Robot control method, control system, electronic device and readable storage device

Abstract

The present application discloses a method for controlling a cleaning robot. The method includes obtaining a cleaning instruction; in response to the cleaning instruction, turning on a first navigation module, and using the first navigation module to guide the robot out of the warehouse, so as to control the robot to complete the cleaning task according to the cleaning instruction; in response to the completion of the cleaning task, turning on a second navigation module, and using the first navigation module and the second navigation module to guide the robot into the warehouse; wherein the second navigation module is a magnetic stripe navigation module. The present application also discloses a cleaning robot control system, an electronic device, and a computer-readable storage device. Through the above methods, the present application enables the cleaning robot to accurately complete the in-and-out warehouse operation for endurance and task execution.

Description

Technical Field

[0001] The present application relates to the field of machine control, and in particular to a cleaning robot control method, a cleaning robot control system, an electronic device and a computer storage device. Background Art

[0002] With the rapid development of new energy technologies, solar photovoltaic power generation has been widely used, and a variety of photovoltaic power stations that match local environmental conditions have been produced, such as large-scale ground photovoltaic power stations, rooftop distributed photovoltaic power stations, etc. Since the panels of photovoltaic power stations need to receive sunlight, it is necessary to keep the photovoltaic panels clean and tidy to avoid obstruction by foreign objects, which will affect the power generation efficiency of photovoltaic panels. The cleaning of photovoltaic panels is currently mainly carried out by manual cleaning and maintenance, but this cleaning method is inefficient and difficult to work. Another operation and maintenance method is to use a cleaning robot for cleaning and maintenance. The battery capacity of the cleaning robot is limited. When the battery capacity is exhausted, it needs to be charged for battery life. How to automatically control the cleaning robot so that it can accurately complete the in and out of the warehouse operation, so as to complete multiple cleaning tasks or long-term cleaning tasks with battery life is a technical problem that technicians in this field urgently need to solve. Summary of the invention

[0003] The main purpose of this application is to provide a cleaning robot control method, a cleaning robot control system, an electronic device and a computer storage device, which can solve the technical problem of how to automatically control the cleaning robot.

[0004] In order to solve the above technical problems, the first technical solution adopted by the present application is: to provide a cleaning robot control method. The method includes obtaining a cleaning instruction; in response to the cleaning instruction, turning on the first navigation module, and using the first navigation module to guide the robot out of the warehouse, so as to control the robot to complete the cleaning task according to the cleaning instruction; in response to the completion of the cleaning task, turning on the second navigation module, and using the first navigation module and the second navigation module to guide the robot into the warehouse; wherein the second navigation module is a magnetic stripe navigation module.

[0005] To solve the above technical problem, the second technical solution adopted by the present application is to provide an electronic device, which includes a memory and a processor, wherein the memory is used to store program data, and the program data can be executed by the processor to implement the method described in the first technical solution.

[0006] To solve the above technical problems, the third technical solution adopted by the present application is to provide a computer-readable storage device. The computer-readable storage device stores program data and can be executed by a processor to implement the method described in the first technical solution.

[0007] In order to solve the above technical problems, the fourth technical solution adopted by the present application is: to provide a cleaning robot control system. The system includes at least one robot; the electronic device as described in the second technical solution, which is connected to the robot for communication and can implement the method as described in the first technical solution; a robot warehouse, which is provided with a storage line, a storage line and a storage positioning device; wherein the storage line is longer than the storage line, and the storage line, the storage line and the storage positioning device are used to guide the robot to complete storage.

[0008] The beneficial effect of the present application is as follows: Different from the prior art, the present application guides the cleaning robot by using two navigation modules. The first navigation mode guides the cleaning robot out of the warehouse and helps the cleaning robot to locate so that it can complete the cleaning task in the corresponding cleaning area, while the second navigation mode cooperates with the first navigation mode to guide the cleaning robot into the warehouse. The second navigation mode is the magnetic stripe navigation mode, which is a control mode for navigation based on the magnetic strips pre-set in the venue. Since the navigation is based on the objects set on the ground, the magnetic stripe navigation can accurately guide the cleaning robot to the designated position when entering the warehouse. The mutual cooperation of the two navigation modes enables the cleaning robot to complete the in and out of the warehouse operations by itself, and reach the designated position when entering the warehouse, so that it can start charging and other endurance operations, and then continue to execute the next cleaning task, so that the cleaning robot can complete multiple cleaning tasks or long-term cleaning tasks by itself without manual operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0010] Figure 1 It is a flowchart of the first embodiment of the cleaning robot control method of the present application;

[0011] Figure 2 This is a schematic diagram of the structure of the robot library of this application;

[0012] Figure 3 It is a flow chart of the second embodiment of the cleaning robot control method of the present application;

[0013] Figure 4 It is a flowchart of the third embodiment of the cleaning robot control method of the present application;

[0014] Figure 5 It is a flowchart of the fourth embodiment of the cleaning robot control method of the present application;

[0015] Figure 6 is a flowchart of the fifth embodiment of the cleaning robot control method of the present application;

[0016] Figure 7 It is a flowchart of the sixth embodiment of the cleaning robot control method of the present application;

[0017] Figure 8 is a flow chart of the seventh embodiment of the cleaning robot control method of the present application;

[0018] Fig. 9 is a flow chart of an eighth embodiment of the cleaning robot control method of the present application;

[0019] Fig.10 is a flow chart of a ninth embodiment of the cleaning robot control method of the present application;

[0020] Fig.11 is a flowchart of the tenth embodiment of the cleaning robot control method of the present application;

[0021] Fig.12 It is a flowchart of the eleventh embodiment of the cleaning robot control method of the present application;

[0022] Fig.13 It is a flowchart of the twelfth embodiment of the cleaning robot control method of the present application;

[0023] Fig.14 is a flowchart of the thirteenth embodiment of the cleaning robot control method of the present application;

[0024] Fig.15 It is a flowchart of the fourteenth embodiment of the cleaning robot control method of the present application;

[0025] Fig.16 It is a structural schematic diagram of an embodiment of the electronic device of the present application;

[0026] Fig.17 It is a structural schematic diagram of an embodiment of a computer-readable storage device of the present application;

[0027] Fig.18 It is a structural schematic diagram of an embodiment of the robot control system of the present application. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] The terms "first", "second", etc. in this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0030] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0031] like Figure 1 As shown, Figure 1 This is a flow chart of the first embodiment of the cleaning robot control method of the present application. It includes the following steps:

[0032] S11: Get cleaning instructions.

[0033] The cleaning instructions are obtained, and based on the cleaning instructions, the robot starts the cleaning task. The cleaning instructions can be issued based on the pre-set working time period of the cleaning robot and the weather information obtained from the bound weather station. When the cleaning robot is in the working period and the weather conditions are good, the cleaning instructions can be sent to the cleaning robot.

[0034] If the cleaning robot is still in charging state at this time, it will prompt the user terminal or the upper control terminal to remind whether to stop charging and start executing the cleaning command.

[0035] S12: In response to the cleaning instruction, the first navigation module is turned on, and the first navigation module is used to guide the robot out of the warehouse, so as to control the robot to complete the cleaning task according to the cleaning instruction.

[0036] When starting the cleaning task, first turn on the first navigation mode to guide the cleaning robot out of the robot warehouse. The robot warehouse is equipped with parking spaces, charging devices, etc. for parking and battery life charging of the cleaning robot. The first navigation module is the RTK navigation module. RTK (Real-time kinematic) carrier phase difference technology is a differential method for real-time processing of carrier phase observations of two measuring stations. The carrier phase collected by the base station is sent to the user receiver to calculate the difference coordinates. This is a satellite positioning measurement method that can obtain centimeter-level precision measurement results in real time, greatly improving work efficiency and accuracy. During the outbound and personnel execution process, RTK navigation can make the cleaning robot's work more accurate, reducing repeated cleaning due to insufficient positioning accuracy, and problems such as exceeding the cleaning area.

[0037] S13: In response to the completion of the cleaning task, the second navigation module is turned on, and the first navigation module and the second navigation module are used to guide the robot into the warehouse.

[0038] When the cleaning robot completes the cleaning task or needs to interrupt the current cleaning task to be completed and put into storage due to emergencies, the second navigation module will be turned on. The second navigation module is a magnetic stripe navigation module. The second navigation module locates and guides the cleaning robot based on the magnetic stripe pre-set in the venue to help the cleaning robot reach the designated location, and then complete the subsequent parking and endurance operations of the cleaning robot.

[0039] In one embodiment, the robot library is Figure 2 shown.

[0040] The robot warehouse is equipped with an outbound line and an inbound line. The outbound line and the inbound line can be determined by RTK navigation to realize the inbound and outbound control of the cleaning robot. The inbound line is generally longer, the outbound line is generally shorter, and the inbound line is longer than the outbound line. This is to enable the cleaning robot to start cleaning in time after completing the outbound. The longer inbound line allows the robot to have enough space to adjust its position during the inbound process, and to perform operations such as turning and reversing, so as to park and start charging at the predetermined position. The length of the outbound line in the working area is generally set to 0.5-2 times the length of the robot body, and the length of the inbound line in the working area is generally set to 2-3 times the length of the robot body. The magnetic stripe used for magnetic stripe navigation is set on the inbound line, overlapping with the inbound line, and can be selected to overlap with the inbound line by 10%-100%. When the magnetic stripe sensor detects the magnetic stripe during inbound, the magnetic stripe navigation module is turned on. At this time, the cleaning robot only relies on the magnetic stripe navigation module to perform inbound operations until it enters the parking space for charging.

[0041] like Figure 3 As shown, Figure 3This is a flow chart of the second embodiment of the cleaning robot control method of this application. This embodiment is a further extension of step S12. It includes the following steps:

[0042] S21: Detect whether there is a storage and retrieval positioning device.

[0043] When guiding the cleaning robot out of the warehouse to perform cleaning tasks, it is necessary to first detect whether the in-and-out device exists. The in-and-out device is a metal sheet set at the tail of the robot garage parking space. A Hall sensor is set at the tail of the cleaning robot to detect the metal sheet. When the Hall sensor detects the metal sheet, it indicates that the cleaning robot is parked in the correct position and has been charged, and can be out of the warehouse to complete the cleaning task. Execute step S22.

[0044] S22: Turn on the first navigation module to guide the robot out of the warehouse.

[0045] If not, it indicates that the parking position of the cleaning robot is incorrect and the charging operation may not be completed, and step S23 is executed.

[0046] S23: Execute alarm prompt.

[0047] An alarm is sent to the user terminal or the upper control terminal to remind the user to check the cleaning robot.

[0048] The Hall sensor and the metal sheet used in this embodiment can be replaced by other devices capable of performing corresponding detection steps, which is not limited here.

[0049] like Figure 4 As shown, Figure 4 This is a flow chart of the third embodiment of the cleaning robot control method of this application. This embodiment is a further extension of step S13. It includes the following steps:

[0050] S31: Detect whether a magnetic stripe exists.

[0051] During the warehousing process, the cleaning robot is first guided to the end point of the warehousing line in the working area using the RTK navigation mode, and then moves toward the robot library, and then uses the magnetic stripe navigation to achieve accurate warehousing. During the warehousing process, the RTK navigation mode and the magnetic stripe navigation mode need to be switched. To use the magnetic stripe navigation, the cleaning robot needs to be able to detect the magnetic stripe. If the magnetic stripe sensor can detect the magnetic stripe, execute step S32.

[0052] S32: Only the second navigation module is used to guide the robot into storage.

[0053] Turn off the RTK navigation mode and use only the magnetic stripe navigation to accurately store the cleaning robot using the pre-set magnetic stripe.

[0054] like Figure 5 As shown, Figure 5 This is a flow chart of the fourth embodiment of the cleaning robot control method of the present application. This embodiment is a further extension of the above embodiment. It includes the following steps:

[0055] S41: Preset a timer with a first time threshold and a second time threshold.

[0056] During the warehousing process, although RTK navigation has achieved centimeter-level positioning accuracy, there may still be errors in the travel path that make the magnetic stripe sensor unable to detect the magnetic stripe. Therefore, a first time threshold is set for magnetic stripe detection to handle the situation where the magnetic stripe is not detected. Even if the magnetic stripe navigation is correct, the in-and-out locating device may fail to detect, making the cleaning robot unable to identify the in-and-out locating device and keep moving forward and unable to stop at the specified position. Therefore, a second time threshold is set based on factors such as the length of the warehousing line to ensure that the cleaning robot can park correctly. The timer can start timing from the time the cleaning robot reaches the end point of the warehousing line in the working area.

[0057] S42: Determine whether the magnetic stripe is detected within the first time threshold.

[0058] If the magnetic stripe is not detected within the first time threshold, an alarm prompt is executed.

[0059] S43: Determine whether the in-and-out locating device is detected within the second time threshold.

[0060] If the in-and-out locating device is not detected within the second time threshold, an alarm is issued.

[0061] S44: Execute alarm prompt.

[0062] In one embodiment, a timer can be set with a third time threshold, for example, 5 seconds. When the navigation module of the cleaning robot fails to detect the entry line during the entry process, or the magnetic stripe detection module fails due to a partial defect in the magnetic stripe detection module of the magnetic stripe navigation module, the countdown of the third time threshold starts. If the entry line or magnetic stripe is detected again within the time range, the timer of the third time threshold is reset.

[0063] like Figure 6 As shown, Figure 6 This is a flow chart of the fifth embodiment of the cleaning robot control method of this application. This embodiment is a further extension of step S12. It includes the following steps:

[0064] S51: Detect whether there is a task interruption point.

[0065] After the cleaning robot has finished leaving the warehouse and is about to perform the cleaning task, it first detects whether there is a task interruption point. The task interruption point is the place where the cleaning robot must stop the cleaning task and enter the warehouse due to an emergency or insufficient power of the cleaning robot. If the task interruption point is detected, step S52 is executed.

[0066] S52: Start cleaning the task from the task interruption point.

[0067] Start from the task interruption point and complete the unfinished cleaning task from last time. After completion, execute the current cleaning task or complete all cleaning tasks and stop working.

[0068] like Figure 7 As shown, Figure 7 This is a flow chart of the sixth embodiment of the cleaning robot control method of the present application. This embodiment is a further extension of step S52. It includes the following steps:

[0069] S61: Calculate the shortest distance from the current position to the task interruption point.

[0070] After the task interruption point is detected, the surrounding environment can be analyzed according to the map information stored in advance to obtain the shortest distance to the task interruption point.

[0071] S62: Control the robot to reach the task interruption point according to the shortest distance.

[0072] By reaching the task interruption point according to the calculated shortest distance, the unfinished cleaning task can be executed as soon as possible, saving the power resources of the cleaning robot.

[0073] like Figure 8 As shown, Figure 8 This is a flow chart of the seventh embodiment of the cleaning robot control method of the present application. This embodiment is a further extension of the above embodiment. It includes the following steps:

[0074] S71: Detect whether the battery level of the robot is lower than a first threshold.

[0075] During the operation of the cleaning robot, the power of the robot needs to be detected to ensure that the cleaning robot has enough power to complete the storage operation without power failure and stopping working in the middle. The first threshold can be set to 20%.

[0076] S72: Mark the current position as the task interruption point and control the robot to enter the warehouse.

[0077] When it is detected that the remaining power of the cleaning robot has reached the first threshold, the current position information is recorded and the position is marked as the task interruption point, which is used to prompt the cleaning robot to continue the cleaning task from here after charging is completed. After marking, the cleaning robot is guided to enter the warehouse through RTK navigation.

[0078] like Fig. 9 As shown, Fig. 9 This is a flow chart of the eighth embodiment of the cleaning robot control method of the present application. This embodiment is a further extension of the above embodiment. It includes the following steps:

[0079] S81: Check whether the current weather conditions meet the safe operation conditions.

[0080] During the operation of the cleaning robot, it is necessary to detect whether the current weather conditions support the cleaning robot to continue cleaning.

[0081] S82: Mark the current position as the task interruption point and control the robot to enter the warehouse.

[0082] If the current weather conditions obtained from the relevant weather station cannot meet the safe operation conditions, the current location information is recorded and the location is marked as the task interruption point to remind the cleaning robot to continue the cleaning task from here after charging is completed. After marking, the cleaning robot is guided to enter the warehouse through RTK navigation.

[0083] like Fig.10 As shown, Fig.10 This is a flow chart of the ninth embodiment of the cleaning robot control method of the present application. This embodiment is a further extension of the above embodiment. It includes the following steps:

[0084] S91: Detect whether the current time is in a preset working time period.

[0085] The cleaning robot can be preset to a working time period. When in the working time period, the cleaning robot goes out of the warehouse to complete the cleaning task. When in the non-working time period, the cleaning robot goes into the warehouse for parking or charging.

[0086] S92: Mark the current position as the task interruption point and control the robot to enter the warehouse.

[0087] If the cleaning robot reaches a non-working period during the cleaning task, the current location information is recorded and the location is marked as the task interruption point to remind the cleaning robot to continue the cleaning task from here after charging is completed. After marking, the cleaning robot is guided to enter the warehouse through RTK navigation.

[0088] In the above embodiment, after the task interruption point is marked, the cleaning robot calculates the shortest return route from the current position to the storage line according to the pre-stored map information, and reaches the storage line according to the return route for storage.

[0089] like Fig.11 As shown, Fig.11 This is a flow chart of the tenth embodiment of the cleaning robot control method of the present application. This embodiment is a further extension of the above embodiment. It includes the following steps:

[0090] S101: Detect whether there is a deviation between the motion state of the robot body and the motion state of the robot chassis.

[0091] During the cleaning process of the cleaning robot, the motion state of the robot body is compared with the motion state calculated by the chassis control of the robot to determine whether the cleaning robot has problems such as slipping. For example, the positioning module collects the movement of the robot body for 5 meters, and the chassis control device calculates the robot's moving distance as 10 meters based on the pulley. Combined with a pre-set deviation threshold, such as 1 meter, the difference between the calculation result of the positioning module and the calculation result of the chassis control is greater than the deviation threshold, indicating that the cleaning robot has slipped in this section of the road, making the actual movement distance smaller. During the turning process, the positioning module collects the heading angle information of the robot body. The robot body deviates by 20 degrees, while the deflection angle calculated by the chassis control device is 100 degrees. Combined with a pre-set deviation threshold, such as 30 degrees, the difference between the calculation result of the positioning module and the calculation result of the chassis control is greater than the deviation threshold, indicating that the cleaning robot has slipped during the turning process.

[0092] S102: Execute alarm prompt.

[0093] When the deviation between the detection result of the motion state of the cleaning robot body and the calculation result of the chassis control device exceeds the set deviation threshold, it is considered that there is a deviation. The cleaning robot may slip on this road section. An alarm is issued to the user to check the road section or the cleaning robot.

[0094] like Fig.12 As shown, Fig.12 This is a flow chart of the eleventh embodiment of the cleaning robot control method of the present application. This embodiment is a further extension of the above embodiment. It includes the following steps:

[0095] S111: Detect whether the value of the working current is greater than the second threshold and the duration is greater than the third threshold.

[0096] During the operation of the cleaning robot, the working current needs to be continuously detected. If the working current of the cleaning robot is at a large value and lasts for a long time, it may affect the relevant modules or circuit structures of the cleaning robot, causing damage to the cleaning robot. For example, if the working current of the cleaning robot is greater than 15,000 mA for 100 milliseconds, it means that the working current of the cleaning robot is in a dangerous state.

[0097] S112: Control the robot to stop working and sound an alarm.

[0098] When it is detected that the working current of the cleaning robot is abnormal, the relevant work of the cleaning robot is stopped in time, the cleaning robot is powered off, and an alarm is sent to the user to check and repair the robot.

[0099] like Fig.13 As shown, Fig.13 This is a flow chart of the twelfth embodiment of the cleaning robot control method of the present application. This embodiment is a further extension of the above embodiment. It includes the following steps:

[0100] S121: Detect whether there is an obstacle in the cleaning area.

[0101] During the cleaning process, the cleaning robot can detect whether there are obstacles such as potholes and cliffs in the direction of travel through the sensing module. The sensing module can be a capacitive sensor. Four capacitive sensors are respectively set at the left front, right front, left rear, and right rear of the cleaning robot to detect the surrounding environment.

[0102] S122: Determine whether it is possible to bypass obstacles within the cleaning area.

[0103] When an obstacle is detected in the cleaning area, it is determined whether the cleaning task can be continued by bypassing the obstacle within the cleaning area. If not, step S123 is executed.

[0104] S123: Execute alarm prompt.

[0105] When it is determined that the obstacle cannot be bypassed within the scope of the cleaning area, an alarm is sent to the user terminal or the upper control terminal to remind personnel to check and clean the area where the obstacle exists.

[0106] This embodiment shows the processing steps when the cleaning robot encounters an obstacle under automatic control.

[0107] In another embodiment, the cleaning robot can also switch to manual control when encountering an obstacle. When the robot detects an obstacle in the cleaning area, it stops working and sends an alarm to the user terminal or the upper control terminal. When the cleaning robot receives an instruction to continue moving in other directions in the non-obstruction area, it will cancel the alarm and continue to perform the cleaning task.

[0108] like Fig.14 As shown, Fig.14 This is a flow chart of the thirteenth embodiment of the cleaning robot control method of the present application. This embodiment is a further extension of step S13. It includes the following steps:

[0109] S131: Detect whether there is a storage and retrieval positioning device.

[0110] When the cleaning robot enters the warehouse, in order to make the robot stop accurately at the preset parking position, a storage entry and exit positioning device is set at the parking position of the robot warehouse. The device can be a metal sheet located at the tail of the parking position, which can be detected by the Hall sensor at the tail of the cleaning robot to prompt the cleaning robot to reach the designated position.

[0111] S132: Turn on the charging switch to charge the robot.

[0112] When the in-and-out positioning device is detected, the cleaning robot stops moving and parks at the designated location. At this time, the charging switch is turned on to charge the cleaning robot.

[0113] In one embodiment, after the storage in / out device is detected and the cleaning robot stops, the charging switch is turned on to charge the robot after a delay of a period of time to ensure the safety of the operation.

[0114] like Fig.15 As shown, Fig.15 This is a flow chart of the fourteenth embodiment of the cleaning robot control method of the present application. This embodiment is a further extension of the thirteenth embodiment. It includes the following steps:

[0115] S141: Check whether the charging current is effective.

[0116] During the charging process of the cleaning robot, the charging current is detected to determine whether the charging current is effective. The charging is effective only when the charging current is greater than a preset value.

[0117] Furthermore, charging is determined to be effective only when the charging current is greater than a preset value and lasts for a certain period of time.

[0118] S142: Execute alarm prompt.

[0119] If the charging current is not detected, or the charging current is less than the preset value, or is greater than the preset value but does not last for a certain period of time, it is determined that the charging is invalid and an alarm is sent to the user terminal or the upper control terminal.

[0120] like Fig.16 As shown, Fig.16 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present application.

[0121] The electronic device includes a processor 110 and a memory 120 .

[0122] The processor 110 controls the operation of the electronic device, and the processor 110 may also be referred to as a CPU (Central Processing Unit). The processor 110 may be an integrated circuit chip having the ability to process a signal sequence. The processor 110 may also be a general-purpose processor, a digital signal sequence processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0123] The memory 120 stores instructions and program data required for the processor 110 to operate.

[0124] The processor 110 is used to execute instructions to implement the method provided by any embodiment and possible combination of the cleaning robot control method described above in the present application.

[0125] like Fig.17 As shown, Fig.17 This is a schematic diagram of the structure of an embodiment of a computer-readable storage device of the present application.

[0126] An embodiment of a readable storage device of the present application includes a memory 210, and the memory 210 stores program data. When the program data is executed, the method provided by any embodiment and possible combination of the cleaning robot control method of the present application is implemented.

[0127] The memory 210 may include a medium that can store program instructions, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or it may be a server that stores the program instructions. The server may send the stored program instructions to other devices for execution, or it may execute the stored program instructions itself.

[0128] like Fig.18 As shown, Fig.18 This is a schematic diagram of the structure of an embodiment of a robot control system of the present application.

[0129] The robot control system includes at least one robot 310 , an electronic device 320 as described in the electronic device embodiment, and a robot library 330 .

[0130] The robot 310 may include multiple modules, such as a positioning module for updating the robot's location information in real time; a sensor module for receiving sensory data from corresponding sensors; a map module for storing map information of the surrounding geographical environment, setting cleaning areas, and planning routes; a base station module for assisting in more accurate positioning; and a host computer module for recording operation-related data and obtaining corresponding instructions.

[0131] The sensing module may include capacitive sensors, which are respectively arranged at the left front, right front, left rear and right rear of the cleaning robot to detect whether there are obstacle areas around the driving area; a magnetic stripe sensor, installed under the cleaning robot, for detecting the magnetic stripe when entering the warehouse for magnetic stripe navigation; a Hall sensor, installed at the tail of the cleaning robot, for detecting the metal sheet used as a positioning device for entering and exiting the warehouse, to ensure the accurate parking position of the cleaning robot.

[0132] The robot 310 is communicatively connected to an electronic device 320 , which includes a processor and a memory.

[0133] The processor controls the operation of the electronic device. The processor may also be called a CPU (Central Processing Unit). The processor may be an integrated circuit chip with the ability to process signal sequences. The processor may also be a general-purpose processor, a digital signal sequence processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0134] The memory stores instructions and program data needed by the processor to operate.

[0135] The processor is used to execute instructions to implement the method provided by any embodiment and possible combination of the cleaning robot control method described above in the present application.

[0136] The robot library 330 is provided with an inbound line, an outbound line and an inbound and outbound positioning device.

[0137] Among them, the inbound line is longer than the outbound line, and the inbound line, the outbound line and the inbound and outbound positioning device are used to guide the robot 310 to complete the inbound and outbound.

[0138] The robot control system may also include a base station to achieve more accurate positioning of the cleaning robot.

[0139] In summary, the present application guides the cleaning robot by using two navigation modules. The first navigation mode guides the cleaning robot out of the warehouse and helps the cleaning robot to locate itself, so that it can complete the cleaning task in the corresponding cleaning area, while the second navigation mode cooperates with the first navigation mode to guide the cleaning robot into the warehouse. The second navigation mode is the magnetic stripe navigation mode, which is a control mode for navigation based on the magnetic strips pre-set in the venue. Since the navigation is based on objects set on the ground, the magnetic stripe navigation can accurately guide the cleaning robot to the designated position when entering the warehouse. The mutual cooperation of the two navigation modes enables the cleaning robot to complete the entry and exit operations by itself, and reach the designated position when entering the warehouse, so that it can start charging and other endurance operations, and then continue to execute the next cleaning task, so that the cleaning robot can complete multiple cleaning tasks or long-term cleaning tasks by itself without manual operation.

[0140] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only illustrative, for example, the division of the modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0141] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0142] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0143] If the integrated units in the above other embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program codes.

[0144] The above descriptions are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A cleaning robot control method, characterized in that: The method comprises: Obtaining a cleaning instruction; the issuance of the cleaning instruction is determined according to the preset working time period of the robot and the weather information obtained from the bound weather station. When the robot is in the working time period and the weather conditions are good, the cleaning instruction can be sent to the robot; In response to the cleaning instruction, the first navigation module is turned on, and the first navigation module is used to guide the robot out of the warehouse, so as to control the robot to complete the cleaning task according to the cleaning instruction; In response to the cleaning task being completed, starting the second navigation module, and using the first navigation module and the second navigation module to guide the robot into storage; Wherein, the second navigation module is a magnetic stripe navigation module; Wherein, in response to the cleaning instruction, starting the first navigation module, and using the first navigation module to guide the robot out of the warehouse, so as to control the robot to complete the cleaning task according to the cleaning instruction further includes: Check whether the current weather conditions meet the safe operation conditions; If not, mark the current position as the task interruption point and control the robot to enter the warehouse; and / or Detect whether the current time is in the preset working time period; If not, mark the current position as the task interruption point and control the robot to enter the warehouse; Wherein, the method further comprises: Preset a timer, set with a first time threshold and a second time threshold; If the magnetic stripe is not detected within the first time threshold, an alarm is executed; When the robot enters the warehouse, in order to make the robot stop accurately at the preset parking position, a storage entry and exit positioning device is provided at the parking position of the robot warehouse. If the storage entry and exit positioning device is not detected within the second time threshold, an alarm prompt is given, and the timer starts timing from the time when the robot reaches the end point of the storage entry line located in the working area; Another timer is also preset and is set with a third time threshold; If the entry line is not detected during the warehousing process, or the magnetic stripe is partially damaged, resulting in failure of magnetic stripe detection, the countdown of the third time threshold will start. If the entry line or the magnetic stripe is redetected within the time range, the timer of the third time threshold will be reset.

2. The method according to claim 1, characterized in that The method of responding to the cleaning instruction, starting the first navigation module, and using the first navigation module to guide the robot out of the warehouse to control the robot to complete the cleaning task according to the cleaning instruction further includes: Detecting whether the in-and-out locating device exists; If yes, start the first navigation module to guide the robot out of the warehouse; If not, execute the alarm prompt.

3. The method according to claim 2, characterized in that In response to the cleaning task being completed, starting the second navigation module, and using the first navigation module and the second navigation module to guide the robot into storage further includes: Detecting whether the magnetic stripe exists; If so, only the second navigation module is used to guide the robot into storage.

4. The method according to claim 1, characterized in that: The method of responding to the cleaning instruction, starting the first navigation module, and using the first navigation module to guide the robot out of the warehouse to control the robot to complete the cleaning task according to the cleaning instruction further includes: Detect whether there is a task interruption point; If so, start the cleaning task from the task interruption point.

5. The method according to claim 4, characterized in that Starting the cleaning task from the task interruption point includes: Calculate the shortest distance from the current position to the task interruption point; The robot is controlled to reach the task interruption point according to the shortest distance.

6. The method according to claim 1, characterized in that In response to the cleaning instruction, the first navigation module is turned on, and the first navigation module is used to guide the robot out of the warehouse to control the robot to complete the cleaning task according to the cleaning instruction, further comprising: Detecting whether there is a deviation between the motion state of the robot body and the motion state of the robot chassis; If so, execute the alarm prompt.

7. The method according to claim 1, characterized in that In response to the cleaning instruction, the first navigation module is turned on, and the first navigation module is used to guide the robot out of the warehouse to control the robot to complete the cleaning task according to the cleaning instruction, further comprising: Detecting whether the value of the working current is greater than a second threshold and the duration is greater than a third threshold; If so, the robot is controlled to stop working and an alarm is issued.

8. The method according to claim 1, characterized in that In response to the cleaning instruction, the first navigation module is turned on, and the first navigation module is used to guide the robot out of the warehouse to control the robot to complete the cleaning task according to the cleaning instruction, further comprising: Detect whether there are obstacles in the cleaning area; If so, determining whether the obstacle can be bypassed within the cleaning area; If not, execute the alarm prompt.

9. The method according to claim 1, characterized in that: In response to the cleaning task being completed, starting the second navigation module, and using the first navigation module and the second navigation module to guide the robot into storage further includes: Detect whether there is a storage and outbound positioning device; If yes, turn on the charging switch to charge the robot.

10. The method according to claim 9, characterized in that The method further comprises: Check whether the charging current is effective; If not, execute the alarm prompt.

11. An electronic device, characterized in that: The invention comprises a memory and a processor, wherein the memory is used to store program data, and the program data can be executed by the processor to implement the method according to any one of claims 1 to 10.

12. A computer readable storage device, characterized in that: The program data is stored and can be executed by a processor to implement the method according to any one of claims 1 to 10.

13. A cleaning robot control system, characterized in that: include: At least one robot; The electronic device according to claim 11, which is communicatively connected to the robot and is capable of implementing the method according to any one of claims 1 to 10; The robot warehouse is equipped with an entry line, an exit line and an entry and exit positioning device; The inbound line is longer than the outbound line, and the inbound line, the outbound line and the inbound and outbound positioning device are used to guide the robot to complete inbound and outbound.

Images