A robot control method, device, terminal and computer readable storage medium

Abstract

The present invention provides a robot control method, device, terminal and computer-readable storage medium. In the robot control method, based on the current posture of the robot in the target area and the current passable area corresponding to the target area, the initial area to be cleaned is determined; the initial area to be cleaned has a regional scheduling point and a scheduling path; the robot is controlled to run to the regional scheduling point corresponding to the initial area to be cleaned according to the scheduling path, and the obstacle information around the regional scheduling point is determined; based on the obstacle information around the regional scheduling point corresponding to the initial area to be cleaned, the boundary information of the area to be cleaned is updated; based on the updated boundary information of the area to be cleaned, a cleaning path for the area to be cleaned is generated, and the robot is controlled to clean according to the cleaning path. This application combines the robot's obstacle information around the regional scheduling point to expand the area to be cleaned, reasonably plan the current area to be cleaned, reduce the frequency of path planning, and improve cleaning efficiency.

Description

Technical Field

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

[0002] With the development of artificial intelligence, more and more smart terminals are entering our lives. For example, smart sweeping robots can automatically sweep, vacuum, and mop the floor in the room, and absorb the debris on the floor into their own garbage collection boxes to clean the floor. When sweeping, the sweeping robot cannot make correct decisions and perform corresponding operations for all situations of sweeping the floor, resulting in the inability of the sweeping robot to achieve efficient cleaning in complex furniture scenes. Summary of the invention

[0003] The main technical problem solved by the present invention is to provide a robot control method, device, terminal and computer-readable storage medium to solve the problem of poor cleaning efficiency in the prior art.

[0004] In order to solve the above technical problems, the first technical solution adopted by the present invention is: to provide a robot control method, the robot control method comprising:

[0005] Based on the current position of the robot in the target area and the current passable area corresponding to the target area, an initial area to be cleaned is determined; the initial area to be cleaned has an area scheduling point and a scheduling path;

[0006] Control the robot to run to the regional scheduling point corresponding to the initial area to be cleaned according to the scheduling path, and determine the obstacle information around the regional scheduling point;

[0007] Based on the obstacle information around the area scheduling point corresponding to the initial area to be cleaned, determine and update the boundary information of the area to be cleaned;

[0008] A cleaning path of the updated area to be cleaned is generated according to the updated boundary information of the area to be cleaned, and the robot is controlled to clean according to the updated cleaning path of the area to be cleaned.

[0009] Wherein, based on the current position of the robot in the target area and the current passable area corresponding to the target area, the initial area to be cleaned is determined, including:

[0010] Determine whether the robot is trapped based on the area of ​​the current traversable area of ​​the target area;

[0011] In response to the area of ​​the current passable area of ​​the target area being greater than the area threshold, determining the entire area to be cleaned of the target area;

[0012] Performing shape feature analysis on the overall area to be cleaned corresponding to the target area, generating sub-areas corresponding to the overall area to be cleaned; each sub-area has feature information;

[0013] Based on the current position of the robot and the feature information of each sub-area, the initial area to be cleaned is determined.

[0014] Among them, the characteristic information includes the area of ​​the region;

[0015] Based on the current position of the robot and the characteristic information of each sub-area, the initial area to be cleaned is determined, including:

[0016] Based on the distance between the current position of the robot and each sub-region and / or the area of ​​each sub-region, a sub-region is selected from all the sub-regions as an initial area to be cleaned;

[0017] Determine the area scheduling point corresponding to the initial area to be cleaned based on the distance between each position point in the initial area to be cleaned and the boundary of the cleaned area in the target area;

[0018] Based on the current position of the robot and the area adjustment point of the initial area to be cleaned, a scheduling path for the initial area to be cleaned is generated.

[0019] Wherein, based on the distance between each position point in the initial area to be cleaned and the boundary of the cleaned area in the target area, determining the area scheduling point corresponding to the initial area to be cleaned includes:

[0020] In response to the area of ​​the initial area to be cleaned being not less than the preset area, determining the distance difference between each position point in the initial area to be cleaned and the boundary of the cleaned area in the target area;

[0021] In response to the distance difference meeting the preset requirement, the position point corresponding to the distance difference is used as the area scheduling point corresponding to the initial area to be cleaned;

[0022] In response to the area of ​​the initial area to be cleaned being smaller than the preset area, the center point of the initial area to be cleaned is used as the area scheduling point corresponding to the initial area to be cleaned.

[0023] Wherein, based on the current position of the robot and the area adjustment point of the initial area to be cleaned, a scheduling path of the initial area to be cleaned is generated, including:

[0024] A path planning algorithm is used to generate an initial scheduling path for the initial area to be cleaned based on the current position of the robot and the area scheduling points corresponding to the initial area to be cleaned;

[0025] In response to at least part of the initial scheduling path being located in an uncleaned area of ​​the target area, the initial scheduling path located in the uncleaned area is updated to a vertical path and a horizontal path to generate a scheduling path for an initial area to be cleaned;

[0026] In response to the initial scheduling paths all being located in the cleaned area of ​​the target area, the initial scheduling paths of the initial area to be cleaned are used as the scheduling paths of the initial area to be cleaned.

[0027] Wherein, based on the obstacle information around the area scheduling point corresponding to the initial area to be cleaned, determining and updating the boundary information of the area to be cleaned includes:

[0028] Based on the obstacle information around the regional scheduling point corresponding to the initial area to be cleaned, determine the distance between the farthest obstacle in each preset direction and the regional scheduling point;

[0029] Based on the distance between the farthest obstacle in each preset direction and the regional scheduling point, the boundary information of the area to be cleaned is determined and updated.

[0030] Wherein, based on the distance between the farthest obstacle in each preset direction and the regional scheduling point, the boundary information of the area to be cleaned is determined and updated, including:

[0031] In response to the distance between the farthest obstacle in the preset direction and the regional scheduling point being not greater than a first threshold, a position point in the preset direction that is at a distance from the regional scheduling point by the first threshold is used as a boundary point for updating the area to be cleaned in the preset direction;

[0032] and / or, in response to the distance between the farthest obstacle in the preset direction and the regional scheduling point being greater than a first threshold, comparing the distance between the farthest obstacle in the preset direction and the regional scheduling point with a second threshold; the second threshold being greater than the first threshold;

[0033] In response to the distance between the farthest obstacle in the preset direction and the regional scheduling point being greater than a second threshold, a position point in the preset direction that is at a distance from the regional scheduling point by a first threshold is used as a boundary point of the area to be cleaned in the preset direction for updating; and / or, in response to the distance between the farthest obstacle in the preset direction and the regional scheduling point being not greater than the second threshold, a position of the farthest obstacle in the preset direction is used as a boundary point of the area to be cleaned in the preset direction for updating;

[0034] Based on the boundary points corresponding to each preset direction, the boundary information of the area to be cleaned is generated and updated.

[0035] Wherein, after the step of controlling the robot to clean according to the updated cleaning path of the area to be cleaned, the step further includes:

[0036] In response to detecting that the robot encounters an obstacle, controlling the robot to clean along the edge of the obstacle;

[0037] And / or, in response to detecting that the position of the robot is not in the cleaning path, the area to be cleaned is marked as a virtual obstacle, and the robot is controlled to clean other areas of the target area.

[0038] In order to solve the above technical problems, the second technical solution adopted by the present invention is: to provide a robot control device, the robot control device comprising:

[0039] A determination module, used to determine an initial area to be cleaned based on the current position of the robot in the target area and the current traversable area corresponding to the target area; the initial area to be cleaned has an area scheduling point and a scheduling path;

[0040] A processing module is used to control the robot to run to the regional scheduling point corresponding to the initial area to be cleaned according to the scheduling path, and determine the obstacle information around the regional scheduling point;

[0041] An analysis module, used to determine and update boundary information of the area to be cleaned based on obstacle information around the area scheduling point corresponding to the initial area to be cleaned;

[0042] The control module is used to generate an updated cleaning path of the area to be cleaned according to the updated boundary information of the area to be cleaned, and control the robot to clean according to the updated cleaning path of the area to be cleaned.

[0043] To solve the above technical problems, the third technical solution adopted by the present invention is: to provide a terminal, the terminal includes a memory, a processor, and a computer program stored in the memory and running on the processor, the processor is used to execute program data to implement the steps in the robot control method as mentioned above.

[0044] To solve the above technical problems, the fourth technical solution adopted by the present invention is: to provide a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the above-mentioned robot control method are implemented.

[0045] The beneficial effects of the present invention are as follows: different from the prior art, a robot control method, device, terminal and computer-readable storage medium are provided, wherein the robot control method includes: determining the initial area to be cleaned based on the current posture of the robot in the target area and the current passable area corresponding to the target area; the initial area to be cleaned has an area scheduling point and a scheduling path; controlling the robot to run to the area scheduling point corresponding to the initial area to be cleaned according to the scheduling path, and determining the obstacle information around the area scheduling point; determining to update the boundary information of the area to be cleaned based on the obstacle information around the area scheduling point corresponding to the initial area to be cleaned; generating an updated cleaning path for the area to be cleaned according to the updated boundary information of the area to be cleaned, and controlling the robot to clean according to the updated cleaning path of the area to be cleaned. The present application expands the area to be cleaned by combining the obstacle information around the area scheduling point of the robot, rationally plans the current area to be cleaned, reduces the frequency of path planning, and improves the cleaning efficiency of the sweeping robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0047] Figure 1 It is a schematic flow chart of the robot control method provided by the present invention;

[0048] Figure 2 yes Figure 1 A schematic flow chart of a specific embodiment of step S1 in the provided robot control method;

[0049] Figure 3 yes Figure 2 A flowchart of a specific embodiment of step S14 in the provided robot control method;

[0050] Figure 4 yes Figure 1 A schematic flow chart of a specific embodiment of step S3 in the provided robot control method;

[0051] Figure 5 It is a schematic diagram of the framework of an embodiment of a robot control device provided by the present invention;

[0052] Figure 6 It is a schematic diagram of the framework of a terminal embodiment provided by the present invention;

[0053] Figure 7 It is a schematic diagram of a framework of an embodiment of a computer-readable storage medium provided by the present invention. DETAILED DESCRIPTION

[0054] The scheme of the embodiment of the present application is described in detail below in conjunction with the drawings of the specification.

[0055] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures, interfaces, and technologies are provided to facilitate a thorough understanding of the present application.

[0056] The term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship. In addition, "many" in this article means two or more than two.

[0057] In order to enable those skilled in the art to better understand the technical solution of the present invention, a robot control method provided by the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0059] Before further describing the embodiments of the present application in detail, the nouns and terms involved in the embodiments of the present application are explained. The nouns and terms involved in the embodiments of the present application are subject to the following interpretations.

[0060] The robot control method provided in the embodiment of the present application can be implemented by a server or a terminal alone, or by a server and a terminal in collaboration. In some embodiments, the terminal or server can implement the robot control method provided in the embodiment of the present application by running a computer program. For example, the computer program can be a native program or software module in the operating system; it can be a native application (APP, Application), that is, a program that needs to be installed in the operating system to run, such as a client that supports virtual scenes, such as a game APP; it can also be a small program, that is, a program that can be run only by downloading it to a browser environment; it can also be a small program that can be embedded in any APP. In short, the above-mentioned computer program can be an application, module or plug-in in any form.

[0061] The robot control method provided in the embodiment of the present application is explained below using server implementation as an example.

[0062] See also Figure 1 , Figure 1It is a flow chart of the robot control method provided by the present invention.

[0063] This embodiment provides a robot control method, which includes the following steps.

[0064] S1: Based on the current position of the robot in the target area and the current passable area corresponding to the target area, determine the initial area to be cleaned; the initial area to be cleaned has an area scheduling point and a scheduling path.

[0065] S2: Control the robot to run to the regional scheduling point corresponding to the initial area to be cleaned according to the scheduling path, and determine the obstacle information around the regional scheduling point.

[0066] S3: Based on the obstacle information around the area scheduling point corresponding to the initial area to be cleaned, determine and update the boundary information of the area to be cleaned.

[0067] S4: Generate an updated cleaning path of the area to be cleaned according to the updated boundary information of the area to be cleaned, and control the robot to clean according to the updated cleaning path of the area to be cleaned.

[0068] The robot in this embodiment may be a sweeping robot.

[0069] Specifically, in step S1, the initial area to be cleaned is determined based on the current position of the robot in the target area and the current passable area corresponding to the target area; the specific implementation method of the initial area to be cleaned having the area scheduling point and the scheduling path is as follows.

[0070] Specifically, the target area has corresponding planning map information, and the planning map information is marked with virtual obstacles. The virtual obstacles may be areas in the target area that do not need to be cleaned.

[0071] The current position and posture of the cleaning robot in the target area is obtained, wherein the current position and posture includes the coordinate data and orientation information of the cleaning robot in the target area.

[0072] The laser radar sensor and image acquisition device installed on the sweeping robot collect physical obstacles in the current position of the sweeping robot, and construct the position information of the physical obstacles in the target area in the planning map information, so that the sweeping robot can avoid physical obstacles during the cleaning process.

[0073] In one embodiment, when the target area has a cleaned area, the current passable area of ​​the sweeping robot in the target area when the sweeping robot is in the current position is generated according to the current position of the sweeping robot and the virtual obstacles, physical obstacles and cleaned areas in the planning map information corresponding to the target area. The current passable area of ​​the robot in the target area is the area that the sweeping robot can perform cleaning in the current position. The current passable area is the other area in the target area except the virtual obstacles, physical obstacles and cleaned areas when the sweeping robot is in the current position.

[0074] See also Figure 2 , Figure 2 yes Figure 1 A flowchart of a specific embodiment of step S1 in the provided robot control method is provided.

[0075] S11: Determine whether the robot is trapped based on the area of ​​the current traversable area of ​​the target area.

[0076] Specifically, it is determined whether the cleaning robot is in a trapped state at the current position and posture according to the area of ​​the current passable area in the target area. When the cleaning robot is in a trapped state at the current position and posture, the cleaning robot is controlled to perform an escape operation.

[0077] S12: In response to the area of ​​the current passable area of ​​the target area being greater than the area threshold, determining the entire area to be cleaned of the target area.

[0078] Specifically, when the area of ​​the current passable area at the current location of the target area is greater than the area threshold, it is determined that the sweeping robot is not in a trapped state. The area threshold can be 1m 2 When the sweeping robot is not in a trapped state, the virtual obstacles in the planning map information corresponding to the target area, the cleaned area in the target area, and the current passable area of ​​the robot at the current posture are fused to generate a fused map of the target area, and the overall area to be cleaned corresponding to the target area is extracted from the fused map of the target area. The overall area to be cleaned is the other area in the target area except the virtual obstacles and the cleaned area. The overall area to be cleaned has a regional area.

[0079] S13: performing shape feature analysis on the entire area to be cleaned corresponding to the target area, and generating sub-areas corresponding to the entire area to be cleaned.

[0080] In one embodiment, the area of ​​the entire area to be cleaned is compared with the cleaning area threshold. In response to the area of ​​the entire area to be cleaned being smaller than the cleaning area threshold, it is considered that the entire area to be cleaned is too small to be cleaned, and therefore it is determined that there is no cleanable area in the target area.

[0081] In one embodiment, in response to the area of ​​the entire area to be cleaned being not less than the cleaning area threshold, a shape feature analysis is performed on the entire area to be cleaned of the target area to obtain at least one sub-area corresponding to the entire area to be cleaned, and all sub-areas of the entire area to be cleaned constitute an area cleaning set. , i represents the number of sub-regions. Each sub-region has corresponding feature information. The feature information includes shape features such as region area, region aspect ratio, region length, and region width. For example, the feature information of a sub-region , area is the area of ​​the sub-region, ratio is the aspect ratio of the sub-region bounding box, w is the width information of the sub-region bounding box, and h is the length information of the sub-region bounding box. Among them, the bounding box of the sub-region is the minimum external rectangular frame containing the sub-region.

[0082] By analyzing the shape features of the entire area to be cleaned, it is helpful to avoid cleaning in a narrow space, which may cause the sweeping robot to be trapped and collided, and the cleaning efficiency can be improved. Commonly used shape feature analysis methods include Euclidean clustering and DBSCAN clustering algorithms.

[0083] S14: Determine the initial area to be cleaned based on the current position of the robot and the feature information of each sub-area.

[0084] Specifically, a specific embodiment of determining the initial area to be cleaned from the sub-areas corresponding to the entire area to be cleaned is as follows.

[0085] See also Figure 3 , Figure 3 yes Figure 2 A flowchart of a specific embodiment of step S14 in the provided robot control method is provided.

[0086] S141: Based on the distance between the current position of the robot and each sub-region and / or the area of ​​each sub-region, a sub-region is selected from all sub-regions as an initial area to be cleaned.

[0087] In one embodiment, according to the principle of shortest Euclidean distance and maximum cleaning area, a sub-region is selected from all sub-regions as the initial area to be cleaned.

[0088] Based on the distance between the current position of the robot and each sub-area, the shortest distance corresponding to each sub-area is determined. The sub-area corresponding to the shortest distance with the smallest value is selected as the initial area to be cleaned.

[0089] Select the sub-region corresponding to the largest area as the initial area to be cleaned.

[0090] S142: Determine an area scheduling point corresponding to the initial area to be cleaned based on the distance between each position point in the initial area to be cleaned and the boundary of the cleaned area in the target area.

[0091] In one embodiment, in response to the area of ​​the initial area to be cleaned being not less than a preset area, the distance difference between each position point in the initial area to be cleaned and the boundary of the cleaned area in the target area is determined.

[0092] In one embodiment, in response to the distance difference meeting the preset requirement, the position point corresponding to the distance difference is used as the regional scheduling point corresponding to the initial area to be cleaned. The preset requirement is the preset distance information. The preset distance information is 2m. In a specific embodiment, the distance difference between each position point and each boundary point on the boundary line of the cleaned area in the target area is calculated, and the variance of the position point is determined based on all the distance differences corresponding to the position point. The position point corresponding to the minimum variance is selected as the regional scheduling point corresponding to the initial area to be cleaned.

[0093] In one embodiment, in response to the area of ​​the initial area to be cleaned being smaller than a preset area, the center point of the initial area to be cleaned is used as the area scheduling point corresponding to the initial area to be cleaned.

[0094] In this embodiment, the area scheduling point is selected for the initial area to be cleaned so that the cleaning robot can more accurately detect the environmental information around the area scheduling point, so that the cleaning robot has a wider field of view.

[0095] S143: Generate a scheduling path for the initial area to be cleaned based on the current position and posture of the robot and the area adjustment point of the initial area to be cleaned.

[0096] The path planning algorithm is used to generate an initial scheduling path of the initial area to be cleaned based on the current position of the robot and the area scheduling points corresponding to the initial area to be cleaned. The initial scheduling path includes multiple scheduling points.

[0097] Among them, path planning algorithms include A*, Theta*, Rapidly-Exploring Random Tree (RRT) and Probabilistic Roadmap Method (PRM).

[0098] In one embodiment, in response to at least part of the initial scheduling path being located in an uncleaned area of ​​the target area, the initial scheduling path located in the uncleaned area is updated to a vertical path and a horizontal path to generate a scheduling path for the initial area to be cleaned, thereby increasing the cleaning area and improving the cleaning efficiency.

[0099] In a specific embodiment, the distance between two adjacent scheduling points located in the uncleaned area is replaced by a vertical path and a horizontal path to replace a connecting line between the two scheduling points.

[0100] In one embodiment, in response to the initial scheduling paths all being located in the cleaned area of ​​the target area, the initial scheduling paths of the initial area to be cleaned are used as the scheduling paths of the initial area to be cleaned.

[0101] Specifically, in step S2, the robot is controlled to run to the regional scheduling point corresponding to the initial area to be cleaned according to the scheduling path, and the specific implementation method of determining the obstacle information around the regional scheduling point is as follows.

[0102] The robot is controlled to run according to the scheduling path corresponding to the initial area to be cleaned, so that the cleaning robot runs to the regional scheduling point of the initial area to be cleaned. The scheduling path corresponding to the initial area to be cleaned is used as the cleaned path and updated to the map of the target area.

[0103] When the sweeping robot is at the regional scheduling point of the initial area to be cleaned, the laser radar sensor installed on the sweeping robot obtains the obstacle information around the regional scheduling point when the sweeping robot is at the regional scheduling point. The obstacle information is a physical obstacle, such as a table, a stool, etc. When there are multiple obstacles around the regional scheduling point, each obstacle has corresponding obstacle information. The obstacle information includes the obstacle position, obstacle shape, etc.

[0104] Specifically, in step S3, based on the obstacle information around the area scheduling point corresponding to the initial area to be cleaned, a specific implementation method for determining and updating the boundary information of the area to be cleaned is as follows.

[0105] See also Figure 4 , Figure 4 yes Figure 1 A flowchart of a specific embodiment of step S3 in the provided robot control method is provided.

[0106] S31: Based on the obstacle information around the area scheduling point corresponding to the initial area to be cleaned, determine the distance between the farthest obstacle in each preset direction and the area scheduling point.

[0107] Specifically, from all obstacle information around the regional scheduling point corresponding to the initial area to be cleaned, the distance corresponding to the obstacle farthest from the regional scheduling point in each preset direction is selected.

[0108] In one embodiment, the preset directions may be the front, the back, the left, and the right, and the maximum distance set of obstacles in the four directions is obtained. .

[0109] In one embodiment, the preset direction may also be left front, left rear, right front, or right rear.

[0110] S32: Based on the distance between the farthest obstacle in each preset direction and the regional scheduling point, determine and update the boundary information of the area to be cleaned.

[0111] In one embodiment, in response to the distance between the farthest obstacle in the preset direction and the regional scheduling point being no greater than a first threshold, a position point in the preset direction that is at a distance of the first threshold from the regional scheduling point is used as a boundary point for updating the area to be cleaned in the preset direction.

[0112] In one embodiment, in response to the distance between the farthest obstacle in the preset direction and the regional scheduling point being greater than the first threshold, the distance between the farthest obstacle in the preset direction and the regional scheduling point is compared with a second threshold; the second threshold is greater than the first threshold. The first threshold may be 2.5m; the second threshold may also be 3.5m; the specific setting is based on actual conditions.

[0113] In a specific embodiment, in response to the distance between the farthest obstacle in the preset direction and the regional scheduling point being greater than a second threshold, a position point in the preset direction that is a first threshold away from the regional scheduling point is used as a boundary point for updating the area to be cleaned in the preset direction.

[0114] In a specific embodiment, in response to the distance between the farthest obstacle in the preset direction and the regional scheduling point being no greater than a second threshold, the position of the farthest obstacle in the preset direction is used as a boundary point for updating the area to be cleaned in the preset direction.

[0115] Based on the boundary points corresponding to each preset direction, the boundary information of the area to be cleaned is generated and updated.

[0116] In one embodiment, when an updated area to be cleaned is not generated, it is determined that the cleaning task in the target area is completed, and the robot is controlled to start recharging.

[0117] Specifically, in step S4, a cleaning path of the updated area to be cleaned is generated according to the updated boundary information of the area to be cleaned, and the specific implementation method of controlling the robot to clean according to the cleaning path is as follows.

[0118] In one embodiment, full coverage path planning is performed based on the updated boundary information of the area to be cleaned, and a set of cleaning paths for the updated area to be cleaned is generated. The cleaning path set includes the cleaning path for the updated area to be cleaned and the scheduling path for the updated area to be cleaned. In the home cleaning scenario, commonly used full coverage path planning algorithms include unit decomposition method, etc.

[0119] The robot is controlled to perform path point motion tracking cleaning according to the updated cleaning path and the scheduling path corresponding to the area to be cleaned. When the cleaning path and the scheduling path are the cleaned paths, the cleaned path completed by the cleaning robot is updated to the cleaned area of ​​the target area.

[0120] In one embodiment, in response to detecting that the robot encounters an obstacle, the robot is controlled to clean along the edge of the obstacle.

[0121] In a specific embodiment, during the cleaning process of updating the area to be cleaned, the sweeping robot performs real-time detection. When it is detected that the sweeping robot encounters an obstacle in front or a collision occurs, the sweeping robot is controlled to enter the edge obstacle avoidance mode, and the cleaned path in the edge obstacle avoidance mode is updated to the cleaned area of ​​the target area.

[0122] In response to detecting that the robot encounters no obstacle, it is determined whether there is an obstacle on the left or right side of the sweeping robot. If there is an obstacle on the left or right side of the sweeping robot, the sweeping path of the sweeping robot is adjusted based on the obstacle on the side, so that the sweeping robot completes edge cleaning for the edge of the physical obstacle.

[0123] In one embodiment, in response to detecting that the position of the robot is not in the cleaning path, the area to be cleaned is marked as a virtual obstacle, and the robot is controlled to clean other areas of the target area.

[0124] In response to the absence of obstacles on the left or right side of the sweeping robot, it is determined whether the current path of the sweeping robot is the scheduling path for updating the area to be cleaned. If the current path of the sweeping robot is the scheduling path for updating the area to be cleaned, it is checked whether there is a cleaning path in the updated area to be cleaned to reach the target point reached by the robot. If there is, the scheduling path for updating the area to be cleaned is replaced with the corresponding cleaning path.

[0125] In response to the current path of the sweeping robot being the sweeping path of the updated area to be cleaned, it is determined whether an abnormality occurs when the sweeping robot updates the area to be cleaned. When an abnormality occurs when the sweeping robot updates the area to be cleaned, an abnormal virtual boundary value is mapped on the map. The abnormal situation includes the situation where the sweeping robot is picked up or kicked.

[0126] In response to the robot not having any abnormality in updating the area to be cleaned, it is determined whether the updated area to be cleaned has been cleaned. When the updated area to be cleaned has been cleaned, it is determined whether the target area has been cleaned. When the target area has been cleaned, the sweeping robot is controlled to recharge.

[0127] In one embodiment, it is determined whether the robot is interrupted during the area cleaning process. When the cleaning robot is interrupted during the area cleaning process, step S1 is directly executed.

[0128] In one embodiment, the robot control method further includes adjusting the cleaning path of the robot in response to detecting that the distance between the robot and the obstacle does not meet the preset distance.

[0129] The robot control method provided in this embodiment determines the initial area to be cleaned based on the current position of the robot in the target area and the current passable area corresponding to the target area; the initial area to be cleaned has an area scheduling point and a scheduling path; the robot is controlled to run to the area scheduling point corresponding to the initial area to be cleaned according to the scheduling path, and the obstacle information around the area scheduling point is determined; based on the obstacle information around the area scheduling point corresponding to the initial area to be cleaned, the boundary information of the area to be cleaned is updated; the cleaning path of the area to be cleaned is updated according to the boundary information of the updated area to be cleaned, and the robot is controlled to clean according to the cleaning path. This application expands the area to be cleaned in combination with the obstacle information around the area scheduling point of the robot, reasonably plans the current area to be cleaned, reduces the frequency of path planning, and improves the cleaning efficiency of the sweeping robot.

[0130] See also Figure 5 , Figure 5 Schematic diagram of a robot control device according to an embodiment of the present invention. This embodiment provides a robot control device 60 , which includes a determination module 61 , a processing module 62 , an analysis module 63 and a control module 64 .

[0131] The determination module 61 is used to determine the initial area to be cleaned based on the current position of the robot in the target area and the current passable area corresponding to the target area; the initial area to be cleaned has an area scheduling point and a scheduling path.

[0132] The processing module 62 is used to control the robot to run to the regional scheduling point corresponding to the initial area to be cleaned according to the scheduling path, and determine the obstacle information around the regional scheduling point.

[0133] The analysis module 63 is used to determine and update the boundary information of the area to be cleaned based on the obstacle information around the area scheduling point corresponding to the initial area to be cleaned.

[0134] The control module 64 is used to generate an updated cleaning path of the area to be cleaned according to the updated boundary information of the area to be cleaned, and control the robot to clean according to the updated cleaning path of the area to be cleaned.

[0135] The robot control device provided in this embodiment expands the area to be cleaned by combining the obstacle information around the area scheduling point of the robot, reasonably plans the current area to be cleaned, reduces the frequency of path planning, and improves the cleaning efficiency of the sweeping robot.

[0136] See also Figure 6 , Figure 680 is a schematic diagram of a terminal embodiment provided by the present invention. The terminal 80 includes a memory 81 and a processor 82 coupled to each other, and the processor 82 is used to execute program instructions stored in the memory 81 to implement the steps of any of the above robot control method embodiments. In a specific implementation scenario, the terminal 80 may include but is not limited to: a microcomputer, a server, and in addition, the terminal 80 may also include a mobile device such as a laptop computer and a tablet computer, which is not limited here.

[0137] Specifically, the processor 82 is used to control itself and the memory 81 to implement the steps of any of the above-mentioned robot control method embodiments. The processor 82 can also be called a CPU (Central Processing Unit). The processor 82 may be an integrated circuit chip with signal processing capabilities. The processor 82 can also be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor 82 can be implemented by an integrated circuit chip.

[0138] See also Figure 7 , Figure 7 The computer-readable storage medium 90 stores program instructions 901 that can be executed by a processor, and the program instructions 901 are used to implement the steps of any of the above robot control method embodiments.

[0139] In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0140] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0141] In the several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

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

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

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

Claims

1. A robot control method, characterized in that: The robot control method comprises: Based on the current position of the robot in the target area and the current passable area corresponding to the target area, an initial area to be cleaned is determined; the initial area to be cleaned has an area scheduling point and a scheduling path; Controlling the robot to run to the regional scheduling point corresponding to the initial area to be cleaned according to the scheduling path, and determining obstacle information around the regional scheduling point; Based on the obstacle information around the area scheduling point corresponding to the initial area to be cleaned, determine and update the boundary information of the area to be cleaned; generating a cleaning path for the updated area to be cleaned according to the boundary information of the updated area to be cleaned, and controlling the robot to clean according to the cleaning path for the updated area to be cleaned; Wherein, determining and updating boundary information of the area to be cleaned based on obstacle information around the area scheduling point corresponding to the initial area to be cleaned includes: Based on the obstacle information around the regional scheduling point corresponding to the initial area to be cleaned, determining the distance between the farthest obstacle in each preset direction and the regional scheduling point; Based on the distance between the farthest obstacle in each of the preset directions and the area scheduling point, the boundary information of the updated area to be cleaned is determined.

2. The robot control method according to claim 1, characterized in that: The determining of the initial area to be cleaned based on the current position of the robot in the target area and the current traversable area corresponding to the target area includes: Determining whether the robot is trapped based on the area of ​​the current traversable area of ​​the target area; In response to the area of ​​the current passable area of ​​the target area being greater than an area threshold, determining the entire area to be cleaned of the target area; Performing shape feature analysis on the entire area to be cleaned corresponding to the target area to generate sub-areas corresponding to the entire area to be cleaned; each of the sub-areas has feature information; The initial area to be cleaned is determined based on the current position of the robot and the feature information of each sub-area.

3. The robot control method according to claim 2, characterized in that: The characteristic information includes the area; The determining the initial area to be cleaned based on the current position of the robot and the feature information of each of the sub-areas includes: Based on the distance between the current posture of the robot and each of the sub-regions and / or the area of ​​each of the sub-regions, selecting a sub-region from all the sub-regions as the initial area to be cleaned; Determine the area scheduling point corresponding to the initial area to be cleaned based on the distance between each position point in the initial area to be cleaned and the boundary of the cleaned area in the target area; Based on the current position of the robot and the area adjustment point of the initial area to be cleaned, a scheduling path for the initial area to be cleaned is generated.

4. The robot control method according to claim 3, characterized in that: The determining the area scheduling point corresponding to the initial area to be cleaned based on the distance between each position point in the initial area to be cleaned and the boundary of the cleaned area in the target area includes: In response to the area of ​​the initial area to be cleaned being not less than the preset area, determining the distance difference between each of the position points in the initial area to be cleaned and the boundary of the cleaned area in the target area; In response to the distance difference meeting the preset requirement, the position point corresponding to the distance difference is used as the area scheduling point corresponding to the initial area to be cleaned; In response to the area of ​​the initial area to be cleaned being smaller than the preset area, the center point of the initial area to be cleaned is used as the area scheduling point corresponding to the initial area to be cleaned.

5. The robot control method according to claim 3, characterized in that: The generating a scheduling path of the initial area to be cleaned based on the current posture of the robot and the area adjustment point of the initial area to be cleaned includes: Generate an initial scheduling path for the initial area to be cleaned by using a path planning algorithm based on the current position of the robot and the area scheduling point corresponding to the initial area to be cleaned; In response to at least part of the initial scheduling path being located in an uncleaned area of ​​the target area, the initial scheduling path located in the uncleaned area is updated to a vertical path and a horizontal path to generate a scheduling path for the initial area to be cleaned; In response to the initial scheduling paths all being located in the cleaned area of ​​the target area, the initial scheduling paths of the initial area to be cleaned are used as the scheduling paths of the initial area to be cleaned.

6. The robot control method according to claim 1, characterized in that: The determining of updating the boundary information of the area to be cleaned based on the distance between the farthest obstacle in each of the preset directions and the area scheduling point includes: In response to the distance between the farthest obstacle in the preset direction and the regional scheduling point being not greater than a first threshold, a position point in the preset direction that is away from the regional scheduling point by the first threshold is used as a boundary point of the updated area to be cleaned in the preset direction; and / or, in response to the distance between the farthest obstacle in the preset direction and the regional scheduling point being greater than the first threshold, comparing the distance between the farthest obstacle in the preset direction and the regional scheduling point with a second threshold; the second threshold being greater than the first threshold; In response to the distance between the farthest obstacle in the preset direction and the regional scheduling point being greater than the second threshold, a position point in the preset direction that is at a distance from the regional scheduling point by the first threshold is used as a boundary point of the updated area to be cleaned in the preset direction; and / or, in response to the distance between the farthest obstacle in the preset direction and the regional scheduling point being not greater than the second threshold, a position of the farthest obstacle in the preset direction is used as a boundary point of the updated area to be cleaned in the preset direction; Based on the boundary points corresponding to the preset directions, the boundary information of the updated area to be cleaned is generated.

7. The robot control method according to claim 1, characterized in that: After the step of controlling the robot to clean according to the updated cleaning path of the area to be cleaned, the method further includes: In response to detecting that the robot encounters an obstacle, controlling the robot to clean along the edge of the obstacle; And / or, in response to detecting that the position of the robot is not in the cleaning path, the updated area to be cleaned is marked as a virtual obstacle, and the robot is controlled to clean other areas of the target area.

8. A robot control device, characterized in that: The robot control device comprises: A determination module, used to determine an initial area to be cleaned based on the current position of the robot in the target area and the current passable area corresponding to the target area; the initial area to be cleaned has an area scheduling point and a scheduling path; A processing module, used to control the robot to run to the regional scheduling point corresponding to the initial area to be cleaned according to the scheduling path, and determine the obstacle information around the regional scheduling point; An analysis module, configured to determine the updated boundary information of the area to be cleaned based on the obstacle information around the area scheduling point corresponding to the initial area to be cleaned; further configured to determine the distance between the farthest obstacle in each preset direction and the area scheduling point based on the obstacle information around the area scheduling point corresponding to the initial area to be cleaned; and determine the updated boundary information of the area to be cleaned based on the distance between the farthest obstacle in each preset direction and the area scheduling point; The control module is used to generate a cleaning path of the updated area to be cleaned according to the boundary information of the updated area to be cleaned, and control the robot to clean according to the cleaning path of the updated area to be cleaned.

9. A terminal, characterized in that: The terminal includes a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor is used to execute program data to implement the steps in 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 by the processor, the steps in the robot control method according to any one of claims 1 to 7 are implemented.

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