Exit.

During the process of cleaning the ground, the mobile robot will mark on the map (equivalent to the environment map in the above-mentioned embodiment) the areas where the machine is frequently stuck. After the mobile robot cleans, it will display the areas where the machine is likely to be trapped on the app interface. After the user selects which areas, the mobile robot needs to automatically avoid. When the machine is in the subsequent cleaning process, it will automatically recognize these areas and automatically draw virtual walls in these areas. In turn, the machine can effectively avoid these areas and reduce the phenomenon of the machine being trapped.

In addition, the above-mentioned technical solutions of the embodiments of the present invention can greatly allow the mobile robot to avoid areas that are easy to be trapped, enhance the intelligence of the robot, and enhance user experience.

Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence or the part that contributes to the prior art, and the computer software product is stored in a storage medium (such as a read-only memory (Read-Only Memory, abbreviated as ROM), random access memory (Random Access Memory, abbreviated as RAM), magnetic disk, optical disk), including several instructions to make a terminal device (which can be a mobile phone, computer, server, or network device) etc.) to implement the methods described in the various embodiments of the present application.

In this embodiment, an avoidance device for a mobile robot is also provided, and the avoidance device for a mobile robot is used to realize the above-mentioned embodiments and preferred implementation modes, and what has already been described will not be repeated. As used below, the term "module" may be a combination of software and/or hardware that realizes a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.

Fig. 5 is a structural block diagram (1) of an avoidance device for a mobile robot according to an optional embodiment of the present invention, as shown in Fig. 5:

An acquisition module 52, configured to acquire a first area list of the environment map corresponding to the mobile robot, wherein the first area list includes: one or more target areas, and the one or more target areas are within the The location information on the environment map, the probability of the mobile robot being stuck in the target area is greater than a preset threshold;

A selection module 54, configured to correspondingly display the one or more target areas in the environmental map according to the location information, and select a second area list from the first area list in response to a selection operation of a target object;

The sending module 56 is configured to send the second area list to the mobile robot, so as to instruct the mobile robot to avoid target areas included in the second area list during travel.

Through the above modules, the first area list in the environment map corresponding to the mobile robot is obtained, wherein the probability of one or more target areas in the first area list of the mobile robot being stuck is greater than the preset threshold, and correspondingly displayed in the environment map The one or more target areas, so as to respond to the selection operation of the target object, select a second area list in the first area list, and then send the second area list to the mobile robot to indicate that the mobile robot is traveling, Avoid target areas included in the second area list. By adopting the above technical solution, the problem that the sweeping robot is easily trapped in a narrow space during the process of cleaning the ground is solved. Furthermore, the target object selects the second area list from the first area list, so that the sweeping robot avoids the target area included in the second area list, reducing the probability of the sweeping robot being trapped in a narrow space during the process of cleaning the ground.

It should be noted that the sending module 56 is also configured to send the second area list to the mobile robot, so as to instruct the mobile robot to perform the following operations: obtain the target area included in the second area list; In the environment map, a virtual wall is set on the position of the target area included in the second area list.

That is to say, after the target object selects the second area list from the first area list on the mobile terminal, the mobile terminal will send the second area list to the mobile robot, and then the mobile robot can obtain the information contained in the second area list. The target area, and a virtual wall is set on the boundary of the target area included in the second area list in the environment map. After the mobile robot moves to the boundary of the target area, it cannot continue to move forward, which reduces the probability of the mobile robot sending stuck.

Further, the obtaining module 52 is also used to obtain the first area list in the following manner: instruct the mobile robot to travel on the area indicated by the environment map; The first area list sent, wherein the first area list is a target area list detected by the mobile robot.

Optionally, the acquisition module 52 is also configured to acquire the first area list in the following manner: send the environment map corresponding to the mobile robot to the server, so as to instruct the server to determine the area corresponding to the environment map through big data analysis. A first area list: receiving the first area list sent by the server.

Fig. 6 is a structural block diagram (2) of an avoidance device of a mobile robot according to an optional embodiment of the present invention, as shown in Fig. 6:

The receiving module 62 is configured to receive the second area list sent by the mobile terminal, wherein the second area list is determined in the following manner: the mobile terminal obtains the first area list of the environment map corresponding to the mobile robot, wherein, The first area list includes: one or more target areas, and position information of the one or more target areas on the environment map, and the probability of the mobile robot being stuck in the target area is greater than A preset threshold; the mobile terminal correspondingly displays the one or more target areas in the environmental map according to the location information, and selects a second area in the first area list in response to a selection operation of the target object list;

The avoidance module 64 is configured to control the mobile robot to avoid the target areas included in the second area list during the traveling process.

Through the above-mentioned template, receive the target object selection sent by the mobile terminal and have multiple areas with a high probability of freezing, and then control the mobile robot to avoid the multiple areas sent by the mobile terminal during the process of traveling. By adopting the above technical solution, the problem that the sweeping robot is easily trapped in a narrow space during the process of cleaning the ground is solved. Furthermore, multiple areas with a higher probability of getting stuck in the selection of the avoidance target object are obtained, which reduces the probability of the sweeping robot being trapped in a narrow space during the process of cleaning the ground.

Further, the avoidance module 64 is further configured to obtain the target area included in the second area list; in the environment map, a virtual wall is set at the position of the target area included in the second area list.

It should be noted that the receiving module 62 is also used to control the mobile robot to travel on the area indicated by the environmental map; during the travel of the mobile robot, obtain the first an area list, and send the first area list to the mobile terminal.

Further, the receiving module 62 is also used to determine that the mobile robot has detected the target area in one of the following ways: within a first preset time period, the driving wheels of the mobile robot are idling; within a second preset time period , the moving distance of the mobile robot is less than a preset distance; within a third preset time period, the mobile robot has multiple moving directions.

It should be noted that the above-mentioned modules can be realized by software or hardware. For the latter, it can be realized by the following methods, but not limited to this: the above-mentioned modules are all located in the same processor; or, the above-mentioned modules can be combined in any combination The forms of are located in different processors.

Embodiments of the present invention also provide a computer-readable storage medium, in which a computer program is stored, wherein the computer program is set to execute the steps in any one of the above method embodiments when running.

Optionally, in this embodiment, the above-mentioned storage medium may be configured to store a computer program for performing the following steps:

S1. Obtain a first area list of the environment map corresponding to the mobile robot, wherein the first area list includes: one or more target areas, and the one or more target areas are on the environment map The location information of the mobile robot, the probability of the mobile robot being stuck in the target area is greater than a preset threshold;

S2. Correspondingly display the one or more target areas in the environment map according to the location information, and select a second area list from the first area list in response to a selection operation of a target object;

S3. Send the second area list to the mobile robot to instruct the mobile robot to avoid target areas included in the second area list during travel.

or is arranged to store a computer program for performing the following steps:

S1. Receive the second area list sent by the mobile terminal, wherein the second area list is determined in the following manner: the mobile terminal acquires a first area list of the environment map corresponding to the mobile robot, wherein the first The area list includes: one or more target areas, and location information of the one or more target areas on the environment map, and the probability of the mobile robot being stuck in the target area is greater than a preset threshold; The mobile terminal correspondingly displays the one or more target areas in the environment map according to the location information, and selects a second area list from the first area list in response to a target object selection operation;

S2. Control the mobile robot to avoid the target areas included in the second area list during the traveling process.

Optionally, in this embodiment, the above-mentioned storage medium may include but not limited to: various media capable of storing computer programs such as USB flash drive, read-only memory ROM, random access memory RAM, mobile hard disk, magnetic disk or optical disk.

An embodiment of the present invention also provides an electronic device, including a memory and a processor, where a computer program is stored in the memory, and the processor is configured to run the computer program to perform the steps in any one of the above method embodiments.

Optionally, the above-mentioned electronic device may further include a transmission device and an input-output device, wherein the transmission device is connected to the above-mentioned processor, and the input-output device is connected to the above-mentioned processor.

Optionally, in this embodiment, the above-mentioned processor may be configured to execute the following steps through a computer program:

or be set to perform the following steps through a computer program:

Optionally, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments and optional implementation manners, and details are not repeated in this embodiment.

An embodiment of the present invention also provides a robot, including a main body, a motion component, and a controller, where the controller is configured to execute the steps in any one of the above method embodiments.

Obviously, those skilled in the art should understand that each module or each step of the above-mentioned present invention can be realized by a general-purpose computing device, and they can be concentrated on a single computing device, or distributed in a network formed by multiple computing devices Alternatively, they may be implemented in program code executable by a computing device so that they may be stored in a storage device to be executed by a computing device, and in some cases, in an order different from that shown here The steps shown or described are carried out, or they are separately fabricated into individual integrated circuit modules, or multiple modules or steps among them are fabricated into a single integrated circuit module for implementation. As such, the present invention is not limited to any specific combination of hardware and software.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention shall be included in the protection scope of the present invention.

Claims

A method for avoiding a mobile robot, characterized in that the method comprises:

Obtaining a first area list of the environment map corresponding to the mobile robot, wherein the first area list includes: one or more target areas, and positions of the one or more target areas on the environment map information, the probability of the mobile robot being stuck in the target area is greater than a preset threshold;

Correspondingly displaying the one or more target areas in the environmental map according to the position information, and selecting a second area list from the first area list in response to a selection operation of a target object;

Sending the second area list to the mobile robot to instruct the mobile robot to avoid target areas included in the second area list during travel.
The method for avoiding a mobile robot according to claim 1, wherein the second area list is sent to the mobile robot to instruct the mobile robot to avoid all areas in the second area list during travel. Included target areas include:

sending the second area list to the mobile robot to instruct the mobile robot to perform the following operations: acquire target areas included in the second area list; in the environment map, the second area list includes Set a virtual wall on the location of the target area.
The avoidance method of the mobile robot according to claim 1, wherein obtaining the first area list of the environment map corresponding to the mobile robot includes:

instructing the mobile robot to travel over an area indicated by the environmental map;

During the traveling process of the mobile robot, the first area list sent by the mobile robot is received, wherein the first area list is a target area list detected by the mobile robot.
The avoidance method of the mobile robot according to claim 1, wherein obtaining the first area list of the environment map corresponding to the mobile robot includes:

sending the environment map corresponding to the mobile robot to the server, to instruct the server to determine the first area list corresponding to the environment map through big data analysis;

Receive the first area list sent by the server.
A method for avoiding a mobile robot, characterized in that the method comprises:

receiving the second area list sent by the mobile terminal, wherein the second area list is determined in the following manner: the mobile terminal acquires a first area list of the environmental map corresponding to the mobile robot, wherein the first area list Including: one or more target areas, and the location information of the one or more target areas on the environmental map, the probability of the mobile robot being stuck in the target area is greater than a preset threshold; the The mobile terminal correspondingly displays the one or more target areas in the environment map according to the location information, and selects a second area list from the first area list in response to a target object selection operation;

Controlling the mobile robot to avoid the target areas included in the second area list during the traveling process.
The avoidance method of the mobile robot according to claim 5, wherein controlling the mobile robot to avoid the target area included in the second area list during the traveling process includes:

acquiring target areas included in the second area list;

In the environment map, a virtual wall is set on the position of the target area included in the second area list.
The avoidance method of the mobile robot according to claim 5, wherein before receiving the second area list sent by the mobile terminal, the method further comprises:

controlling the mobile robot to travel on the area indicated by the environmental map;

During the traveling process of the mobile robot, the first area list detected by the mobile robot is obtained, and the first area list is sent to the mobile terminal.
The method according to claim 7, wherein before acquiring the first area list detected by the mobile robot, the method further comprises:

Determining that the mobile robot detects the target area by at least one of the following methods:

During a first preset time period, the driving wheels of the mobile robot are idling;

During the second preset time period, the moving distance of the mobile robot is less than a preset distance;

During the third preset time period, the mobile robot has multiple moving directions.
An avoidance device for a mobile robot, characterized in that it comprises:

An acquisition module, configured to acquire a first area list of the environment map corresponding to the mobile robot, wherein the first area list includes: one or more target areas, and the one or more target areas are in the The location information on the environment map, the probability of the mobile robot being stuck in the target area is greater than a preset threshold;

A selection module, configured to display the one or more target areas correspondingly in the environmental map according to the location information, and select a second area list from the first area list in response to a target object selection operation;

A sending module, configured to send the second area list to the mobile robot, to instruct the mobile robot to avoid target areas included in the second area list during travel.
An avoidance device for a mobile robot, characterized in that it comprises:

The receiving module is configured to receive the second area list sent by the mobile terminal, wherein the second area list is determined in the following manner: the mobile terminal obtains the first area list of the environment map corresponding to the mobile robot, wherein the The first area list includes: one or more target areas, and the location information of the one or more target areas on the environment map, and the probability of the mobile robot being stuck in the target area is greater than expected Setting a threshold; correspondingly displaying the one or more target areas in the environmental map according to the location information, and selecting a second area list in the first area list in response to a selection operation of the target object;

An avoidance module, configured to control the mobile robot to avoid the target areas included in the second area list during the traveling process.
A computer-readable storage medium, characterized in that a computer program is stored in the storage medium, wherein the computer program is configured to perform the method described in any one of claims 1 to 4 when running , or perform the method described in any one of claims 5 to 8.
An electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to perform the process described in any one of claims 1 to 4. described method, or perform the method described in any one of said claims 5 to 8.