Robot control method, robot, device and storage medium

Abstract

The present invention provides a robot control method, robot, device, and storage medium. The method includes: determining whether the robot is in automatic recharging mode; if it is in automatic recharging mode, determining the location information of the charging base; generating a recharging movement path for the robot on the ground based on the location information of the charging base, and determining the ground material corresponding to the recharging movement path; if the ground material is a first material, turning off the robot's fan and roller brush, the first material including a hard material; if the ground material is a second material, obtaining the robot's movement speed and adjusting the robot's roller brush speed based on the movement speed, the second material including a soft material. The present invention can control the robot's roller brush and fan to perform different actions based on the ground material, thereby reducing the noise generated by the robot during the recharging process and improving the user experience.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robots, and in particular to a robot control method, a robot, a device and a storage medium. Background Art

[0002] With the rapid development of mobile robot technology, various types of robots have gradually become popular in daily life, such as the commonly used sweeping robots. However, since the main cleaning components of existing sweeping robots are roller brushes and dust suction fans, the noise generated when the roller brushes rotate and the dust suction fans are turned on during the movement of the sweeping robots is very loud, which provides a very poor user experience for customers. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to overcome the deficiencies in the prior art and to provide a robot control method, a robot, a device and a storage medium.

[0004] The present invention provides the following technical solutions:

[0005] In a first aspect, the present application provides a robot control method, comprising:

[0006] Determining whether the robot is in automatic recharging mode, and if so, determining the location information of the charging station;

[0007] generating a recharging movement path for the robot on the ground according to the position information of the charging base, and determining a ground material corresponding to the recharging movement path;

[0008] If the ground material is a first material, turning off the fan and the roller brush of the robot, the first material including a hard material;

[0009] If the ground material is a second material, the moving speed of the robot is obtained, and the rotation speed of the roller brush of the robot is adjusted according to the moving speed, and the second material includes a soft material.

[0010] In one embodiment, determining whether the robot is in automatic recharging mode includes:

[0011] Obtaining the remaining power of the robot, and determining whether the remaining power is less than a first threshold;

[0012] If the remaining power is less than the first threshold, controlling the robot to enter the automatic recharging mode;

[0013] If the remaining power is greater than or equal to the first threshold, the robot is controlled to enter a working mode.

[0014] In one embodiment, controlling the robot to enter a working mode includes:

[0015] Controlling the robot to move along a working movement path and acquiring a ground image corresponding to the working movement path;

[0016] The ground image is used to determine whether there is garbage on the ground. If there is garbage, the type of the garbage is determined, and the working states of the fan and the roller brush are controlled according to the type of the garbage.

[0017] In one embodiment, generating a recharging movement path of the robot on the ground based on the position information of the charging base includes:

[0018] Determining the cleaned area of ​​the robot according to the current position information of the robot;

[0019] The recharging movement path is determined according to the position information of the charging base and the current position information of the robot, where the recharging movement path is an area within the cleaned area.

[0020] In one embodiment, the robot control method further includes:

[0021] Recording the cleaned area, and if the robot is fully charged and enters the working mode, generating the actual cleaning area of ​​the robot based on the cleaned area and the working area;

[0022] A cleaning path for the robot is generated according to the actual cleaning area.

[0023] In one embodiment, obtaining the moving speed of the robot and adjusting the rotation speed of the roller brush of the robot according to the moving speed includes:

[0024] Obtaining the movement speed of the robot and the rotation speed of the roller brush, and calculating a target rotation speed of the roller brush at which the brush surface is stationary relative to the ground based on the movement speed and the rotation speed;

[0025] According to the target speed, the PID algorithm is used to control the roller brush to rotate according to the target speed.

[0026] In one embodiment, the use of a PID algorithm to control the roller brush to rotate according to the target speed includes:

[0027] The pulse width modulation duty cycle of the robot motor current is calculated according to the PID algorithm:

[0028] The rotation speed of the motor is adjusted to the target rotation speed according to the pulse width modulation duty cycle of the motor current, and the roller brush is controlled to rotate at the target rotation speed by the motor.

[0029] In a second aspect, the present application provides a robot, comprising:

[0030] a determination module, configured to determine whether the robot is in automatic recharging mode, and if so, to determine the location information of the charging station;

[0031] a generating module, configured to generate a recharging movement path for the robot on the ground based on the position information of the charging base, and determine a ground material corresponding to the recharging movement path;

[0032] a shut-down module, configured to shut down the fan and the roller brush of the robot if the ground material is a first material, wherein the first material includes a hard material;

[0033] The adjustment module is used to obtain the movement speed of the robot and adjust the roller brush speed of the robot according to the movement speed if the ground material is a second material, and the second material includes a soft material.

[0034] In a third aspect, the present application provides an electronic device comprising a memory and at least one processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to implement the robot control method as described in the first aspect.

[0035] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed, the robot control method as described in the first aspect is implemented.

[0036] The embodiments of the present invention have the following beneficial effects:

[0037] The robot control provided in this application obtains the ground material of the robot's recharging path after determining that the robot is in automatic recharging mode, and controls the robot's roller brush and fan to perform different actions according to the ground material, so as to reduce the noise generated by the robot during the recharging process and improve the user experience.

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 A schematic flow chart of a robot control method is shown;

[0041] Figure 2 A schematic flow chart of a robot mode control method is shown;

[0042] Figure 3 A schematic flow chart of a robot working control method is shown;

[0043] Figure 4 A schematic diagram of a robot recharging path confirmation process is shown;

[0044] Figure 5 A schematic flow chart of a method for controlling the rotational speed of a roller brush is shown;

[0045] Figure 6 A schematic diagram of a robot frame structure is shown.

[0046] Description of main component symbols:

[0047] 600, robot; 601, judgment module; 602, generation module; 603, closing module; 604, adjustment module. DETAILED DESCRIPTION

[0048] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0049] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used in the template description herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0051] Example 1

[0052] See also Figure 1 , Figure 1This is a flow chart of a robot control method provided in this embodiment. The method can be used to control various sweeping robots to reduce noise. The method includes:

[0053] S101. Determine whether the robot is in automatic recharging mode. If it is in the automatic recharging mode, determine the location information of the charging base.

[0054] Automatic recharging means that when the robot vacuum cleaner is low on power, it will automatically find a charging station and return to the charging station to recharge. After charging is completed, it will continue to work without human intervention. Therefore, whether the robot vacuum cleaner starts the automatic recharging mode mainly depends on whether the robot's power meets the requirements for automatic recharging.

[0055] See also Figure 2 , step S101 includes:

[0056] S1011. Obtain the remaining power of the robot, and determine whether the remaining power is less than a first threshold.

[0057] Specifically, the first threshold is the power threshold for the robot to start the automatic recharging mode, which can be set according to actual conditions. For example, if the robot's working area is small, it can be set to 3%-5%. If the robot's working area is large, it can also be set to 5%-8% to avoid the power threshold being set too low, resulting in the robot's remaining power being unable to support the robot to return to the charging base.

[0058] The remaining power of the robot can be obtained by the robot's own microcontroller or central processing unit, and then compared with the set first threshold to determine whether the automatic recharging mode needs to be turned on.

[0059] S1012: If the remaining power is less than the first threshold, control the robot to enter the automatic recharging mode.

[0060] If the remaining power of the robot cannot support the cleaning work, it is necessary to control the robot to charge in time to avoid affecting the normal operation of the robot.

[0061] S1013: If the remaining power is greater than or equal to the first threshold, control the robot to enter a working mode.

[0062] If the remaining power of the robot can support the cleaning work, the robot is controlled to continue the normal cleaning work.

[0063] Specifically, when the robot is in working mode, it needs to clean the work area to remove garbage. In order to reduce the robot's workload and improve its work efficiency, it is very important to set a reasonable work movement path. Therefore, the robot can use equipment such as radar or cameras to collect information about the work area to generate a map of the robot's work area. Then, based on the map of the robot's work area, the robot's work movement path is generated.

[0064] See also Figure 3 , step S1013 includes:

[0065] S10131. Control the robot to move according to a working movement path, and obtain a ground image corresponding to the working movement path.

[0066] Specifically, after determining the robot's working moving path, the robot can be controlled to perform cleaning work along the working moving path. When the robot performs cleaning work, a lot of noise will be generated. In order to minimize the noise, the working state of the robot can be controlled according to the actual situation of the working area. Therefore, it is necessary to first obtain the ground image corresponding to the moving path. For example: through the robot's front camera, collect the ground image that the robot is about to clean, so as to make the robot control decision in advance.

[0067] S10132. Determine whether there is garbage on the ground through the ground image. If there is garbage, determine the type of the garbage, and control the working states of the fan and the roller brush according to the type of the garbage.

[0068] Specifically, when the robot is cleaning, it primarily uses a fan and a roller brush to sweep debris. The roller brush is responsible for using its bristles to roll debris from the floor into the dust collection port, and this component generally produces noise when it rubs against the carpet. The fan is responsible for sucking up debris from the floor using strong suction and negative pressure, and this component is also one of the main noise sources of the sweeper.

[0069] Therefore, to minimize the robot's operating noise, it's important to first determine the floor material and whether there's debris on the floor, and then choose the appropriate control method to control the fan and brush. The robot's built-in ultrasonic sensor can send ultrasonic waves to the floor, then detect the frequency of the reflected ultrasound to determine the floor material.

[0070] For example, if the ground is made of hard material, such as flooring or tiles, and the debris on the ground is small, such as dust or paper scraps, only the fan can be turned on for suction. If the debris on the ground is larger, the roller brush can be turned on, or both the fan and the roller brush can be turned on simultaneously. If there is no debris on the ground, the roller brush and fan can be turned off simultaneously, and only the robot's wheels can be controlled to move. Only when debris is detected can the fan or roller brush be turned on, thereby reducing the robot's power consumption and noise.

[0071] When the floor is made of soft material, such as carpet or rug, the friction between the roller brush and the carpet or rug will generate noise. If the roller brush is turned off, the friction between the roller brush and the carpet or rug will increase, thus generating noise. Therefore, if there is no debris on the floor, the fan can be turned off, but the roller brush needs to be turned on and the speed of the roller brush should be controlled so that it is relatively stationary with the floor to reduce the noise generated by the friction between the roller brush and the floor.

[0072] In one embodiment, in order to avoid frequent opening and closing of the roller brush or fan, when acquiring the ground image, ground images of multiple preset areas can be acquired in advance, and the working status of the roller brush or fan can be controlled based on whether there is garbage in the ground image of the preset area.

[0073] For example, if the robot moves at a speed of 2 cm / s, it can capture images of an area 20 cm in front of its path. If there's no debris within 20 cm, the fan or brush can be turned off. If there's debris within 20 cm, the fan or brush doesn't need to be turned off, reducing the number of times they're turned on and off. Alternatively, users can select a preset area size based on their needs.

[0074] This embodiment obtains the power of the robot to determine the robot mode, thereby improving the intelligence of the robot and ensuring that the robot can perform cleaning work normally.

[0075] S102: Generate a recharging movement path for the robot on the ground based on the position information of the charging base, and determine a ground material corresponding to the recharging movement path.

[0076] See also Figure 4 , step S102 includes:

[0077] S1021. Determine the cleaned area of ​​the robot according to the current position information of the robot.

[0078] Specifically, when the robot is in working state, each cleaned area of ​​the robot can be recorded in turn. When the remaining power of the robot is low and the automatic recharging mode is triggered, a map of the cleaned area can be generated according to the current position of the robot, and it can be determined whether the charging base is in the cleaned area.

[0079] S1022. Determine the recharging movement path according to the position information of the charging base and the current position information of the robot, where the recharging movement path is an area within the cleaned area.

[0080] If the charging base is in the cleaned area, the shortest path from the current position of the robot to the charging base is generated, and then the robot is controlled to move to the charging base along the shortest path and charge.

[0081] If the charging station is not within the cleaned area, the robot can also generate the shortest path from its current position to the charging station and record the target area outside the cleaned area on the shortest path. When the robot is fully charged, it will clean the uncleaned area, thus preventing the robot from missing the target area, resulting in incomplete cleaning, or repeating the cleaning of the cleaned area.

[0082] In one embodiment, the robot control method further includes:

[0083] The cleaned area is recorded, and when the robot is fully charged and enters the working mode, the actual cleaning area of ​​the robot is generated according to the cleaned area and the working area.

[0084] Before automatically recharging, the robot may have already cleaned part of its workspace. Therefore, the cleaned area can be removed from the workspace, leaving the uncleaned area as the actual cleaning area. The robot's cleaning path is then generated based on the actual cleaning area. This cleaning path can be a pre-defined shortest cleaning path, or another path defined based on actual needs.

[0085] This embodiment uses the location information of the charging base to generate and record different robot recharging movement paths, thereby preventing the robot from repeatedly cleaning or incomplete cleaning.

[0086] S103: If the ground material is a first material, turn off the fan and the roller brush of the robot, and the first material includes a hard material.

[0087] Specifically, when the ground material is hard, such as flooring, tiles, etc., since the robot is in automatic recharging mode, it does not need to perform cleaning work, and the friction between the roller brush and the hard material is small. Therefore, the robot's fan and roller brush can be turned off, thereby reducing the robot's noise and improving the user experience.

[0088] S104: If the ground material is a second material, obtain the movement speed of the robot and adjust the rotation speed of the roller brush of the robot according to the movement speed, and the second material includes a soft material.

[0089] Specifically, when the floor is soft, such as carpet or blanket, the fan can be turned off because automatic recharge mode doesn't require cleaning. However, the friction between the roller brush and the soft floor is high, and turning it off directly will increase friction and generate more noise. In this case, adjusting the roller brush speed to keep it relatively still relative to the floor can reduce the noise.

[0090] See also Figure 5 , step S104 includes:

[0091] S1041. Obtain the movement speed of the robot and the rotation speed of the roller brush, and calculate the target rotation speed of the roller brush at which the brush surface is stationary relative to the ground based on the movement speed and the rotation speed.

[0092] Specifically, the robot's moving speed can be obtained through the robot's automatic speed sensor, and the roller brush's rotation speed can be determined by the roller brush's radius. The roller brush's rotation speed algorithm is as follows:

[0093] n=v / (Π*2r),

[0094] Among them, n is the roller brush speed, r is the roller brush radius, and v is the movement speed of the robot.

[0095] S1042: Based on the target speed, use a PID algorithm to control the roller brush to rotate according to the target speed.

[0096] Specifically, the pulse width modulation duty cycle of the robot motor current can be calculated according to the PID algorithm. The calculation formula is as follows:

[0097] U=A×(V1-V2)+B×V1+C×(V1-2V2+V3),

[0098] V1=V4-V5,

[0099] V2=V5-V6,

[0100] V3=V6-V7,

[0101] Where U is the pulse width modulation duty cycle, A, B, and C are preset coefficients, V4 is the speed at the current moment, V5 is the speed at the first moment, V6 is the speed at the second moment, and V7 is the speed at the third moment. The first moment is the moment before the current moment, the second moment is the moment before the first moment, and the third moment is the moment before the second moment. V1 is the difference between the speed at the current moment and the speed at the first moment, V2 is the difference between the speed at the first moment and the speed at the second moment, and V3 is the difference between the speed at the second moment and the speed at the third moment. Each time a new speed is collected, the new speed is replaced with the current speed. The speed collection queue can only retain three elements. If there are more than three, the last element will be removed to ensure that the calculated pulse width modulation duty cycle is the latest data.

[0102] Then, the rotation speed of the roller brush is adjusted to the target rotation speed according to the pulse width modulation duty cycle of the motor current.

[0103] Specifically, by collecting the difference between the roller brush speed and the target speed in real time, the output current is continuously adjusted so that the roller brush speed reaches the target speed, thereby keeping the roller brush relatively still with the ground, reducing the noise generated by the roller brush and improving the user experience.

[0104] This embodiment determines whether to shut down the roller brush by identifying the floor material. For floor materials with a low friction coefficient, the roller brush is shut down to reduce the impact of roller brush motor noise. For carpet materials with a high friction coefficient, the roller brush surface is kept relatively stationary relative to the floor to reduce the impact of friction between the roller brush and the floor. The speed of the roller brush relative to the floor is then calculated and adjusted based on the device's motion speed, reducing the noise caused by friction between the roller brush and the carpet, thereby reducing the operating noise of the robot vacuum.

[0105] Example 2

[0106] See also Figure 6 , the present application also provides a robot, comprising:

[0107] A determination module 601 is configured to determine whether the robot is in automatic recharging mode, and if so, to determine the location of the charging station.

[0108] A generation module 602 is configured to generate a recharging movement path for the robot on the ground based on the location information of the charging base, and determine a ground material corresponding to the recharging movement path;

[0109] A closing module 603 is configured to close the fan and the roller brush of the robot if the ground material is a first material, wherein the first material includes a hard material;

[0110] The adjustment module 604 is configured to obtain the movement speed of the robot and adjust the rotation speed of the roller brush of the robot according to the movement speed if the ground material is a second material, wherein the second material includes a soft material.

[0111] It can be understood that the implementation method of the robot control method described in the above embodiment 1 is also applicable to this embodiment and can achieve the same technical effect, so it will not be repeated here.

[0112] Example 3

[0113] The present application also provides a computer device. For example, the computer device may be, but is not limited to, a desktop computer or a laptop. Its form is not limited, depending on whether it supports browser web page interface display functions. Exemplarily, the computer device includes a memory and at least one processor. The memory stores a computer program, and the processor is configured to execute the computer program to implement the robot control method described in Example 1.

[0114] Among them, the processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including a central processing unit (CPU), a graphics processing unit (GPU) and a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or at least one of other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., which can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application.

[0115] The memory may be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory is used to store a computer program, and the processor may execute the computer program accordingly after receiving an execution instruction.

[0116] Furthermore, the memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; and the data storage area may store data (such as iteration data, version data, etc.) created based on the use of the computer device. Furthermore, the memory may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0117] Example 4

[0118] An embodiment of the present application also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to execute the robot control method described in the above embodiment 1.

[0119] It can be understood that the implementation of the robot control method described in the above embodiment 1 is also applicable to this embodiment, so it will not be repeated here.

[0120] The computer-readable storage medium may be either a non-volatile storage medium or a volatile storage medium. For example, the computer-readable storage medium may include, but is not limited to, a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, among other media capable of storing program code.

[0121] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or flowchart, and the combination of boxes in the structure diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0122] In addition, the functional modules or units in the various embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0123] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0124] The above is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

[0125] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not limiting, and thus other examples of the exemplary embodiments may have different values.

[0126] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0127] The above-described embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that variations and modifications are possible without departing from the scope of the present invention, and such variations and modifications are fully within the scope of protection of the present invention.

Claims

1. A robot control method, characterized in that: include: Determining whether the robot is in automatic recharging mode, and if so, determining the location information of the charging station; generating a recharging movement path for the robot on the ground according to the position information of the charging base, and determining a ground material corresponding to the recharging movement path; If the ground material is a first material, turning off the fan and the roller brush of the robot, the first material including a hard material; If the ground material is a second material, the moving speed of the robot is obtained, and the rotation speed of the roller brush is controlled according to the moving speed to be in a relatively static state with the ground, and the second material includes a soft material.

2. The robot control method according to claim 1, characterized in that: Determining whether the robot is in automatic recharging mode includes: Obtaining the remaining power of the robot, and determining whether the remaining power is less than a first threshold; If the remaining power is less than the first threshold, controlling the robot to enter the automatic recharging mode; If the remaining power is greater than or equal to the first threshold, the robot is controlled to enter a working mode.

3. The robot control method according to claim 2, characterized in that: The controlling the robot to enter the working mode comprises: Controlling the robot to move along a working movement path and acquiring a ground image corresponding to the working movement path; The ground image is used to determine whether there is garbage on the ground. If there is garbage, the type of the garbage is determined, and the working states of the fan and the roller brush are controlled according to the type of the garbage.

4. The robot control method according to claim 1, wherein: Generating a recharging movement path of the robot on the ground according to the position information of the charging base includes: Determining the cleaned area of ​​the robot according to the current position information of the robot; The recharging movement path is determined according to the position information of the charging base and the current position information of the robot, where the recharging movement path is an area within the cleaned area.

5. The robot control method according to claim 4, characterized in that: The robot control method further comprises: Recording the cleaned area, and if the robot is fully charged and enters the working mode, generating the actual cleaning area of ​​the robot based on the cleaned area and the working area; A cleaning path for the robot is generated according to the actual cleaning area.

6. The robot control method according to claim 1, characterized in that: The obtaining of the moving speed of the robot and controlling the rotation speed of the roller brush to be in a relatively stationary state relative to the ground according to the moving speed includes: Obtaining the movement speed of the robot and the rotation speed of the roller brush, and calculating a target rotation speed of the roller brush at which the brush surface is stationary relative to the ground based on the movement speed and the rotation speed; According to the target speed, the PID algorithm is used to control the roller brush to rotate according to the target speed.

7. The robot control method according to claim 6, characterized in that: The method of controlling the roller brush to rotate according to the target speed by using the PID algorithm includes: The pulse width modulation duty cycle of the robot motor current is calculated according to the PID algorithm: The rotation speed of the motor is adjusted to the target rotation speed according to the pulse width modulation duty cycle of the motor current, and the roller brush is controlled to rotate at the target rotation speed by the motor.

8. A robot, characterized in that: include: a determination module, configured to determine whether the robot is in automatic recharging mode, and if so, to determine the location information of the charging station; a generating module, configured to generate a recharging movement path for the robot on the ground based on the position information of the charging base, and determine a ground material corresponding to the recharging movement path; a shut-down module, configured to shut down the fan and the roller brush of the robot if the ground material is a first material, wherein the first material includes a hard material; The adjustment module is used to obtain the moving speed of the robot and control the rotation speed of the roller brush to be in a relatively static state with the ground according to the moving speed if the ground material is a second material, and the second material includes a soft material.

9. An electronic device, characterized in that: The robot control method comprises a memory and at least one processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to implement the robot control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed, the robot control method according to any one of claims 1 to 7 is implemented.

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