Work robot control method, device, work robot, and storage medium

Abstract

This application relates to a control method, apparatus, robot, storage medium, and computer program product for a work robot. Upon detecting a work robot repositioning failure, the method acquires its current work map. If the current work map is determined to be non-deletable, a repositioning process is executed after the work robot's position has been moved, allowing the work robot to resume work based on the current work map. If the current work map is determined to be deletable, the current work map is deleted, and a new work map is constructed based on the current location, allowing the work robot to resume work based on the new work map. This application significantly improves the success rate and efficiency of work robot recovery after repositioning failure by executing a repositioning process after detecting the work robot's position has been moved when the current work map is non-deletable, and by resuming work robot operation by creating a new map when the map is deletable.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a method, apparatus, robot, storage medium, and computer program product for recovering from relocation failure. Background Technology

[0002] With the development of technology and the improvement of economic conditions, intelligent cleaning robots for home use have gradually replaced manual labor, performing cleaning tasks such as sweeping, vacuuming, and mopping in the home environment. Currently, before performing a task, these robots generally need to plan their path in the current working environment based on a pre-drawn map or an externally received map, and then perform the task according to the planned path. Furthermore, before each operation, the robot needs to reposition itself on the known map to determine its current location in order to accurately perform the task.

[0003] However, traditional robots often fail to relocate after being moved by humans, or when faced with insufficient local map feature points or changes in objects within a complex working environment. How to resume operation after a robot relocation failure is a pressing technical problem that needs to be solved. Summary of the Invention

[0004] Therefore, it is necessary to provide a robot control method, device, robot, storage medium, and computer program product to address the aforementioned technical problem of how to resume operation after a robot repositioning failure.

[0005] In a first aspect, this application provides a method for controlling a work robot, the method comprising:

[0006] After detecting a failure in the relocation of the robot, the current working map of the robot is obtained;

[0007] If it is determined that the current work map cannot be deleted, a relocation process is executed after the work robot has finished moving, so that the work robot can resume its work based on the current work map.

[0008] If it is determined that the current work map can be deleted, the current work map is deleted and a new work map is constructed based on the current location, so that the work robot can resume its work based on the new work map.

[0009] In one embodiment, after obtaining the current work map of the robot after detecting the robot's relocation failure, the method further includes:

[0010] Determine whether there are any preset restricted areas in the current work map;

[0011] The determination that the current work map cannot be deleted includes: determining that the preset restricted area exists in the current work map;

[0012] The determination that the current work map can be deleted includes: determining that the preset restricted area does not exist in the current work map.

[0013] In one embodiment, when it is determined that the preset restricted area exists in the current work map, the method further includes:

[0014] Control the robot to run along a preset planned path to the target location;

[0015] The detection that the operation robot has completed its position movement includes: detecting that the operation robot has moved to the target position.

[0016] In one embodiment, after detecting that the robot repositioning has failed, the method further includes:

[0017] The robot is controlled to enter standby mode, and a relocation failure reminder message is sent to the control terminal so that the user can restart the robot's task.

[0018] In one embodiment, after the repositioning process is executed after the detection that the robot has completed its position movement, the method further includes:

[0019] After the robot repositioning failure is detected again, the system returns to controlling the robot to enter standby mode and sends a repositioning failure reminder message to the control terminal so that the user can restart the robot's task.

[0020] In one embodiment,

[0021] The determination that the current work map cannot be deleted includes: receiving a first restart command triggered by the control terminal, wherein the first restart command is used to instruct the work robot to perform a relocation process without deleting the current work map;

[0022] The determination that the current work map can be deleted includes: receiving a second restart command triggered by the control terminal, the second restart command being used to instruct the work robot to delete the current work map.

[0023] Secondly, this application also provides a control device for a work robot, the device comprising:

[0024] The acquisition module is used to acquire the current operation map of the robot after detecting that the robot has failed to reposition.

[0025] The first recovery module is used to perform a relocation process after detecting that the position of the operation robot has been moved, in the case where it is determined that the current operation map cannot be deleted, so that the operation robot can resume operation based on the current operation map;

[0026] The second recovery module is used to delete the current work map and construct a new work map based on the current location when it is determined that the current work map can be deleted, so that the work robot can resume work based on the new work map.

[0027] Thirdly, this application also provides a work robot, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described method.

[0028] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method.

[0029] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described method.

[0030] The aforementioned robot control method, device, robot, storage medium, and computer program product, upon detecting a robot repositioning failure, acquire the robot's current work map. If the current work map is determined to be non-deletable, a repositioning process is executed after the robot's position movement is completed, allowing the robot to resume operation based on the current work map. If the current work map is determined to be deletable, the current work map is deleted, and a new work map is constructed based on the current location, allowing the robot to resume operation based on the new work map. This application significantly improves the robot's recovery success rate and work efficiency after a repositioning failure by detecting the robot's position movement when the current work map is non-deletable and executing a repositioning process after completion, allowing the cleaning robot to resume operation on the current work map. Conversely, if the current work map is deletable, a new map is created to resume the robot's operation. Attached Figure Description

[0031] Figure 1 This is an application environment diagram of the robot control method in one embodiment;

[0032] Figure 2 This is a flowchart illustrating a robot control method in one embodiment;

[0033] Figure 3This is a flowchart illustrating the robot control method in another embodiment;

[0034] Figure 4 This is a flowchart illustrating the robot control method in yet another embodiment;

[0035] Figure 5 This is a flowchart illustrating the robot control method in another embodiment;

[0036] Figure 6 This is a structural block diagram of the robot control device in one embodiment;

[0037] Figure 7 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0039] In one exemplary embodiment, the robot control method provided in this application can be applied to an environment that simultaneously involves the robot 102 and the external control device 104, such as... Figure 1 As shown in the diagram, the robot 102 communicates with the external control device 104 via a network. Specifically, after detecting a repositioning failure of the robot 102, the external control device 104 obtains the current work map of the robot 102; if it determines that the current work map cannot be deleted, it executes a repositioning process after detecting that the robot 102 has completed its position movement, so that the robot 102 can resume its work based on the current work map; if it determines that the current work map can be deleted, it deletes the current work map and constructs a new work map based on the current location, so that the robot 102 can resume its work based on the new work map.

[0040] In an exemplary embodiment, the robot control method provided in this application may be applied to an environment involving only the robot 102. The robot 102 is equipped with a controller that performs processing and control functions. Specifically, after detecting a repositioning failure of the robot 102, the controller obtains the current work map of the robot 102; if it determines that the current work map cannot be deleted, it executes a repositioning process after detecting that the robot 102 has completed its position movement, so that the robot 102 can resume its work based on the current work map; if it determines that the current work map can be deleted, it deletes the current work map and constructs a new work map based on the current location, so that the robot 102 can resume its work based on the new work map.

[0041] Among them, the operation robot 102 can be a sweeping robot, an agricultural robot, or an intelligent lawnmower, etc. The controller in the operation robot 102 includes, but is not limited to, control chips and control circuits. The external control device 104 can be an electronic device, including a terminal or a server. The terminal includes, but is not limited to, various personal computers, smartphones and portable wearable devices. The server can be a standalone server or a server cluster composed of multiple servers.

[0042] In one exemplary embodiment, such as Figure 2 As shown, a method for controlling a work robot is provided, which can be applied to... Figure 1 The controller in the working robot 102 is used as an example for explanation, including the following steps S100 to S600. Wherein:

[0043] S100: After detecting that the robot repositioning has failed, obtain the current work map of the robot.

[0044] The current work map of the work robot is the work map currently stored inside the work robot. It can be pre-created after the work robot starts running, or it can be pre-stored to the work robot after being drawn by the user terminal.

[0045] For example, the robot will relocalize itself when it is moved by a human, or when the operation is restarted and a current work map is detected. During relocalization, the robot can remain stationary, rotate 360°, or perform multi-point navigation within a small area. It also uses a LiDAR device to rotate and acquire mapping data to determine its position on the current work map. However, if the robot is moved by a human, its posture changes (e.g., it is tilted), objects in the environment change, or there are insufficient local map feature points, the robot may lose its localization due to the inability to acquire enough matching feature points, resulting in relocalization failure.

[0046] It is understandable that when users have a need, they will set up restricted areas or virtual walls on the current work map to prevent the work robots from entering during operation.

[0047] However, in traditional robot control strategies, when a relocation failure is detected, the existing work map is typically deleted, and a new work map is constructed based on the robot's current location so that the robot can resume operations on the new map. Consequently, this relocation failure handling method results in the simultaneous deletion of user-defined restricted areas. The robot resuming operations on a new work map without these restricted areas may lead to it accidentally entering them, colliding with furniture within the user-defined restricted areas, or becoming trapped or falling into them.

[0048] Specifically, after detecting that the robot's repositioning has failed, the robot's current work map needs to be obtained first to determine whether the current work map can be directly deleted.

[0049] Furthermore, there is no single way to determine whether the current work map can be directly deleted. It could be by checking if there are any preset restricted areas on the current work map. Of course, a relocation failure could also be due to the user manually moving the robot to a new work area to complete other tasks required by the user. Correspondingly, another way to determine whether the current work map can be directly deleted is by sending a notification message to the user's terminal, and then determining the appropriate method based on the type of restart command triggered by the user through the terminal.

[0050] S400: If it is determined that the current work map cannot be deleted, after detecting that the work robot has finished moving, a relocation process is executed so that the work robot can resume work based on the current work map.

[0051] Specifically, if it is determined that the current work map cannot be deleted, the robot's position needs to be moved to improve the success rate of the relocation process. Then, after successful relocation, the robot can be controlled to resume its work based on the current work map.

[0052] Furthermore, if the repositioning process still fails, the robot can be moved and the repositioning process repeated until the number of repositioning failures reaches a preset threshold. It can be understood that when the preset threshold is reached, the robot can be put into standby mode, the current work map can be deleted, and a restart reminder message can be sent to the control terminal, allowing the user to restart the robot's task and reset the preset restricted area in a new work map built based on the robot's current location.

[0053] For example, there is no single way to move the robot. It can be that the controller directly controls the robot to move along a preset planned path set in the current work map, or it can be that a reminder message is sent to the user terminal, so that the user can manually move the robot to another location.

[0054] There are multiple ways to detect when a robot has finished moving. It can be done by detecting whether the robot has reached the target position or by detecting the robot's posture when it is moved by a person.

[0055] Understandably, after the robot performs the relocation process and confirms that the relocation is successful, the robot will resume its work on the unworked areas in the current work map based on the current work map.

[0056] S600: If it is determined that the current work map can be deleted, delete the current work map and build a new work map based on the current location, so that the work robot can resume work based on the new work map.

[0057] Specifically, if it is determined that the current work map can be deleted, it can be deleted directly. A new coordinate system is then created based on the current location to construct a new work map, allowing the robot to resume its work based on the new map.

[0058] The aforementioned robot control method, upon detecting a robot repositioning failure, acquires the robot's current work map. If the current work map is determined to be non-deletable, a repositioning process is executed after the robot's position movement is completed, allowing the robot to resume work based on the current work map. If the current work map is determined to be deletable, it is deleted, and a new work map is constructed based on the current location, allowing the robot to resume work based on the new map. This application significantly improves the robot's recovery success rate and work efficiency after a repositioning failure by detecting the robot's position movement when the current work map is non-deletable and executing a repositioning process after completion, allowing the cleaning robot to resume work on the current work map. Conversely, if the current work map is deletable, a new map is created to resume the robot's work.

[0059] In one exemplary embodiment, such as Figure 3 As shown, after S100, the above-mentioned robot control method also includes S200: determining whether there is a preset restricted area in the current work map.

[0060] Specifically, the preset restricted areas are restricted areas or virtual wall areas set by the user in the current work map. The preset restricted areas are used to prevent the work robots from entering during operation.

[0061] Furthermore, after obtaining the current work map of the robot, it is possible to determine whether the current work map can be directly deleted by checking whether there are preset restricted areas in the current work map.

[0062] Correspondingly, S400's determination that the current work map cannot be deleted includes: confirming the existence of a preset restricted area in the current work map. It can be understood that, in the case of a preset restricted area in the current work map, to prevent the robot from accidentally entering the restricted area, colliding with furniture within the user-defined restricted area, or becoming trapped or falling into the restricted area, the current work map cannot be directly deleted after a relocation failure.

[0063] Please continue to refer to Figure 3 S400 includes S420: when it is determined that there is a preset restricted area in the current work map, after the work robot has completed its position movement, a relocation process is executed so that the work robot can resume its work based on the current work map.

[0064] Specifically, if a preset restricted area is determined to exist in the current work map, the current work map cannot be deleted. Work must continue based on the current work area and its associated preset restricted areas. This necessitates moving the robot's position, and after the robot's movement is detected as complete, a relocation process is executed to improve the success rate of relocation. Once relocation is successful, the robot can resume its work based on the current work map.

[0065] Correspondingly, S600's determination that the current work map can be deleted includes: confirming that there is no preset restricted area in the current work map. It can be understood that if there is no preset restricted area in the current work map, there is no need to consider whether the robot might accidentally enter the preset restricted area, and the current work map can be deleted directly after relocation failure.

[0066] Please continue to refer to Figure 3 S600 includes S620: if it is determined that there is no preset restricted area in the current operation map, delete the current operation map and build a new operation map based on the current location, so that the operation robot can resume operation based on the new operation map.

[0067] Specifically, if it is determined that there are no preset restricted areas in the current work map, the current work map can be deleted directly. A new coordinate system is then created based on the current location to construct a new work map, and the robot resumes its work based on the new work map.

[0068] In this embodiment, by determining whether there is a preset restricted area on the current operation map, and then determining the recovery plan after relocation failure, the current operation map can be directly deleted after relocation failure, and the operation robot can be prevented from accidentally entering the preset restricted area, colliding with the furniture in the preset restricted area set by the user, or getting trapped or falling into the preset restricted area.

[0069] In an exemplary embodiment, if it is determined in S420 that there is a preset restricted area in the current operation map, the above-mentioned operation robot control method further includes: controlling the operation robot to run along a preset planned path to the target location.

[0070] The preset planning path is the operation route of the robot obtained by path planning on the created current operation map. The specific planning method is not described in detail in the embodiments of this application.

[0071] Specifically, if a pre-defined restricted area is identified on the current work map, the controller can issue a run command to control the robot to move along a pre-planned path to the target location, thereby improving the success rate of the repositioning process. Since the robot is in a repositioning failure state, controlling it to move along the pre-planned path specifically means controlling it to return along the path already used in the work area. Furthermore, after the robot successfully repositions, when resuming work based on the current work map, it also avoids the inability to fully complete the work in unworked areas after moving into them.

[0072] For example, the target location can be a position at a preset distance from the current location of the robot, and the preset distance can be set according to actual technical requirements. The target location can also be an open area without complex obstructions, which can be detected by devices such as LiDAR or cameras mounted on the robot. The target location can also be the position where the robot's posture is normal, such as returning from a tilted state to a normal horizontal state, which can be detected by a three-dimensional motion posture sensor mounted on the robot. The target location can also be a corner point of an already worked area.

[0073] It is understandable that the target location needs to be an unoccupied location that the equipment can reach, meaning the location must be free of obstacles and able to accommodate the working robot.

[0074] For example, S420's detection that the robot's position movement is complete includes detecting that the robot has moved to the target position. This can be understood as the controller determining that the robot's position movement is complete and the repositioning process can be executed when it detects that the robot has moved to the target position.

[0075] In this embodiment, by controlling the robot to move to the target location after a repositioning failure in an attempt to achieve a successful repositioning, the problem of repositioning failure can be solved without the user's knowledge. This avoids directly deleting the current work map, preventing the robot from accidentally entering a preset restricted area, colliding with furniture in the user-set preset restricted area, or getting trapped or falling into the preset restricted area.

[0076] In one exemplary embodiment, such as Figure 4 As shown, after S100 detects that the robot repositioning has failed, the above robot control method further includes S300: controlling the robot to enter a standby state and sending a repositioning failure reminder message to the control terminal so that the user can restart the robot's task.

[0077] It is understood that the solution in this embodiment is to send a repositioning failure reminder message to the control terminal after detecting that the robot has failed to reposition, so as to prompt the user that the robot is in a repositioning failure state and needs to be restarted to resume the operation.

[0078] In this embodiment, the repositioning failure may occur because the user manually moves the robot to a new work area to complete other tasks required by the user. Therefore, if manual movement of the robot is detected, the user can be notified to assist in restarting the robot's work task. The system can indicate whether the current work map needs to be deleted and a new work map created to resume the work. This avoids the robot attempting to achieve repositioning success through its own movement control, thus improving the robot's recovery success rate and work efficiency after repositioning failure.

[0079] It is understood that, in the embodiments of this application, restarting the operation task of the operation robot can be restarting the currently running operation task or restarting other operation tasks. Users can choose to restart according to actual technical needs, and there is no limitation.

[0080] In an exemplary embodiment, after the repositioning process is executed after the detection of the completion of the robot's position movement in S400, the above-mentioned robot control method further includes: after detecting the robot's repositioning failure again, returning to control the robot to enter a standby state and sending a repositioning failure reminder message to the control terminal so that the user can restart the robot's task.

[0081] Specifically, if the relocation process still fails, or if the number of relocation failures reaches a preset threshold, indicating that the robot is unlikely to achieve successful relocation by moving its own position, a relocation failure reminder message needs to be sent to the user so that the user can assist in restarting the robot to resume operation.

[0082] It is understandable that when users assist in restarting the work robot to resume operations, they can choose whether to delete the current work map according to their needs.

[0083] Furthermore, in an exemplary embodiment, determining that the current work map cannot be deleted includes: receiving a first restart instruction triggered by the control terminal, the first restart instruction being used to instruct the work robot to perform a relocation process without deleting the current work map.

[0084] Specifically, if the user chooses to restart the task and the current work map cannot be deleted, the control terminal can send a first restart command to the server to instruct the robot to perform a repositioning process without deleting the current work map.

[0085] Correspondingly, please continue to refer to Figure 4 S400 includes S440: Upon receiving the first restart command triggered by the control terminal, after detecting that the robot has completed its position movement, a repositioning process is executed to enable the robot to resume its work based on the current work map.

[0086] It should be noted that, even if the user chooses to restart the task and the current work map cannot be deleted, a location relocation reminder message can still be sent to the user's terminal. This prompts the user to manually move the robot to another location, thereby improving the relocation success rate. The location relocation reminder message can inform the user which types of locations can improve the relocation success rate; for details, please refer to the target location selection criteria output.

[0087] In one exemplary embodiment, determining that the current work map can be deleted includes: receiving a second restart command triggered by a control terminal, the second restart command being used to instruct the work robot to delete the current work map.

[0088] Correspondingly, please continue to refer to Figure 4 S600 includes S640: Upon receiving a second restart command triggered by the control terminal, the current work map is deleted and a new work map is constructed based on the current location, so that the work robot can resume work based on the new work map.

[0089] Specifically, if the user chooses to restart the task and needs to delete the current work map, the control terminal can send a second restart command to the server to instruct the robot to delete the current work map and build a new work map based on its current location, so that the robot can resume its work based on the new work map.

[0090] It is understandable that after the robot completes the construction of a new work map, it can also send a reminder message to the user to set up no-sweep zones, so as to prompt the user to set up preset no-entry zones in the new work map as needed.

[0091] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description, in conjunction with the accompanying drawings and a specific embodiment, will further illustrate this application. It should be understood that the specific embodiment described herein is merely illustrative and not intended to limit the scope of this application.

[0092] In one specific embodiment, such as Figure 5 As shown, a method for controlling a work robot is provided, with a floor cleaning robot as an example for explanation.

[0093] Specifically, after the robot restarts or resumes its task, a relocation process must be performed to determine its position on the current task map. If the robot fails to relocate, it must first check whether there are any user-defined restricted areas / virtual walls or other virtual obstacles (preset restricted areas) on the current task map.

[0094] On the one hand, if there are virtual obstacles such as restricted areas or virtual walls in the current work map, the robot will not automatically create a new map and start a new task after the relocation fails. Instead, it will enter a standby state and push a reminder message to the user, prompting the user that "the map relocation failed due to the presence of restricted areas or virtual walls. Please restart the task."

[0095] Therefore, after receiving the push notification, the user can take the following actions:

[0096] A. Move the robot to another location and restart the task. Prompt the user to "Delete the current task map before restarting?" If the user chooses to delete the current task map, proceed to step C, the mapping process; if the user chooses not to delete the current task map, proceed to step B, the relocation process.

[0097] B. Re-enter the relocation process. If the relocation is successful, proceed to the normal working process; if the relocation fails, re-detect the virtual wall of the restricted area.

[0098] C. The user deletes the current task map and creates a new task map. The user can then reset virtual obstacles such as restricted areas / virtual walls according to their actual environment.

[0099] On the other hand, if human intervention is detected on the robot, and the current work map contains virtual obstacles such as restricted areas or virtual walls, the robot will not automatically create a new map and start a new task after relocation fails. Instead, it will enter a standby state and delete the current work map. Simultaneously, a notification message will be sent to the user, indicating that "relocation failed due to restricted areas or virtual walls; please restart the task." When the user restarts the task, a new work map will be built directly, and the user can then reset the restricted areas / virtual walls and other virtual obstacles according to their actual environment.

[0100] On the other hand, if the current work map contains virtual obstacles such as restricted areas or virtual walls, the robot can return a short distance along its original path after a failed relocation, find flat ground, and perform internal relocation again. If the relocation fails again, it will proceed to the process described in the first aspect; if the relocation succeeds, the work task will resume normally.

[0101] If the current work map does not contain virtual obstacles such as restricted areas or virtual walls, the current work map will be deleted and a new work map will be built to resume the work of the robot. Users can reset virtual obstacles such as restricted areas or virtual walls according to their actual environment.

[0102] In this embodiment, the problem of the robot automatically creating a new map and entering a preset restricted area (a user-defined restricted area / virtual wall, indicating an area where the robot is prohibited from entering) after a relocation failure can be effectively solved. This can prevent the robot from colliding with specific furniture in the restricted area, getting trapped in complex environments, or even falling into user-defined no-sweeping areas.

[0103] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0104] Based on the same inventive concept, this application also provides a robot control device for implementing the above-described robot control method. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more robot control device embodiments provided below can be found in the limitations of the robot control method described above, and will not be repeated here.

[0105] In one exemplary embodiment, such as Figure 6 As shown, a robot control device is provided, including: an acquisition module 610, a first recovery module 620, and a second recovery module 630, wherein:

[0106] The acquisition module 610 is used to acquire the current work map of the work robot after detecting that the repositioning of the work robot has failed;

[0107] The first recovery module 620 is used to execute a relocation process after detecting that the position of the operation robot has been moved when it is determined that the current operation map cannot be deleted, so that the operation robot can resume operation based on the current operation map.

[0108] The second recovery module 630 is used to delete the current work map and build a new work map based on the current location when it is determined that the current work map can be deleted, so that the work robot can resume work based on the new work map.

[0109] In one exemplary embodiment, the above-described robot control device further includes:

[0110] The determination module is used to determine whether there are preset restricted areas in the current work map;

[0111] The first recovery module 620 is also used to execute a relocation process after detecting that the position of the operation robot has been moved, when it is determined that there is a preset restricted area in the current operation map, so that the operation robot can resume operation based on the current operation map.

[0112] The second recovery module 630 is also used to delete the current operation map and construct a new operation map based on the current location when it is determined that there is no preset restricted area in the current operation map, so that the operation robot can resume operation based on the new operation map.

[0113] In one exemplary embodiment, the above-described robot control device further includes:

[0114] The control module is used to control the robot to run along a preset planned path to the target location;

[0115] The first recovery module 620 is also used to perform a relocation process after detecting that the operation robot has run to the target position when it is determined that there is a preset restricted area in the current operation map, so that the operation robot can resume operation based on the current operation map.

[0116] In an exemplary embodiment, the control module is further configured to control the robot to enter a standby state after detecting a repositioning failure, and send a repositioning failure reminder message to the control terminal so that the user can restart the robot's task.

[0117] In one exemplary embodiment, the above-described robot control device further includes:

[0118] The detection module is used to, after the robot is controlled to perform a repositioning process and a repositioning failure is detected again, call the control module to control the robot to enter a standby state and send a repositioning failure reminder message to the control terminal so that the user can restart the robot's operation task.

[0119] In one exemplary embodiment,

[0120] The first recovery module 620 is also used to execute a repositioning process after detecting that the position of the work robot has been moved when a first restart command triggered by the control terminal is received, so that the work robot can resume work based on the current work map. The first restart command is used to instruct the work robot to execute the repositioning process without deleting the current work map.

[0121] The second recovery module 630 is also used to delete the current work map and build a new work map based on the current location when it receives a second restart instruction triggered by the control terminal for the relocation failure reminder message, so that the work robot can resume work based on the new work map.

[0122] Each module in the aforementioned robot control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0123] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 7As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for controlling a work robot. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0124] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0125] In one exemplary embodiment, a work robot is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the method described above.

[0126] In one exemplary embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described above.

[0127] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the method described above.

[0128] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0129] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0130] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0131] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for controlling a work robot, characterized in that, The method includes: After detecting a failure in the relocation of the robot, the current working map of the robot is obtained; If a preset restricted area is found in the current operation map, it is determined that the current operation map cannot be deleted. After the operation robot has finished moving, a relocation process is executed so that the operation robot can resume operation based on the current operation map. If it is determined that there is no preset restricted area in the current operation map, the current operation map can be deleted. The current operation map is then deleted and a new operation map is constructed based on the current location, so that the operation robot can resume operation based on the new operation map.

2. The method according to claim 1, characterized in that, When it is determined that a preset restricted area exists in the current work map, the method further includes: Control the robot to run along a preset planned path to the target location; The detection that the operation robot has completed its position movement includes: detecting that the operation robot has moved to the target position.

3. The method according to claim 1, characterized in that, After performing the relocation procedure, the method further includes: If the repositioning process still fails, return to the step of executing the repositioning process after detecting that the position of the working robot has been moved, until the number of repositioning failures reaches a preset threshold.

4. The method according to claim 3, characterized in that, If the number of relocation failures reaches a preset threshold, the method further includes: The robot is controlled to enter standby mode, and a relocation failure reminder message is sent to the control terminal so that the user can restart the robot's task.

5. The method according to claim 4, characterized in that, The determination that the current work map cannot be deleted includes: receiving a first restart instruction triggered by the control terminal based on the relocation failure reminder message, wherein the first restart instruction is used to instruct the work robot to perform the relocation process without deleting the current work map; The determination that the current work map can be deleted includes: receiving a second restart instruction triggered by the control terminal based on the relocation failure reminder message, the second restart instruction being used to instruct the work robot to delete the current work map.

6. The method according to claim 5, characterized in that, After receiving the first restart command triggered by the control terminal based on the relocation failure alert message, the method further includes: Send a location movement notification message to the control terminal; The detection that the robot has completed its position movement includes detecting that the robot's pose has returned from a tilted state to a normal horizontal state.

7. A control device for a work robot, characterized in that, The device includes: The acquisition module is used to acquire the current operation map of the robot after detecting that the robot has failed to reposition. The first recovery module is used to determine that the current operation map cannot be deleted when it is determined that there is a preset restricted area in the current operation map, and to execute a relocation process after detecting that the operation robot has finished moving, so that the operation robot can resume operation based on the current operation map. The second recovery module is used to determine that the current operation map can be deleted if there is no preset restricted area in the current operation map, delete the current operation map and construct a new operation map based on the current location, so that the operation robot can resume operation based on the new operation map.

8. A work robot, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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