A robot work operation method, device, equipment and storage medium

Abstract

This invention discloses a robot operation method, apparatus, device, and storage medium, belonging to the field of robot technology. According to the land clearing mode command, this invention performs working environment detection on the work area to be worked and outputs the detection results. When the working environment detection result is normal, the land clearing mode program runs and performs land clearing work in the work area. When the working environment detection result is abnormal, an alarm is issued and the abnormal result is displayed on the operating terminal. Upon receiving the land clearing mode command, this invention determines whether the land clearing conditions are met by detecting the work area to be worked, thereby ensuring the operation of the lawnmower robot's land clearing mode and improving the working efficiency of the lawnmower robot in land clearing scenarios.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a method, apparatus, device, and storage medium for operating a robot. Background Technology

[0002] A lawnmower robot is a mechanical tool used to trim lawns, vegetation, and other vegetation. With the development of lawnmower robot technology, autonomous lawnmower robots have become popular. These robots are typically equipped with obstacle detection devices, which stop or avoid obstacles when they are detected.

[0003] However, in lawn mower scenarios, there are often scattered tall grasses that are significantly taller than the surrounding grass. Furthermore, when LiDAR is used in lawn mower products, it lacks the ability to distinguish between different types of obstacles. It may identify grasses that exceed a certain height as obstacles and attempt to avoid them, resulting in missed mowing spots.

[0004] In view of this, there is an urgent need for a working method for lawn mowing robots that can improve the efficiency of clearing land and mowing grass.

[0005] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0006] The main objective of this invention is to provide a robot operation method, apparatus, equipment, and storage medium, aiming to solve the technical problem in the prior art of how to determine whether a lawn mowing robot can perform land clearing work.

[0007] To achieve the above objectives, the present invention provides a method for operating a robot, the method comprising the following steps:

[0008] According to the instructions of the development mode, perform working environment detection on the work area and output the working environment detection results.

[0009] When the working environment test result is normal, the initialization mode program is run to perform initialization work in the area to be worked.

[0010] When the detection result of the working environment is abnormal, an alarm is issued and the abnormal result is displayed on the operating terminal.

[0011] Optionally, according to the initialization mode instructions, a working environment test is performed on the work area to be worked, and the working environment test results are output. Specific steps include:

[0012] Upon receiving the land reclamation mode command, the system uses a lidar to scan the work area and obtain environmental data of the work area.

[0013] The initialization mode algorithm is used to filter and identify the environmental data of the area to be worked, and the detection results of the working environment are output.

[0014] Optionally, a field development mode algorithm is used to filter and identify the environmental data of the area to be worked, and the detection results of the working environment are output. The specific process includes:

[0015] The aforementioned land reclamation mode algorithm is used to filter and screen the environmental data of the area to be worked, resulting in a filtered set of environmental data.

[0016] When the number of data in the environmental data filtering set exceeds the preset number of obstacles, the working environment detection result is output as abnormal;

[0017] When the number of data items in the environmental data filtering set does not exceed the preset number of obstacles, the output of the working environment detection result is normal.

[0018] Optionally, when the working environment test result is normal, the initialization mode program is run to perform initialization work in the area to be worked on. Specific steps include:

[0019] When the working environment detection result is normal, the robot adjusts its operating status and filters the preset travel area through the land reclamation mode algorithm to obtain the actual travel area map;

[0020] The land reclamation work is carried out based on the actual travel area map.

[0021] Optionally, when the working environment detection result is normal, the robot adjusts its operating state and filters the preset travel area using the pioneering mode algorithm to obtain the actual travel area map. Specific steps include:

[0022] The preset travel area is scanned by lidar to obtain environmental data of the area to be traveled;

[0023] A filtering algorithm is used to statistically compare the environmental data of the area to be traversed, and the first obstacle distribution result is obtained.

[0024] Visual algorithms are used to identify foreign obstacles in the environmental data of the area to be traversed, resulting in a second obstacle distribution.

[0025] Based on the preset travel area, the first obstacle distribution result and the second obstacle distribution result are integrated to obtain the actual travel area map.

[0026] Optionally, the process of using a filtering algorithm to statistically compare the environmental data of the area to be traversed to obtain the first obstacle distribution result includes:

[0027] Each data point in the environmental data of the area to be traversed is selected according to a preset selection radius to obtain multiple data selection results;

[0028] The multiple data selection results are compared one by one with the preset number of data points to obtain the first obstacle distribution result.

[0029] Optionally, after issuing an alarm and displaying the abnormal result on the operating terminal when the working environment detection result is abnormal, the method further includes:

[0030] Receive and parse abnormal operation commands, and output the corresponding command parsing results;

[0031] When the command parsing result is the exploration mode command, the robot restarts the exploration mode and performs subsequent tasks;

[0032] When the command parsing result is a multi-obstacle exploration command, the robot continues to start the current exploration mode and executes subsequent work.

[0033] Furthermore, to achieve the above objectives, the present invention also proposes a robot working and operating device, the robot working and operating device comprising:

[0034] Command receiving module: Based on the initialization mode command, performs working environment detection on the work area to be worked and outputs the working environment detection results;

[0035] Instruction execution module: When the working environment detection result is normal, the initialization mode program runs to perform initialization work in the area to be worked.

[0036] Anomaly alarm module: When the detection result of the working environment is abnormal, an alarm is issued and the abnormal result is displayed on the operating terminal.

[0037] Furthermore, to achieve the above objectives, the present invention also proposes a robot operation device, which includes: a memory, a processor, and a robot operation program stored in the memory and executable on the processor, wherein the robot operation program is configured to implement the steps of the robot operation method described above.

[0038] Furthermore, to achieve the above objectives, the present invention also proposes a computer-readable storage medium storing a computer program, wherein the storage medium stores a robot operation program, and when the robot operation program is executed by a processor, it implements the steps of the robot operation method described above.

[0039] This invention, based on the land clearing mode command, performs a working environment detection on the work area and outputs the detection results. When the detection results are normal, the land clearing mode program runs to perform land clearing work on the work area. When the detection results are abnormal, an alarm is issued and the abnormal result is displayed on the operating terminal. Upon receiving the land clearing mode command, this invention determines whether the land clearing conditions are met through detection of the work area, thereby ensuring the smooth operation of the lawnmower's land clearing mode and improving the lawnmower's working efficiency in land clearing scenarios. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the structure of the robot working and operating equipment in the hardware operating environment involved in the embodiments of the present invention;

[0041] Figure 2 This is a flowchart illustrating the first embodiment of the robot operation method of the present invention;

[0042] Figure 3 This is a flowchart illustrating the second embodiment of the robot operation method of the present invention;

[0043] Figure 4 This is a flowchart illustrating the third embodiment of the robot operation method of the present invention;

[0044] Figure 5 This is a flowchart illustrating the third embodiment of the robot operation method of the present invention;

[0045] Figure 6 This is a structural block diagram of the first embodiment of the robot working and operating device of the present invention.

[0046] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0047] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0048] Reference Figure 1 , Figure 1 This is a schematic diagram of the robot's working and operating equipment structure in the hardware operating environment involved in the embodiments of the present invention.

[0049] like Figure 1As shown, the robot's operating equipment may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk storage device. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0050] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the robot's working and operating equipment, and may include more or fewer parts than shown, or combine certain parts, or have different arrangements of parts.

[0051] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a robot operation program.

[0052] exist Figure 1 In the robot operation device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the robot operation device of the present invention can be set in the robot operation device, and the robot operation device calls the robot operation program stored in the memory 1005 through the processor 1001 and executes the robot operation method provided in the embodiment of the present invention.

[0053] This invention provides a method for operating a robot, referring to... Figure 2 , Figure 2 This is a flowchart illustrating a first embodiment of a robot operation method according to the present invention.

[0054] In this embodiment, the robot operation method includes the following steps:

[0055] Step S10: According to the instructions of the initialization mode, perform a working environment test on the work area to be worked and output the working environment test results;

[0056] It should be noted that the "pioneering mode" command is specifically a mode switching command for the lawnmower robot. When the lawnmower robot is in pioneering mode, it will adjust its operating power, mowing spacing, and operating speed.

[0057] Step S20: When the working environment test result is normal, run the initialization mode program to perform initialization work in the area to be worked.

[0058] It should be noted that the working environment detection results specifically refer to the obstacle detection in the work area when the lawnmower robot starts the clearing mode, including the detection of movable and fixed obstacles in the work area. Movable obstacles include pedestrians, tables, chairs, etc., while fixed obstacles include rocks, trees, etc.

[0059] It should also be noted that when the working environment detection result is normal, it specifically means that the number of obstacles detected in the working area is less than the preset number of obstacles, and the distribution of obstacles does not hinder the lawnmower robot from moving forward. The preset number of obstacles can be set according to the user's wishes.

[0060] Step S30: When the working environment detection result is abnormal, issue an alarm and display the abnormal result on the operating terminal.

[0061] It is understandable that when the working environment detection result is abnormal, it specifically means that the number of obstacles detected in the working area is not less than the preset number of obstacles, or the distribution of obstacles hinders the lawnmower robot from moving forward.

[0062] This embodiment performs a working environment detection on the work area according to the land clearing mode command and outputs the working environment detection results. When the working environment detection result is normal, the land clearing mode program runs to perform land clearing work on the work area. When the working environment detection result is abnormal, an alarm is issued and the abnormal result is displayed on the operating terminal. After receiving the land clearing mode command, this embodiment determines whether the land clearing conditions are met by detecting the work area, thereby ensuring the operation of the lawnmower robot's land clearing mode and improving the working efficiency of the lawnmower robot in land clearing scenarios.

[0063] refer to Figure 3 , Figure 3 This is a flowchart illustrating a second embodiment of a robot operation method according to the present invention.

[0064] Based on the first embodiment described above, in this embodiment, step S10 specifically includes the following steps:

[0065] Step S11: Receive the initialization mode command, use the lidar to scan the work area, and obtain the environmental data of the work area;

[0066] It is understandable that the environmental data of the work area specifically includes information on the distribution and location of obstacles in the work area, as well as the number of obstacles.

[0067] Step S12: Use the initialization mode algorithm to filter and identify the environmental data of the work area and output the work environment detection results.

[0068] It should be noted that the main purpose of filtering and identifying the environmental data of the work area is to filter out the "non-obstacles" in the clearing mode, so as to only obtain the "obstacles" that will affect the lawnmower robot, and finally output the work environment detection results.

[0069] This embodiment receives a field-clearing mode command, uses a LiDAR scanner to scan the work area, obtains environmental data of the work area, uses a field-clearing mode algorithm to filter and identify the environmental data, and outputs the work environment detection results. This embodiment obtains corresponding work environment detection results through filtering and identifying the environmental data of the work area, providing a basis for subsequent robot operation condition judgment.

[0070] Furthermore, the environmental data of the work area is filtered and identified using the pioneering mode algorithm, and the work environment detection result is output. The specific process includes: using the pioneering mode algorithm to filter and screen the environmental data of the work area to obtain an environmental data filter set; when the number of data in the environmental data filter set exceeds the preset number of obstacles, the work environment detection result is output as abnormal; when the number of data in the environmental data filter set does not exceed the preset number of obstacles, the work environment detection result is output as normal.

[0071] Understandably, in practice, the number of preset obstacles can be set according to the user's own wishes.

[0072] refer to Figure 4 , Figure 4 This is a flowchart illustrating a third embodiment of a robot operation method according to the present invention.

[0073] Based on the first embodiment described above, in this embodiment, step S20 specifically includes the following steps:

[0074] Step S21: When the working environment detection result is normal, the robot adjusts its running status and filters the preset travel area through the pioneering mode algorithm to obtain the actual travel area map;

[0075] It should be noted that the actual travel area map specifically refers to the non-obstacle area to be cleared within the preset working area of ​​the lawnmower robot.

[0076] Step S22: Based on the actual travel area map, plan the route and carry out the land reclamation work.

[0077] It should also be noted that, in the actual implementation, route planning based on the actual travel area map is achieved by the control terminal of the lawnmower robot through a specific navigation algorithm. Its main function is to complete all the clearing work in the work area without touching any obstacles.

[0078] In this embodiment, the robot's operating status is first adjusted, then the preset travel area is filtered to obtain the actual travel area map, and finally the robot is assisted in performing land reclamation work based on the actual travel area map, thereby improving the robot's land reclamation efficiency.

[0079] refer to Figure 5 , Figure 5 This is a flowchart illustrating the fourth embodiment of a robot operation method according to the present invention.

[0080] Based on the third embodiment described above, in this embodiment, step S21 specifically includes the following steps:

[0081] Step S211: Scan the preset travel area with lidar to obtain environmental data of the area to be traveled;

[0082] It should be noted that the preset travel area specifically refers to the area that the lawnmower robot will move forward in advance based on its current working posture and position. This area will change accordingly as the lawnmower robot progresses through its clearing operations.

[0083] Step S212: Use a filtering algorithm to statistically compare the environmental data of the area to be traversed to obtain the first obstacle distribution result;

[0084] It is understandable that the first obstacle specifically refers to the obstacles obtained by filtering the environmental data of the area to be traveled through a filtering algorithm, which specifically includes stones, trees, etc. that exceed a certain radius.

[0085] Step S213: Use a visual algorithm to identify foreign obstacles in the environmental data of the area to be traversed, and obtain the second obstacle distribution result;

[0086] It should be noted that visual algorithms are used to identify foreign objects and obstacles in the environmental data of the area to be traveled. In specific implementations, the specific algorithm methods can be: image processing algorithms, target detection algorithms, and 3D reconstruction algorithms, etc.

[0087] It should also be noted that foreign object obstacle recognition mainly refers to the identification and judgment of obstacles whose radius and width are smaller than the preset selection radius, but whose substance is not actually weeds, such as tent fixing ropes, grounding cables, etc.

[0088] Step S214: Based on the preset travel area, integrate the first obstacle distribution result and the second obstacle distribution result to obtain the actual travel area map.

[0089] It is understandable that the actual travel area map includes information on the distribution of the first obstacle and the distribution of the second obstacle. When the lawnmower performs its clearing work, it will plan its route based on this information to avoid obstacles.

[0090] In this embodiment, a filtering algorithm is first used to filter and identify the environmental data of the area to be traveled, and then a visual algorithm is used to identify foreign objects in the environmental data of the area to be traveled. Finally, all obstacles that hinder the robot's land reclamation work are screened out, providing a safe operating route for the robot's subsequent land reclamation work.

[0091] Furthermore, the process of using a filtering algorithm to statistically compare the environmental data of the area to be traversed to obtain the first obstacle distribution result includes: selecting each data point in the environmental data of the area to be traversed according to a preset selection radius to obtain multiple data selection results; comparing each of the multiple data selection results with a preset number of data points to obtain the first obstacle distribution result.

[0092] It should be noted that the preset selection radius is a standard radius used for obstacle detection. That is, when the radius of an obstacle exceeds the preset selection radius, it will be identified as the first obstacle.

[0093] It should also be noted that, in the specific implementation, the filtering algorithm can be a point cloud radius filtering algorithm. The specific filtering process is as follows: all points obtained by the LiDAR scan are counted. If the total number of other points within the preset selection radius of a certain point is less than the preset number of data points, then the point is regarded as a discrete point and removed. That is, the object represented by the point does not belong to the obstacle.

[0094] It is understandable that the preset number of data points is related to the amount of data scanned by the LiDAR, and the amount of data scanned by different LiDAR models needs to be obtained through statistical testing.

[0095] Furthermore, when the working environment detection result is abnormal, after issuing an alarm and displaying the abnormal result on the operating terminal, the method further includes: receiving and parsing the abnormal working instruction, and outputting the corresponding instruction parsing result; when the instruction parsing result is the initialization mode instruction, the robot restarts the initialization mode and performs subsequent work; when the instruction parsing result is a multi-obstacle initialization instruction, the robot continues to start the current initialization mode and performs subsequent work.

[0096] It should be noted that in the specific implementation, after the lawnmower issues an alarm and displays an abnormal result on the operating terminal, the user can choose to remove obstacles in the work area according to the abnormal result, including persuading pedestrians to leave the work area and moving movable obstacles in the work area; the user can also issue a multi-obstacle clearing command to the lawnmower as needed. At this time, the lawnmower will operate in clearing mode based on the information of all obstacles in the work area, that is, when the lawnmower is clearing, it will bypass all obstacles.

[0097] Furthermore, embodiments of the present invention also propose a computer-readable storage medium storing a computer program, wherein the storage medium stores a robot operation program, and when the robot operation program is executed by a processor, it implements the steps of the robot operation method described above.

[0098] Since this storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0099] Reference Figure 6 , Figure 6 This is a structural block diagram of the first embodiment of the robot working and operating device of the present invention.

[0100] like Figure 6 As shown, the robot operation device proposed in this embodiment of the invention includes:

[0101] Instruction receiving module 10: Based on the initialization mode instruction, performs working environment detection on the work area to be worked and outputs the working environment detection results;

[0102] Instruction execution module 20: When the working environment detection result is normal, run the initialization mode program to perform initialization work in the area to be worked.

[0103] Anomaly alarm module 30: When the working environment detection result is abnormal, an alarm is issued and the abnormal result is displayed on the operating terminal.

[0104] This embodiment performs a working environment detection on the work area according to the land clearing mode command and outputs the working environment detection results. When the working environment detection result is normal, the land clearing mode program runs to perform land clearing work on the work area. When the working environment detection result is abnormal, an alarm is issued and the abnormal result is displayed on the operating terminal. After receiving the land clearing mode command, this embodiment determines whether the land clearing conditions are met by detecting the work area, thereby ensuring the operation of the lawnmower robot's land clearing mode and improving the working efficiency of the lawnmower robot in land clearing scenarios.

[0105] It should be understood that the above are merely illustrative examples and do not constitute any limitation on the technical solutions of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any restrictions on this.

[0106] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this invention. In practical applications, those skilled in the art can select some or all of the workflow to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0107] In addition, for technical details not described in detail in this embodiment, please refer to the robot operation method provided in any embodiment of the present invention, which will not be repeated here.

[0108] Furthermore, it should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0109] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0110] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory (ROM) / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0111] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method of robot work execution, characterized by, include: According to the instructions of the development mode, perform working environment detection on the work area and output the working environment detection results. When the working environment test result is normal, the initialization mode program is run to perform initialization work in the area to be worked. When the detection result of the working environment is abnormal, an alarm is issued and the abnormal result is displayed on the operating terminal; When the working environment test result is normal, the initialization mode program is run to perform initialization work in the area to be worked on. The specific steps include: When the working environment detection result is normal, the robot adjusts its operating status and filters the preset travel area through the pioneering mode algorithm to obtain the actual travel area map; The land reclamation work will be carried out based on the actual travel area map; When the working environment detection result is normal, the robot adjusts its operating status and filters the preset travel area using the pioneering mode algorithm to obtain the actual travel area map. The specific steps include: The preset travel area is scanned by lidar to obtain environmental data of the area to be traveled; A filtering algorithm is used to statistically compare the environmental data of the area to be traversed, and the first obstacle distribution result is obtained. Visual algorithms are used to identify foreign obstacles in the environmental data of the area to be traversed, resulting in a second obstacle distribution. Based on the preset travel area, the first obstacle distribution result and the second obstacle distribution result are integrated to obtain the actual travel area map; The specific process of using a filtering algorithm to statistically compare the environmental data of the area to be traversed to obtain the first obstacle distribution result includes: Each data point in the environmental data of the area to be traversed is selected according to a preset selection radius to obtain multiple data selection results; The multiple data selection results are compared one by one with the preset number of data points to obtain the first obstacle distribution result.

2. The method of claim 1, wherein, According to the initialization mode instructions, perform a working environment test on the work area and output the working environment test results. The specific steps include: Upon receiving the land reclamation mode command, the system uses a lidar to scan the work area and obtain environmental data of the work area. The initialization mode algorithm is used to filter and identify the environmental data of the area to be worked, and the detection results of the working environment are output.

3. The robot operation method according to claim 2, characterized in that, The environmental data of the work area is filtered and identified using a field-clearing mode algorithm, and the work environment detection results are output. The specific process includes: The aforementioned land reclamation mode algorithm is used to filter and screen the environmental data of the area to be worked, resulting in a filtered set of environmental data. When the number of data in the environmental data filtering set exceeds the preset number of obstacles, the working environment detection result is output as abnormal; When the number of data items in the environmental data filtering set does not exceed the preset number of obstacles, the output of the working environment detection result is normal.

4. The robot operation method according to any one of claims 1-3, characterized in that, When the detection result of the working environment is abnormal, after issuing an alarm and displaying the abnormal result on the operating terminal, the system further includes: Receive and parse abnormal operation commands, and output the corresponding command parsing results; When the command parsing result is the exploration mode command, the robot restarts the exploration mode and performs subsequent tasks; When the command parsing result is a multi-obstacle exploration command, the robot continues to start the current exploration mode and executes subsequent work.

5. A robot working and operating device, characterized in that, The robot's operating device includes: Command receiving module: Based on the initialization mode command, performs working environment detection on the work area to be worked and outputs the working environment detection results; Instruction execution module: When the working environment detection result is normal, the initialization mode program runs to perform initialization work in the area to be worked. Anomaly alarm module: When the detection result of the working environment is abnormal, an alarm is issued and the abnormal result is displayed on the operating terminal.

6. A robot working and operating device, characterized in that, The robot operation device includes: a memory, a processor, and a robot operation program stored in the memory and executable on the processor, wherein the robot operation program is configured to implement the robot operation method according to any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it is able to implement the steps of the robot operation method according to any one of claims 1 to 4.

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