Robot control method, device and computer readable storage medium

Abstract

The present invention discloses a robot control method, device and computer-readable storage medium, wherein the method comprises: determining the trapped area of ​​the robot in response to a trapped signal when the robot performs a cleaning task on a preset area; and cleaning the trapped area. The present invention cleans the trapped area when the robot is trapped, thereby preventing the robot from continuously performing invalid actions when trapped, improving the cleaning efficiency of the robot, and avoiding missed cleaning due to obstacles being trapped, thereby improving the coverage rate of the cleaning area.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot control method, device and computer-readable storage medium. Background Art

[0002] Currently, during the cleaning process, a cleaning robot may be trapped in a certain area due to interference from external factors (such as user intervention, obstacles, etc.). For example, when the robot is cleaning a room, the user closes the door of the room without noticing, or objects fall and block the robot's way out. At this time, the robot cannot return to the base station or go to other areas to be cleaned.

[0003] When existing robots are confined in a certain area, they will continue to wander around, stay in place, and perform other ineffective behaviors, which will affect the cleaning efficiency of the robots.

[0004] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present invention is to provide a robot control method, device and computer-readable storage medium, aiming to solve the technical problem that the cleaning efficiency of the robot is low due to the invalid behavior of the existing robot when it is trapped during the cleaning process.

[0006] To achieve the above object, the present invention provides a robot control method, comprising:

[0007] In response to a trapped signal of the robot when performing a cleaning task on a preset area, determining a trapped area of ​​the robot;

[0008] Cleaning is performed on the trapped area.

[0009] In one implementation, the method further includes:

[0010] determining an inaccessible area of ​​the robot;

[0011] Determining the connectivity status between the trapped area and the inaccessible area;

[0012] A target area is determined according to the communication state, and cleaning is performed on the target area.

[0013] In one implementation, determining the target area according to the connectivity state includes:

[0014] If not, determining that the target area is a trapped area;

[0015] If connected, the target area is determined to be a preset area.

[0016] In one implementation, the determining the connectivity status between the trapped area and the inaccessible area includes:

[0017] After completing the cleaning of the trapped area, determining the connectivity status between the trapped area and the inaccessible area; or

[0018] During the cleaning of the trapped area, a connectivity state between the trapped area and the inaccessible area is determined.

[0019] In one implementation, determining the trapped area of ​​the robot includes:

[0020] When an obstacle is encountered during the cleaning task, the robot is controlled to clean along the edge of the obstacle. If the robot returns to the cleaned position of the preset area, a trapped signal is issued and the closed-loop area of ​​the edge cleaning is determined to be the trapped area.

[0021] In one implementation, determining the trapped area of ​​the robot includes:

[0022] When the robot performs a cleaning task on a preset area, it obtains a cleaning map and determines whether there is a trapped area based on the information in the cleaning map.

[0023] In one implementation, the method further includes:

[0024] After cleaning the trapped area, it is determined whether the trapped signal is released. If not, a trapped state is prompted.

[0025] In one implementation, the method further includes:

[0026] In response to a trapped signal of the robot when performing a cleaning task on a preset area, determining a trapped area and an inaccessible area of ​​the robot, and marking the inaccessible area;

[0027] After completing the cleaning of the trapped area, determining the connectivity status between the trapped area and the inaccessible area;

[0028] If connected, continue cleaning the preset area and delete the mark of the unreachable area;

[0029] If not connected, the trapped prompt operation is executed.

[0030] In one implementation, the method further includes:

[0031] In response to a trapped signal of the robot when performing a cleaning task on a preset area, determining a trapped area and an inaccessible area of ​​the robot, and marking the inaccessible area;

[0032] During the cleaning process of the trapped area, determining the connectivity status between the trapped area and the inaccessible area;

[0033] If connected, continue cleaning the preset area and delete the mark of the unreachable area;

[0034] If not, after the trapped area is cleaned, a trapped prompt operation is performed.

[0035] In one implementation, the method further includes:

[0036] When the robot performs cleaning tasks in a preset area, cleaning map information is obtained;

[0037] Determine whether there are trapped areas and inaccessible areas according to the cleaning map information, and mark the inaccessible areas;

[0038] The connectivity status of the trapped area and the inaccessible area is determined according to the cleaning map information, the target area is determined according to the connectivity status, and cleaning is performed on the target area, wherein if there is no connectivity, the target area is a trapped area; if there is connectivity, the target area is a preset area.

[0039] In addition, to achieve the above-mentioned purpose, the present invention also provides a robot control device, which includes: a memory, a processor, and a robot control program stored in the memory and executable on the processor, and the robot control program implements the steps of the aforementioned robot control method when executed by the processor.

[0040] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, on which a robot control program is stored, and when the robot control program is executed by a processor, the steps of the aforementioned robot control method are implemented.

[0041] The present invention determines the trapped area of ​​the robot in response to a trapped signal when the robot performs a cleaning task on a preset area; then cleans the trapped area. By cleaning the trapped area when the robot is trapped, the robot is prevented from continuously performing invalid actions when trapped, thereby improving the cleaning efficiency of the robot. At the same time, it can avoid missed cleaning due to obstacles being trapped, thereby improving the coverage rate of the cleaning area. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the structure of a robot control device in a hardware operating environment involved in an embodiment of the present invention;

[0043] Figure 2 It is a flowchart of a first embodiment of a robot control method of the present invention;

[0044] Figure 3 A schematic scene diagram of an embodiment of a robot control method of the present invention;

[0045] Figure 4 A schematic scene diagram of another embodiment of the robot control method of the present invention;

[0046] Figure 5 A schematic scene diagram of another embodiment of the robot control method of the present invention.

[0047] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0049] like Figure 1 As shown, Figure 1 It is a schematic diagram of the structure of a robot control device in a hardware operating environment involved in an embodiment of the present invention.

[0050] The robot control device of the embodiment of the present invention may be a cleaning robot. Figure 1 As shown, the robot control device may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0051] Optionally, the robot control device may also include a camera, an RF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, and the like. Among them, the sensors are such as light sensors, radars, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display screen according to the brightness of the ambient light, and the radar may be used to monitor the position information of objects and walls in the robot's environment in real time. Of course, the robot control device may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, etc., which will not be described in detail here.

[0052] Those skilled in the art will understand that Figure 1The terminal structure shown in the figure does not constitute a limitation on the robot control device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0053] like Figure 1 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a robot control program.

[0054] exist Figure 1 In the robot control device shown, the network interface 1004 is mainly used to connect to the background server and communicate data with the background server; the user interface 1003 is mainly used to connect to the client (user end) and communicate data with the client; and the processor 1001 can be used to call the robot control program stored in the memory 1005.

[0055] In this embodiment, the robot control device includes: a memory 1005, a processor 1001, and a robot control program stored in the memory 1005 and executable on the processor 1001, wherein the processor 1001 calls the robot control program stored in the memory 1005 and executes the steps of the robot control method in the following embodiments.

[0056] The present invention also provides a robot control method, referring to Figure 2 , Figure 2 Schematic diagram of the flow chart of the first embodiment of the robot control method of the present invention.

[0057] The robot provided by the present invention comprises a walking unit, a cleaning piece and a control device; the walking unit is used to drive the robot to move, and the cleaning piece is used to clean the floor; the control device is used to implement the steps of the robot control method of the embodiment of the present invention.

[0058] The cleaning system provided by the present invention includes a robot and a base station, wherein the base station is used in conjunction with the robot. For example, the base station can be used to maintain the cleaning parts of the robot, and / or the base station can also charge the robot, and / or the base station can also provide a docking position for the robot, etc., of course, it is not limited to this.

[0059] In this embodiment, the robot control method includes:

[0060] Step S101, in response to a trapped signal of the robot when performing a cleaning task on a preset area, determining a trapped area of ​​the robot;

[0061] Step S102, cleaning the trapped area.

[0062] The preset area is the area to be cleaned corresponding to the cleaning task of the robot, such as the entire area of ​​one or more rooms, or a partial area in a room, or a partial area in a room and a partial area or the entire area of ​​another room, and is certainly not limited thereto. For example, the preset area is a partial area or the entire area of ​​a cleaning task map, for example, a cleaning task map includes one or more of the preset areas.

[0063] In this embodiment, the preset area may include the area corresponding to the cleaning task currently being performed and the area connected to the target point of the cleaning task. When the robot performs the cleaning task on the preset area, the robot can determine in real time whether it is trapped. For example, if the robot encounters an obstacle during the execution of the cleaning task and is unable to clean the preset area, it can be determined that the robot is trapped, and then a trapped signal is triggered. Alternatively, the robot updates the cleaning map through its radar or other sensors in real time during the execution of the cleaning task, and determines whether the cleaning area corresponding to the preset area (or the target point corresponding to the preset area) can be reached according to the cleaning map. If it is not reachable, it is determined that the robot is trapped, and then a trapped signal is triggered. Alternatively, if the robot encounters an obstacle during the execution of the cleaning task and is unable to return to the base station, it can be determined that the robot is trapped.

[0064] In this embodiment, when the robot has a trapped signal when performing a cleaning task on a preset area, the trapped area of ​​the robot is determined in response to the trapped signal, wherein the trapped area is an area currently reachable by the robot and the area is not connected to other areas in the cleaning environment corresponding to the robot, that is, the trapped area can be a closed area currently reachable by the robot or an edge area of ​​an obstacle, for example, referring to Figure 3 , the cleaning task is to clean room D, and the preset area is the entire room D. During the cleaning process, the robot will first clean the edge of the room, and then perform arc cleaning in the middle area of ​​the room to complete the overall cleaning of the room. That is to say, under normal circumstances, when performing the cleaning task, the robot's edge cleaning will be performed in the order of starting point-point c-point a-point b. If during the cleaning task, for example, there is an obstacle forming Figure 3 When the robot detects the obstacle, for example, when it hits the obstacle, it is unable to continue the cleaning task to reach point B, or it is unable to return to the base station E. Therefore, it is determined that the robot is trapped and a trapped signal is triggered, thereby determining the trapped area of ​​the robot. At this time, it can be determined that the trapped area is area A or the trapped area is the edge area of ​​the obstacle.

[0065] After determining the trapped area, the robot is controlled to clean the trapped area; for example, referring to Figure 3When the trapped area is the edge area of ​​the obstacle, the robot is controlled to clean along the edge of the obstacle, that is, it cleans along the edge of the obstacle; if the current position is determined to be a cleaned position of the preset area during the edge cleaning, it is determined that the cleaning of the trapped area is completed, and if the trapped area is area A, bow cleaning can be performed on the trapped area, or the robot is controlled to clean along the edge of the obstacle, that is, it cleans along the edge of the obstacle, and if the current position is determined to be a cleaned position of the preset area during the edge cleaning, bow cleaning is performed on the trapped area.

[0066] Optionally, in one embodiment, step S101 includes:

[0067] Step a, when encountering an obstacle during the cleaning task, the robot is controlled to clean along the edge of the obstacle. If the robot returns to the cleaned position of the preset area, a trapped signal is issued, and the closed-loop area of ​​the edge cleaning is determined as the trapped area.

[0068] In this embodiment, if there is an obstacle during the cleaning task, Figure 3 In the enclosed area A (for example, area A is formed by being completely surrounded by chairs), when the robot encounters an obstacle while performing a cleaning task, the robot is controlled to clean along the edge of the obstacle, that is, to clean along the edge of the obstacle, and the current position of the robot is obtained in real time during the edge cleaning process. If the current position is the cleaned position c of the preset area, that is, the robot has reached the cleaned position of the preset area, a trapped signal is sent, and the closed-loop area of ​​the edge cleaning is determined to be the trapped area (the area formed by the edge of the obstacle). The trapped area can then be accurately determined, so that the robot can accurately clean the trapped area, thereby avoiding the robot from performing invalid behaviors when trapped and affecting the cleaning efficiency of the robot.

[0069] Optionally, if the robot returns to a cleaned position of a preset area, it means that the robot returns to a cleaned position when performing edge cleaning on the preset area.

[0070] Optionally, in another embodiment, step S101 includes:

[0071] Step b: when the robot performs a cleaning task on a preset area, a cleaning map is obtained, and whether there is a trapped area is determined based on the information in the cleaning map.

[0072] In this embodiment, the robot updates the cleaning map in real time through its radar or other sensors while performing the cleaning task in the preset area, and determines whether there is a trapped area based on the information in the cleaning map. For example, the robot determines the area currently reachable by the cleaning map, and regards the reachable area as the trapped area. Figure 3 If there are obstacles during the cleaning process, Figure 3If there is an enclosed area A (for example, area A is completely surrounded by chairs and the robot is trapped inside area A), the robot's current reachable area is area A, and area A can be determined to be a trapped area, so that the robot can accurately clean the trapped area and avoid the robot performing invalid behaviors when trapped, which affects the robot's cleaning efficiency.

[0073] Optionally, in another embodiment, after step S102, the robot control method further includes:

[0074] Step c, after cleaning the trapped area, determining whether the trapped signal is released, if not, prompting that the trapped area is released.

[0075] In the present embodiment, after completing the cleaning of the trapped area, it is determined whether the trapped signal is released. Specifically, it is determined whether the robot can currently reach the target point or base station of the preset area based on the map information in the cleaning map at the moment when cleaning is completed. If so, it is determined that the trapped signal is released. Otherwise, a prompt of being trapped is given, such as outputting an audio prompt message that the robot is trapped, or sending the audio prompt message that the robot is trapped to a corresponding remote device (such as a mobile terminal installed with a robot control APP). Then, the robot's trapped prompt can be output in time, so that the user can rescue the robot in time, avoid the robot from continuing to perform invalid behaviors, and further improve the cleaning efficiency of the robot.

[0076] The robot control method proposed in this embodiment determines the trapped area of ​​the robot by responding to a trapped signal of the robot when performing a cleaning task on a preset area; then cleans the trapped area, and by cleaning the trapped area when the robot is trapped, it avoids the robot from continuously performing invalid behaviors when trapped, thereby improving the cleaning efficiency of the robot, and at the same time can avoid missed sweeps due to obstacles being trapped, thereby improving the coverage rate of the cleaning area.

[0077] Based on the first embodiment, a second embodiment of the robot control method of the present invention is proposed. In this embodiment, the robot control method further includes:

[0078] Step S201, determining an inaccessible area of ​​the robot;

[0079] Step S202, determining the connectivity status between the trapped area and the inaccessible area;

[0080] Step S203: determining a target area according to the connectivity state, and performing cleaning on the target area.

[0081] In this embodiment, the robot's inaccessible area is first determined. Specifically, the robot determines the inaccessible area based on the cleaning map updated in real time by radar or other sensors. For example, in response to a trapped signal when the robot performs a cleaning task in a preset area, the robot's inaccessible area is determined, that is, when the robot currently has a trapped signal, the robot's inaccessible area is determined, or the robot is controlled to clean along the edge of an obstacle. If the robot returns to the cleaned position of the preset area, the robot's inaccessible area is determined, wherein the inaccessible area includes the area connected to the target point corresponding to the preset area. Reference Figure 4 ,If during the cleaning task, there are obstacles in room D forming area A and area B, and the robot is trapped in area A, then the trapped area is area A; the robot cannot reach area B, then the unreachable area is area B.

[0082] Next, after cleaning the trapped area, the connectivity status between the trapped area and the inaccessible area is determined. Specifically, since the robot updates the cleaning map in real time through radar or other sensors, the connectivity status between the trapped area and the inaccessible area can be determined through the real-time updated cleaning map.

[0083] After the connectivity state is acquired, the target area is determined according to the connectivity state, and the target area is cleaned. Specifically, in one embodiment, step S203 includes:

[0084] If not connected, the target area is determined to be a trapped area; if connected, the target area is determined to be a preset area.

[0085] Reference Figure 4 , when receiving the trapped signal, the trapped area is area A, and the unreachable area is area B. After cleaning area A, the connectivity between area A and area B is determined. That is, if the connectivity is disconnected, the trapped area is the target area. Figure 4 , the target area is area A. The robot cannot currently reach the unreachable area, and thus only cleans the trapped area. If the connectivity status is connected, the robot can currently reach the unreachable area, and thus determines that the preset area is the target area. Figure 4 , the target area is area A + area B. When the robot can reach the unreachable area, it can clean the unreachable area to avoid missed cleaning and improve the cleaning efficiency of the robot.

[0086] Optionally, in one embodiment, step S202 includes:

[0087] Step d, after completing the cleaning of the trapped area, determining the connectivity status between the trapped area and the inaccessible area; or

[0088] Step e: during the cleaning of the trapped area, determining the connectivity between the trapped area and the inaccessible area.

[0089] In this embodiment, after the trapped area is cleaned, the connectivity between the trapped area and the inaccessible area can be determined in real time. Figure 4 When the robot completes cleaning of area A, if the connectivity state is connected at this time, the target area is still the preset area, wherein the preset area includes the trapped area and the inaccessible area. Furthermore, since the trapped area has been cleaned, only the inaccessible area needs to be cleaned to avoid repeated cleaning of the trapped area. For example, the target area can be set as the inaccessible area to clean the inaccessible area, and then the inaccessible area is cleaned to avoid missed cleaning and improve the cleaning efficiency of the robot.

[0090] In addition, the connectivity between the trapped area and the inaccessible area can be determined during the cleaning process of the trapped area, that is, the connectivity between the trapped area and the inaccessible area can be determined in real time. Figure 5 When the robot completes partial cleaning of area A, if the connectivity state is connected at this time, the target area is still the preset area, wherein the preset area includes the trapped area and the inaccessible area. Then the robot can clean the preset area to avoid missed sweeps and the like. For example, the target area can be set as the preset area, and the preset area can be continued according to the cleaning path before being trapped. Alternatively, in order to avoid repeated cleaning of the cleaned area in the trapped area, the cleaned area of ​​the trapped area can be determined first, and the target area is set to clean the area other than the cleaned area of ​​the trapped area and the inaccessible area. In this embodiment, based on the judgment of the connectivity state between the trapped area and the inaccessible area, the inaccessible area is added to the target area, and the inaccessible area is cleaned to avoid missed sweeps and improve the cleaning efficiency of the robot.

[0091] The robot control method proposed in this embodiment determines the inaccessible area of ​​the robot; then determines the connectivity status between the trapped area and the inaccessible area, and then determines the target area according to the connectivity status, and cleans the target area. By cleaning the target area according to the connectivity status, it is possible to clean the inaccessible area when the connectivity status is connected, thereby avoiding missed cleaning and improving the cleaning efficiency of the robot.

[0092] Based on the first embodiment, a third embodiment of the robot control method of the present invention is proposed. In this embodiment, the robot control method further includes:

[0093] Step S301, in response to a trapped signal of the robot when performing a cleaning task on a preset area, determining a trapped area and an inaccessible area of ​​the robot, and marking the inaccessible area;

[0094] Step S302, after the trapped area is cleaned, determining the connectivity between the trapped area and the inaccessible area;

[0095] Step S303, if connected, continue cleaning the preset area and delete the mark of the unreachable area;

[0096] Step S304: If not connected, execute the trapped prompt operation.

[0097] In this embodiment, the preset area may include the area corresponding to the cleaning task currently being performed. When the robot performs the cleaning task on the preset area, the robot can determine in real time whether it is trapped. For example, if the robot encounters an obstacle during the execution of the cleaning task and is unable to run to the target point in the preset area for cleaning, or is unable to reach the base station, then it can be determined that the robot is trapped, and then a trapped signal is triggered. Alternatively, the robot updates the cleaning map through its radar in real time during the execution of the cleaning task, and determines whether the cleaning area corresponding to the preset area (or the target point corresponding to the preset area) can be reached according to the cleaning map. If it cannot be reached, the robot is determined to be trapped, and then a trapped signal is triggered.

[0098] When the robot is trapped when performing a cleaning task in a preset area, the trapped area and the inaccessible area of ​​the robot are determined, and the inaccessible area is marked, wherein the trapped area is the area currently reachable by the robot and the area is not connected to other areas in the cleaning environment corresponding to the robot, that is, the cleaning area can be a closed area or an edge area of ​​an obstacle, for example, refer to Figure 4 , the cleaning task is to clean the room, and the preset area is the entire room. During the cleaning process, the robot will first clean the edge of the room, and then perform bow cleaning in the middle area of ​​the room to complete the overall cleaning of the room. Under normal circumstances, when performing the edge cleaning of the cleaning task, the robot will perform edge cleaning in the order of starting point-point c-point a-point b. If during the execution of the cleaning task, for example, there is an obstacle when the robot runs to point a Figure 4In the enclosed area A (for example, area A is formed by being completely surrounded by chairs), when the robot detects the obstacle, for example, when it hits an obstacle, it is unable to continue to perform the cleaning task to reach point B, so it is determined that the robot is trapped and a trapped signal is triggered, thereby further determining the trapped area and the inaccessible area of ​​the robot. At this time, it can be determined that the trapped area is area A, and the inaccessible area is area B. The robot is located in area A and cannot run from area A to area B. The inaccessible area includes the area connected to the target point corresponding to the preset area, and the inaccessible area is marked, for example, the inaccessible area is marked in the cleaning map of the robot.

[0099] Next, the robot is controlled to clean the trapped area, and after the trapped area is cleaned, that is, after the area A is cleaned, the connectivity between the trapped area and the inaccessible area is determined, that is, whether the robot can run from area A to area B. Specifically, since the robot updates the cleaning map in real time through radar or other sensors, the connectivity between the trapped area and the inaccessible area can be determined through the cleaning map updated in real time.

[0100] If the connection state is connected, the robot is controlled to continue cleaning the preset area and delete the mark of the unreachable area. Specifically, refer to Figure 4 When the robot completes cleaning of area A, if the connectivity state is connected at this time, the robot continues to clean the preset area to complete the cleaning of the inaccessible area, wherein the preset area includes the trapped area and the inaccessible area. Furthermore, since the trapped area has been cleaned, only the inaccessible area needs to be cleaned to avoid repeated cleaning of the trapped area. For example, the robot can be controlled to continue cleaning the inaccessible area of ​​the preset area, and then Figure 4 Clean the B area in the robot to avoid missed cleaning and improve the cleaning efficiency of the robot.

[0101] If not connected, the trapped prompt operation will be executed, such as outputting audio prompt information that the robot is trapped, or sending the audio prompt information that the robot is trapped to the corresponding remote device (such as a mobile terminal with a robot control APP installed), and then the robot's trapped prompt can be output in time, so that the user can rescue the robot in time, avoid the robot from continuing to perform invalid behaviors, and further improve the robot's cleaning efficiency.

[0102] The robot control method proposed in this embodiment determines the trapped area and the inaccessible area of ​​the robot and marks the inaccessible area by responding to the trapped signal of the robot when performing a cleaning task on a preset area; then, after completing the cleaning of the trapped area, determines the connectivity status of the trapped area and the inaccessible area; if they are connected, continues to clean the preset area and deletes the mark of the inaccessible area; if they are not connected, executes a trapped prompt operation, and cleans the preset area when the robot is trapped, thereby avoiding the robot from continuously performing invalid behaviors when trapped, thereby improving the cleaning efficiency of the robot, and at the same time avoiding missed sweeps due to obstacles being trapped, thereby improving the coverage rate of the cleaning area.

[0103] Based on the first embodiment, a fourth embodiment of the robot control method of the present invention is proposed. In this embodiment, the robot control method further includes:

[0104] Step S401, in response to a trapped signal of the robot when performing a cleaning task on a preset area, determining a trapped area and an inaccessible area of ​​the robot, and marking the inaccessible area;

[0105] Step S402, during the cleaning process of the trapped area, determining the connectivity status between the trapped area and the inaccessible area;

[0106] Step S403, if connected, continue cleaning the preset area and delete the mark of the unreachable area;

[0107] Step S404: If not connected, after cleaning the trapped area, a trapped prompt operation is performed.

[0108] In this embodiment, the preset area may include the area corresponding to the cleaning task currently being performed. When the robot performs the cleaning task on the preset area, the robot can determine in real time whether it is trapped. For example, if the robot encounters an obstacle during the execution of the cleaning task and is unable to run to the target point in the preset area for cleaning, it can be determined that the robot is trapped, and then trigger a trapped signal. Alternatively, the robot updates the cleaning map through its radar in real time during the execution of the cleaning task, and determines whether the cleaning area corresponding to the preset area (or the target point corresponding to the preset area) can be reached according to the cleaning map. If it cannot be reached, it is determined that the robot is trapped, and then a trapped signal is triggered.

[0109] When the robot is trapped when performing a cleaning task in a preset area, the trapped area and the inaccessible area of ​​the robot are determined, and the inaccessible area is marked to determine the trapped area of ​​the robot, wherein the trapped area is an area currently reachable by the robot and the area is not connected to other areas in the cleaning environment corresponding to the robot, that is, the cleaning area can be a closed area or an edge area of ​​an obstacle, for example, referring to Figure 5, the cleaning task cleans the room, and the preset area is the entire room. During the cleaning process, the robot will first clean the edge of the room, and then perform bow cleaning in the middle area of ​​the room to complete the overall cleaning of the room. That is to say, under normal circumstances, when performing the edge cleaning of the cleaning task, the robot will clean the edge in the order of starting point-point c-point a-point b. If during the execution of the cleaning task, for example, there is an obstacle when the robot runs to point a Figure 3 In the enclosed area A (for example, area A is formed by being completely surrounded by chairs), when the robot detects the obstacle, for example, when it hits an obstacle, it is unable to continue to perform the cleaning task to reach point B, so it is determined that the robot is trapped and a trapped signal is triggered, thereby further determining the trapped area and the inaccessible area of ​​the robot. At this time, it can be determined that the trapped area is area A, and the inaccessible area is area B. The robot is located in area A and cannot run from area A to area B. The inaccessible area includes the area connected to the target point corresponding to the preset area, and the inaccessible area is marked, for example, the inaccessible area is marked in the cleaning map of the robot.

[0110] Next, the robot is controlled to clean the trapped area. During the cleaning process of the trapped area, the connectivity status between the trapped area and the inaccessible area is determined. Specifically, since the robot updates the cleaning map in real time through radar or other sensors, the connectivity status between the trapped area and the inaccessible area can be determined through the real-time updated cleaning map.

[0111] If the connection status is connected, the robot is controlled to continue cleaning the preset area and delete the mark of the unreachable area. Figure 5 , when the robot completes partial cleaning of area A, if the connectivity state is connected at this time, the robot is controlled to continue cleaning the preset area, and then the robot can continue cleaning the preset area to avoid missed sweeps and the like. For example, the target area can be set as a preset area, and the preset area can be continued according to the cleaning path before being trapped. Alternatively, in order to avoid repeated cleaning of the cleaned area in the trapped area, the cleaned area of ​​the trapped area can be determined first, and the robot can be controlled to continue cleaning the area of ​​the trapped area other than the cleaned area and the inaccessible area. In this embodiment, based on the judgment of the connectivity state between the trapped area and the inaccessible area, the inaccessible area is added to the target area, and the inaccessible area is cleaned to avoid missed sweeps and improve the cleaning efficiency of the robot. Among them, the preset area includes the trapped area and the inaccessible area.

[0112] If they are not connected, then when the trapped area is cleaned, the trapped prompt operation is executed, such as outputting an audio prompt message that the robot is trapped, or sending the audio prompt message that the robot is trapped to the corresponding remote device (such as a mobile terminal with a robot control APP installed), and then the robot's trapped prompt can be output in time, so that the user can rescue the robot in time, avoid the robot from continuing to perform invalid behaviors, and further improve the robot's cleaning efficiency.

[0113] The robot control method proposed in this embodiment determines the trapped area and the inaccessible area of ​​the robot and marks the inaccessible area by responding to the trapped signal of the robot when performing a cleaning task in the preset area; then, during the cleaning process of the trapped area, the connectivity between the trapped area and the inaccessible area is determined; if they are connected, the preset area continues to be cleaned and the mark of the inaccessible area is deleted; if they are not connected, the trapped prompt operation is performed after the trapped area is cleaned. By cleaning the preset area when the robot is trapped, the robot is prevented from continuously performing invalid actions when trapped, thereby improving the cleaning efficiency of the robot. At the same time, it can avoid missed sweeps due to obstacles being trapped, thereby improving the coverage rate of the cleaning area.

[0114] Based on the first embodiment, a fifth embodiment of the robot control method of the present invention is proposed. In this embodiment, the robot control method further includes:

[0115] Step S501, when the robot performs a cleaning task on a preset area, obtains cleaning map information.

[0116] Step S502, determining whether there are trapped areas and inaccessible areas according to the cleaning map information, and marking the inaccessible areas;

[0117] Step S503, judging the connectivity status of the trapped area and the inaccessible area according to the cleaning map information, determining the target area according to the connectivity status, and performing cleaning on the target area, wherein if not connected, the target area is a trapped area; if connected, the target area is a preset area.

[0118] In this embodiment, in this embodiment, the preset area may include the area corresponding to the cleaning task currently being performed and the area connected to the target point of the cleaning task. During the process of the robot performing the cleaning task on the preset area, the cleaning map is updated in real time through its radar and the cleaning map information is obtained.

[0119] Next, determine whether there are trapped areas and inreachable areas based on the cleaning map information, and mark the inreachable areas. For example, determine whether the cleaning area corresponding to the preset area (or the target point corresponding to the preset area) is currently reachable based on the cleaning map. If it is not reachable, determine the trapped area and the inreachable area. The trapped area may be a closed area currently reachable by the robot or an edge area of ​​an obstacle, and the inreachable area may be an area connected to the target point corresponding to the preset area.

[0120] Then, the connectivity status of the trapped area and the inaccessible area is determined according to the cleaning map information, the target area is determined according to the connectivity status, and the target area is cleaned, wherein, if it is not connected, the target area is the trapped area; if it is connected, the target area is the preset area, that is, if the connectivity status is not connected, the trapped area is the target area, and the target area is the preset area. Figure 4 , the target area is area A. The robot cannot currently reach the unreachable area, and thus only cleans the trapped area. If the connectivity status is connected, the robot can currently reach the unreachable area, and thus determines that the preset area is the target area. Figure 4 , the target area is area A + area B. When the robot can reach the unreachable area, it can clean the unreachable area to avoid missed cleaning and improve the cleaning efficiency of the robot. When the trapped area is determined, the preset area is updated based on the trapped area, that is, the preset area includes the trapped area and the unreachable area.

[0121] The robot control method proposed in this embodiment obtains cleaning map information while the robot is performing a cleaning task on a preset area, and then determines whether there are trapped areas and inaccessible areas based on the cleaning map information, and marks the inaccessible areas; then, the connectivity status of the trapped areas and the inaccessible areas is determined based on the cleaning map information, and the target area is determined based on the connectivity status, and cleaning is performed on the target area, wherein, if not connected, the target area is the trapped area; if connected, the target area is the preset area, wherein the preset area includes the trapped area and the inaccessible area. It can be seen that the target area at least includes the trapped area. By cleaning the target area when the robot is trapped, the robot is prevented from continuously performing invalid behaviors when trapped, thereby improving the cleaning efficiency of the robot, and at the same time, it can avoid missed sweeps due to obstacles being trapped, thereby improving the coverage rate of the cleaning area.

[0122] The present invention also provides a computer-readable storage medium.

[0123] A robot control program is stored on the computer-readable storage medium of the present invention, and the robot control program implements the steps of the robot control method described above when executed by a processor.

[0124] Among them, the method implemented when the robot control program running on the processor is executed can refer to the various embodiments of the robot control method of the present invention, and will not be repeated here.

[0125] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0126] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0127] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0128] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A robot control method, characterized in that: include: In response to a trapped signal of the robot when performing a cleaning task on a preset area, determining a trapped area of ​​the robot, wherein the trapped area is a closed area currently reachable by the robot or an edge area of ​​an obstacle; performing cleaning on the trapped area; Wherein, determining the trapped area of ​​the robot includes: When an obstacle is encountered during the cleaning task, the robot is controlled to clean along the edge of the obstacle. If the robot returns to the cleaned position of the preset area, a trapped signal is issued and the closed-loop area of ​​the edge cleaning is determined to be the trapped area.

2. The robot control method according to claim 1, characterized in that: Also includes: determining an inaccessible area of ​​the robot; Determining the connectivity status between the trapped area and the inaccessible area; A target area is determined according to the communication state, and cleaning is performed on the target area.

3. The robot control method according to claim 2, characterized in that: The determining the target area according to the connectivity state includes: If not, determining that the target area is a trapped area; If connected, the target area is determined to be a preset area.

4. The robot control method according to claim 2 or 3, characterized in that: The determining of the connectivity status between the trapped area and the inaccessible area includes: After completing the cleaning of the trapped area, determining the connectivity status between the trapped area and the inaccessible area; or During the cleaning of the trapped area, a connectivity state between the trapped area and the inaccessible area is determined.

5. The robot control method according to claim 1, characterized in that: Determining the trapped area of ​​the robot includes: When the robot performs a cleaning task on a preset area, it obtains a cleaning map and determines whether there is a trapped area based on the information in the cleaning map.

6. The robot control method according to claim 1, characterized in that: Also includes: After cleaning the trapped area, it is determined whether the trapped signal is released. If not, a trapped state is prompted.

7. The robot control method according to claim 1, characterized in that: Also includes: In response to a trapped signal of the robot when performing a cleaning task on a preset area, determining a trapped area and an inaccessible area of ​​the robot, and marking the inaccessible area; After completing the cleaning of the trapped area, determining the connectivity status between the trapped area and the inaccessible area; If connected, continue cleaning the preset area and delete the mark of the unreachable area; If not connected, the trapped prompt operation is executed.

8. The robot control method according to claim 1, characterized in that: Also includes: In response to a trapped signal of the robot when performing a cleaning task on a preset area, determining a trapped area and an inaccessible area of ​​the robot, and marking the inaccessible area; During the cleaning process of the trapped area, determining the connectivity status between the trapped area and the inaccessible area; If connected, continue cleaning the preset area and delete the mark of the unreachable area; If not, after the trapped area is cleaned, a trapped prompt operation is performed.

9. The robot control method according to claim 1, characterized in that: Also includes: When the robot performs cleaning tasks in a preset area, cleaning map information is obtained; Determine whether there are trapped areas and inaccessible areas according to the cleaning map information, and mark the inaccessible areas; The connectivity status of the trapped area and the inaccessible area is determined according to the cleaning map information, the target area is determined according to the connectivity status, and cleaning is performed on the target area, wherein if there is no connectivity, the target area is a trapped area; if there is connectivity, the target area is a preset area.

10. A robot control device, characterized in that: The robot control device includes: a memory, a processor, and a robot control program stored in the memory and executable on the processor. When the robot control program is executed by the processor, the steps of the robot control method according to any one of claims 1 to 9 are implemented.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a robot control program, and when the robot control program is executed by a processor, the steps of the robot control method according to any one of claims 1 to 9 are implemented.

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