Robot control method and device, computer readable storage medium and robot

Abstract

The invention belongs to the technical field of robot control, and particularly relates to a robot control method and device, a computer readable storage medium and a robot. The method comprises the steps of detecting whether a candidate connected domain exists or not in an edge cleaning process of a target connected domain; wherein the target connected domain is a closed cleaning connected domain being cleaned, the candidate connected domain is a to-be-cleaned closed cleaning connected domain covered by the robot, and the starting point and the ending point of an edge cleaning path of the closed cleaning connected domain are the same; if the candidate connected domain exists, determining a repeated path point corresponding to the candidate connected domain in an edge cleaning path of the target connected domain; wherein the repeated path points are path points closest to the candidate connected domain on the edge cleaning path of the target connected domain; and after the edge cleaning of the target connected domain is completed, controlling the robot to move to the repeated path point according to the edge cleaning path of the target connected domain, and carrying out edge cleaning on the candidate connected domain.

Description

Technical Field

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

[0002] With the development of robot technology, various types of robots have gradually entered people's work and life, bringing various conveniences to people. For example, cleaning robots can help people with daily cleaning to keep the environment clean. In actual cleaning, cleaning robots usually need to cover the environment, while conventional cleaning environments (such as conventional home and office environments) may include corners, around the legs of tables and chairs, and other areas with relatively narrow gaps. When cleaning such densely distributed obstacles, it is easy for the robot to get trapped and miss cleaning, affecting the cleaning experience. Summary of the invention

[0003] In view of this, the embodiments of the present application provide a robot control method, device, computer-readable storage medium and robot to solve the problem that existing robots are prone to getting trapped and missing obstacles when cleaning densely distributed obstacles, which affects the cleaning experience.

[0004] A first aspect of an embodiment of the present application provides a robot control method, which may include:

[0005] During the edge cleaning process of the target connected domain, detecting whether there is a candidate connected domain; wherein the target connected domain is a closed cleaning connected domain being cleaned, and the candidate connected domain is a closed cleaning connected domain to be cleaned covered by the robot, and the starting point and the end point of the edge cleaning path of the closed cleaning connected domain are the same;

[0006] If the candidate connected domain exists, determining a repeated path point corresponding to the candidate connected domain in the edge cleaning path of the target connected domain; wherein the repeated path point is a path point on the edge cleaning path of the target connected domain that is closest to the candidate connected domain;

[0007] After completing the edge cleaning of the target connected domain, the robot is controlled to move to the repeated path point according to the edge cleaning path of the target connected domain, and performs edge cleaning on the candidate connected domain.

[0008] A second aspect of the embodiments of the present application provides a robot control device, which may include:

[0009] A candidate connected domain detection module is used to detect whether there is a candidate connected domain during the edge cleaning process of the target connected domain; wherein the target connected domain is a closed cleaning connected domain being cleaned, and the candidate connected domain is a closed cleaning connected domain to be cleaned covered by the robot, and the starting point and end point of the edge cleaning path of the closed cleaning connected domain are the same;

[0010] A repeated path point determination module, configured to determine, if the candidate connected domain exists, a repeated path point corresponding to the candidate connected domain in the edge cleaning path of the target connected domain; wherein the repeated path point is a path point on the edge cleaning path of the target connected domain that is closest to the candidate connected domain;

[0011] The edge cleaning control module is used to control the robot to move to the repeated path point according to the edge cleaning path of the target connected domain after completing the edge cleaning of the target connected domain, and to perform edge cleaning on the candidate connected domain.

[0012] A third aspect of an embodiment of 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 by a processor, the steps of any one of the above-mentioned robot control methods are implemented.

[0013] A fourth aspect of an embodiment of the present application provides a robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above-mentioned robot control methods when executing the computer program.

[0014] A fifth aspect of an embodiment of the present application provides a computer program product. When the computer program product runs on a robot, the robot executes the steps of any one of the above-mentioned robot control methods.

[0015] Compared with the prior art, the embodiments of the present application have the following beneficial effects: during the edge cleaning process of the target connected domain, the embodiments of the present application detect whether there is a candidate connected domain; wherein the target connected domain is a closed cleaning connected domain being cleaned, and the candidate connected domain is a closed cleaning connected domain to be cleaned covered by the robot, and the starting point and end point of the edge cleaning path of the closed cleaning connected domain are the same; if the candidate connected domain exists, a repeated path point corresponding to the candidate connected domain is determined in the edge cleaning path of the target connected domain; wherein the repeated path point is the path point on the edge cleaning path of the target connected domain that is closest to the candidate connected domain; after completing the edge cleaning of the target connected domain, the robot is controlled to move to the repeated path point along the edge cleaning path of the target connected domain, and edge cleaning of the candidate connected domain is performed. Through the embodiments of the present application, the closed cleaning connected area covered by the robot can be detected during the cleaning process. After cleaning is completed, edge cleaning can continue for the closed cleaning connected area detected during the cleaning process based on the edge cleaning path that has been reached, thereby effectively reducing the probability of being trapped and missing cleaning during the cleaning process, and helping to improve the cleaning experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 A schematic diagram of the obstacle markings;

[0018] Figure 2 It is a schematic diagram of the expansion process;

[0019] Figure 3 A schematic diagram for the connected domain determination;

[0020] Figure 4 Another schematic diagram determined for the connected domain;

[0021] Figure 5 Schematic diagram of closed and swept connected domain;

[0022] Figure 6 It is a schematic diagram of the expansion area and the cleared area;

[0023] Figure 7 This is a flow chart of an embodiment of a robot control method in an embodiment of the present application;

[0024] Figure 8Schematic diagram of the process of determining candidate connected domains and repeated path points;

[0025] Fig. 9 A schematic diagram of the process of determining the corrected repeated path points;

[0026] Fig.10 A schematic diagram of a specific application scenario of a robot control method in an embodiment of the present application;

[0027] Fig.11 This is a structural diagram of an embodiment of a robot control device in an embodiment of the present application;

[0028] Fig.12 This is a schematic block diagram of a robot in an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the purpose, features, and advantages of the invention of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described below are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0031] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0032] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0033] As used in this specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0034] In addition, in the description of the present application, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0035] With the development of robot technology, various types of robots have gradually entered people's work and life, bringing various conveniences to people. For example, cleaning robots can help people with daily cleaning to keep the environment clean. In actual cleaning, cleaning robots usually need to cover the environment, while conventional cleaning environments (such as conventional home and office environments) may include corners, around the legs of tables and chairs, and other areas with relatively narrow gaps. When cleaning such densely distributed obstacles, it is easy for the robot to get trapped and miss cleaning, affecting the cleaning experience.

[0036] In view of this, the embodiments of the present application provide a robot control method, device, computer-readable storage medium and robot to solve the problem that existing robots are prone to getting trapped and missing obstacles when cleaning densely distributed obstacles, which affects the cleaning experience.

[0037] It should be noted that the executor of the method of the present application is a robot, specifically, it can be any common cleaning robot in the prior art, including but not limited to a sweeping robot, a mopping robot, and a sweeping and mopping robot.

[0038] In an embodiment of the present application, the robot can use a preset sensor system to detect obstacles in the environment, and can build a grid map based on the detected obstacles. Among them, the sensor system may include at least one sensor capable of obstacle detection, which may specifically include but is not limited to a monocular vision sensor, a binocular vision sensor, a line laser sensor, a surface laser sensor, a laser distance sensor (LDS), a direct time of flight sensor (dToF) sensor, an indirect time of flight (iToF) sensor, and at least one of various sensors.

[0039] In the embodiment of the present application, the sensor system can be used to obtain various obstacles in the area to be cleaned, and the grid positions corresponding to the obstacles in the map can be marked, and accordingly, the corresponding grid map can be constructed. For example, the grid positions corresponding to the detected obstacles 1, obstacle 2, and obstacle 3 in the map can be marked, such as Figure 1 shown.

[0040] Afterwards, each obstacle can be expanded based on a preset expansion range to obtain a corresponding expansion area. The expansion range can preferably be set to a value greater than or equal to the radius of the robot. For example, if the grid scale corresponding to the radius of the robot is 2 grids, then 2 grids can be used as the expansion range, and expansion processing can be performed based on the shape of the obstacle to obtain expansion area 1 corresponding to obstacle 1, expansion area 2 corresponding to obstacle 2, and expansion area 3 corresponding to obstacle 3, such as Figure 2 shown.

[0041] After the expansion area of ​​each obstacle is obtained, a connected domain analysis may be performed on the expansion area of ​​each obstacle to determine each connected domain.

[0042] In the embodiment of the present application, if the distance between two obstacles is less than the traversable distance of the robot, the expansion areas of the two obstacles will be connected to form the same connected domain; if the distance between two obstacles is greater than or equal to the traversable distance of the robot, the expansion areas of the two obstacles will not be connected, but will form different connected domains. The traversable distance of the robot can be the diameter of the robot, or can be a value slightly larger than the diameter of the robot. The present application does not limit the specific value of the traversable distance.

[0043] Here, any obstacle in the area to be cleaned can be regarded as the first obstacle, and any obstacle in the area to be cleaned except the first obstacle can be regarded as the second obstacle; if the distance between the first obstacle and the second obstacle is less than the traversable distance of the robot, such as Figure 3 As shown, it can be considered that the robot cannot pass through the first obstacle and the second obstacle. At this time, the first expansion area and the second expansion area will be connected and divided into the same connected domain; wherein the first expansion area is the expansion area corresponding to the first obstacle, and the second expansion area is the expansion area corresponding to the second obstacle; if the distance between the first obstacle and the second obstacle is greater than or equal to the robot's traversable distance, as Figure 4 As shown, it can be considered that the robot can pass through the first obstacle and the second obstacle, at this time, the first expansion area and the second expansion area will not be connected, and will be divided into different connected domains. Accordingly, each connected domain of the area to be cleaned can be determined.

[0044] In a specific implementation method of an embodiment of the present application, in order to improve cleaning efficiency and reduce redundant cleaning paths, the grid corresponding to the area cleaned by the robot (referred to as the cleaned area) can be determined, and the expansion processing of the grid can be eliminated; thereafter, the robot can be controlled to clean based on the grid that retains the expansion processing, and when the robot moves to the cleaned area, the robot can be controlled to end cleaning, so as to improve cleaning efficiency and reduce redundant cleaning.

[0045] In the embodiment of the present application, if the robot detects the target connected domain when performing bow cleaning, or detects the target connected domain when starting edge cleaning, it can be determined whether the target connected domain is a closed cleaning connected domain to be cleaned based on the connected domain information of the area to be cleaned; if the target connected domain is a closed cleaning connected domain to be cleaned, closed edge cleaning can be performed on the target connected domain. The target connected domain can be any connected domain in the area to be cleaned, and the closed cleaning connected domain is a connected domain with the same starting point and end point of the edge cleaning path during edge cleaning, for example, see Figure 5 When performing edge cleaning on the connected domain 1, we can start from point A, clean the edge of the connected domain 1 around the edge of the connected domain 1, and finally return to point A. That is, the starting point and end point of the edge cleaning path of the connected domain 1 are the same, both are point A. Therefore, it can be considered that the connected domain 1 can perform closed edge cleaning, and the connected domain 1 is determined as a closed cleaning connected domain.

[0046] Specifically, if the target connected domain is detected to exist, the connected domain information of the area to be cleaned can be obtained; wherein the connected domain information can at least include the area of ​​the connected domain and the cleaned area; if the area of ​​the target connected domain is less than or equal to the preset area threshold, and the target connected domain does not overlap or connect with the cleaned area, then the target connected domain can be determined to be a closed cleaned connected domain to be cleaned; otherwise, it can be determined that the target connected domain is not a closed cleaned connected domain to be cleaned, and at this time, there is no need to perform edge cleaning on the target connected domain. The specific value of the area threshold can be set according to actual needs, and the embodiment of the present application does not limit this.

[0047] For example, if the area of ​​the target connected domain is greater than the area threshold, it can be considered that the target connected domain may be an obstacle such as a large wall, and closed edge cleaning cannot be performed, and it can be determined that the target connected domain is not a closed cleaning connected domain to be cleaned; if the target connected domain overlaps with the cleaned area, the expansion processing corresponding to the overlapping part of the target connected domain with the cleaned area will be eliminated, such as Figure 6As shown, there is an overlap between the expansion area of ​​the connected domain 1 and the cleaned area, and the expansion processing of the overlapping part will be eliminated. At this time, the obstacle 1 cannot be surrounded by the connected domain 1. When the edge cleaning of the connected domain 1 is performed, since the robot will end the cleaning when it reaches the cleaned area, the edge cleaning of the connected domain 1 cannot start and end at the same position, and the starting point and end point of its edge cleaning path are different; at this time, it can be considered that the connected domain 1 cannot perform closed edge cleaning, and it can be determined that the connected domain 1 is not a closed cleaning connected domain to be cleaned; if the target connected domain is connected to the cleaned area, then when the edge cleaning of the target connected domain is performed, the robot body will cover the cleaned area, and the robot will end the cleaning. At this time, it can be considered that the target connected domain cannot perform closed edge cleaning, and it can be determined that the target connected domain is not a closed cleaning connected domain to be cleaned.

[0048] If the target connected domain is determined to be a closed connected domain to be cleaned, the target connected domain can be edge cleaned. Specifically, an edge cleaning path can be determined along the edge of the target connected domain, and the robot can be controlled to clean the edge of the target connected domain according to the edge cleaning path of the target connected domain.

[0049] In the process of edge cleaning of the target connected domain, you can refer to Figure 7 An embodiment of a robot control method in the embodiment of the present application shown in the figure performs edge cleaning, which may specifically include the following steps S701 to S703:

[0050] Step S701: During the edge cleaning process of the target connected domain, it is detected whether there is a candidate connected domain.

[0051] In the embodiment of the present application, when edge cleaning is performed based on the edge cleaning path of the target connected domain, a grid map can be used to detect whether the robot body covers other closed cleaning connected domains to be cleaned.

[0052] Specifically, the position of the robot on the grid map can be used to determine whether the robot's body covers other connected domains. If it is detected that the robot's body covers other connected domains, the above method can be used to determine whether the connected domain is a closed cleaning connected domain to be cleaned. If the connected domain is a closed cleaning connected domain to be cleaned, the connected domain can be determined as a candidate connected domain and recorded; if the connected domain is not a closed cleaning connected domain to be cleaned, there is no need to record the connected domain.

[0053] Step S702: If there is a candidate connected domain, determine the repeated path points corresponding to the candidate connected domain in the edge cleaning path of the target connected domain.

[0054] In an embodiment of the present application, when the existence of a candidate connected domain is detected, the candidate connected domain can be recorded in sequence according to the detection order, and repeated path points corresponding to the candidate connected domain can be determined in the edge cleaning path of the target connected domain; wherein the repeated path point is the path point on the edge cleaning path of the target connected domain that is closest to the candidate connected domain.

[0055] For example, see Figure 8 When performing edge cleaning on the target connected domain, it is detected that the robot body covers the connected domain 1, and the connected domain 1 is a closed cleaning connected domain to be cleaned. At this time, the connected domain 1 can be determined as a candidate connected domain; then, the path point closest to the connected domain 1 can be determined on the edge cleaning path of the target connected domain; here, point A on the edge cleaning path of the target connected domain can be determined as the repeated path point corresponding to the connected domain 1.

[0056] In a specific implementation of the embodiment of the present application, if the distance between two candidate connected domains is small, the repeated path points corresponding to the two candidate connected domains can be merged into one repeated path point.

[0057] Specifically, any candidate connected domain can be used as the first connected domain, and any candidate connected domain other than the first connected domain can be used as the second connected domain; if the distance between the first connected domain and the second connected domain is less than a preset distance threshold, the repeated path points corresponding to the first connected domain and the repeated path points corresponding to the second connected domain can be used to determine the corrected repeated path points in the edge cleaning path of the target connected domain. If the distance between the first connected domain and the second connected domain is greater than or equal to the distance threshold, there is no need to perform the above-mentioned determination process of correcting the repeated path points; wherein, the distance between the first connected domain and the second connected domain can specifically be the distance between the center position of the first connected domain and the center position of the second connected domain, and the specific value of the distance threshold can be specific and situational according to actual needs, and this application does not limit this.

[0058] When determining the corrected repeated path points, the repeated path points corresponding to the first connected domain can be directly used as the corrected repeated path points; or, the repeated path points corresponding to the second connected domain can be directly used as the corrected repeated path points; or, the midpoint of the repeated path points corresponding to the first connected domain and the repeated path points corresponding to the second connected domain can be used as the corrected repeated path points.

[0059] For example, see Fig. 9, the repeated path point corresponding to the first connected domain is point A, the repeated path point corresponding to the second connected domain is point C, and point B is the midpoint between points A and C; since the distance between the first connected domain and the second connected domain is less than the distance threshold, point A can be directly used as the corrected repeated path point; or point C can be directly used as the corrected repeated path point; or, the midpoint between points A and C, that is, point B, can be used as the corrected repeated path point.

[0060] Step S703: After completing the edge cleaning of the target connected domain, control the robot to move to the repeated path point according to the edge cleaning path of the target connected domain, and perform edge cleaning on the candidate connected domain.

[0061] If at least one candidate connected domain is detected, after completing the edge cleaning of the target connected domain, you can switch to edge cleaning of the candidate connected domain; if no candidate connected domain is detected, after completing the edge cleaning of the target connected domain, you can execute the corresponding process according to the established task.

[0062] Specifically, if at least one candidate connected domain is detected, the target repeated path point can be determined from the repeated path points; wherein the target repeated path point is the repeated path point that has not been reached repeatedly and has the earliest detection order among the repeated path points; for example, in the detection order from front to back, there are repeated path point 1, repeated path point 2 and repeated path point 3, respectively. When the edge cleaning of the target connected domain is just completed, the repeated path point that has the earliest detection order and has not been reached repeatedly is repeated path point 1. Therefore, repeated path point 1 can be first determined as the target repeated path point.

[0063] Afterwards, edge cleaning can be performed on the candidate connected domain (referred to as the selected connected domain) corresponding to the target repeated path point; specifically, an edge cleaning path of the selected connected domain can be determined along the edge of the selected connected domain, and the robot can be controlled to perform edge cleaning on the selected connected domain according to the edge cleaning path of the selected connected domain.

[0064] In practical applications, since obstacles may be moved, in order to better cope with dynamic scenes, the selected connected domain can be detected again before the selected connected domain is formally edge-cleaned. If the obstacle corresponding to the selected connected domain is moved, the grid map will be dynamically updated, and the selected connected domain will disappear and cannot be detected. At this time, there is no need to perform edge cleaning on the selected connected domain; if the obstacle corresponding to the selected connected domain remains in the original position, the selected connected domain can be detected again, and at this time, the edge cleaning of the selected connected domain can be performed. Based on this, it is possible to combine historical detection information and real-time detection information to determine whether the edge cleaning of the selected connected domain is required, so as to better cope with dynamic scenes and improve the robustness of the cleaning process.

[0065] Specifically, the robot can be controlled to move to the target repeated path point along the edge cleaning path of the target connected domain; when the robot is located at the target repeated path point, it can be detected whether the robot body can cover the selected connected domain; if the robot body can cover the selected connected domain, it can be determined that the selected connected domain is detected, and the edge cleaning of the selected connected domain can be performed; if the robot body fails to cover the selected connected domain, it can be determined that the selected connected domain is not detected, and at this time, it can return to execute the above process of determining the target repeated path point from each repeated path point.

[0066] For example, the end point of the edge cleaning path is point A. After completing the edge cleaning of the target connected domain, point B can be determined as the target repeated path point, and the candidate connected domain corresponding to point B is candidate connected domain 1, that is, candidate connected domain 1 is the selected connected domain; thereafter, the robot can be controlled to move from point A to point B along the edge cleaning path of the target connected domain; when the robot is at point B, it can detect in real time whether candidate connected domain 1 exists. If candidate connected domain 1 can be detected, the edge cleaning of candidate connected domain 1 can be performed.

[0067] When performing edge cleaning on the selected connected domain, the direction and specific position of the selected connected domain can be determined based on historical detection information and real-time detection information, and the robot can be controlled to move in the direction of the selected connected domain at the target repeated path point until it approaches the selected connected domain. After that, it can switch to the selected connected domain for edge cleaning.

[0068] After completing the edge cleaning of the selected connected domain, the robot can be controlled to return to the target repeated path point, and can return to execute the above process of determining the target repeated path point from each repeated path point and its subsequent process.

[0069] In a specific implementation of an embodiment of the present application, if the determined target repeated path point is a revised repeated path point, that is, the target repeated path point corresponds to at least two candidate connected domains, then the edge cleaning of the candidate connected domain to be cleaned that is at the front of the detection order can be performed, and then the robot can be controlled to return to the target repeated path point, and repeat this process until the edge cleaning of each candidate connected domain corresponding to the target repeated path point is completed. For example, when performing edge cleaning on the target connected domain, candidate connected domain 1 and candidate connected domain 2 are detected in turn, and the distance between candidate connected domain 1 and candidate connected domain 2 is relatively close, so the repeated path point of candidate connected domain 1 and the repeated path point of candidate connected domain 2 can be merged into a revised repeated path point; when the revised repeated path point is subsequently determined as the target repeated path point, the edge cleaning of candidate connected domain 1 can be performed first, and then the revised repeated path point can be returned to perform edge cleaning on candidate connected domain 2.

[0070] In addition, if the target repeated path point is the last repeated path point in the detection order, that is, the selected connected domain is the last candidate connected domain detected, then the selected connected domain can be used as the next target connected domain, and when performing edge cleaning on the selected connected domain, the candidate connected domain can be detected and edge cleaned according to the above method. Accordingly, according to the real-time detection situation, the edge cleaning of a single closed cleaning connected domain can be expanded to the edge cleaning of each closed cleaning connected domain to be cleaned in the surrounding area without obtaining the environment map in advance, which helps to improve the flexibility and real-time performance of robot cleaning.

[0071] Through the embodiments of the present application, after completing the cleaning of the target connected domain, the edge cleaning of each candidate connected domain can be performed in turn according to the detection order, thereby effectively preventing missed scanning; because when moving to the target repeated path point, it can directly move on the edge cleaning path that has been reached, thereby effectively avoiding the situation where the robot is trapped during the movement and reducing the risk of not being able to reach the selected connected domain; and because before cleaning the selected connected domain, the obstacle corresponding to the selected connected domain will be detected in real time to confirm whether it exists, therefore, if the obstacle corresponding to the selected connected domain disappears, the selected connected domain will disappear synchronously, and the robot can perceive it in time, thereby reducing the path waste; if there is an obstacle moving, the robot can also slow down and avoid the obstacle in time. Compared with the method of determining obstacle information through multiple collisions in the prior art, the embodiment of the present application can reduce the damage to the environment caused by the collision and maintain a cleaning path with better visual experience; at the same time, compared with the method of reaching each connected domain by multiple calls to navigation in the prior art, the edge cleaning path of the target connected domain in the embodiment of the present application is known, and the orientation of the candidate connected domain can be determined by combining historical detection information and real-time detection information, so that the robot can be controlled to perform edge cleaning without calling navigation, which can reduce the redundant paths generated by the navigation process and save the computing power resources required for navigation.

[0072] For ease of understanding, the following will combine Fig.10 The specific application scenario shown introduces the robot control method of the embodiment of the present application.

[0073] See also Fig.10 In an embodiment of the present application, the target connected domain can be edge-cleaned according to the edge-cleaning path of the target connected domain (edge-cleaning path 1); during the edge-cleaning process of the target connected domain, the candidate connected domain can be detected; here, in the order of detection, candidate connected domain 1, candidate connected domain 2 and candidate connected domain 3 are detected respectively, and the repeated path points corresponding to the three candidate connected domains are point A, point B and point C respectively.

[0074] After completing the edge cleaning of the target connected domain, since point A is the repeated path point that is the frontmost in the detection order and has not been reached repeatedly, point A can be determined as the target repeated path point, and candidate connected domain 1 can be determined as the selected connected domain, and the robot can be controlled to move to point A along edge cleaning path 1; when the robot is located at point A, it can detect whether candidate connected domain 1 exists. Here, the existence of candidate connected domain 1 is detected, so the robot can be controlled to move in the direction of candidate connected domain 1 until it approaches candidate connected domain 1 to perform edge cleaning on candidate connected domain 1.

[0075] After completing the edge cleaning of candidate connected domain 1, since point B is the repeated path point that is the frontmost in the detection order and has not been reached repeatedly, point B can be determined as the target repeated path point, and candidate connected domain 2 can be determined as the selected connected domain, and the robot can be controlled to move to point B along the edge cleaning path 1; when the robot is located at point B, it can detect whether candidate connected domain 2 exists. Here, the existence of candidate connected domain 2 is detected, so the robot can be controlled to move in the direction of candidate connected domain 2 until it approaches candidate connected domain 2 to perform edge cleaning on candidate connected domain 2.

[0076] After completing the edge cleaning of candidate connected domain 2, since point C is the repeated path point that is the first in the detection order and has not been repeatedly reached, point C can be determined as the target repeated path point, and candidate connected domain 3 can be determined as the selected connected domain, and the robot can be controlled to move to point C along edge cleaning path 1; when the robot is at point C, it can detect whether candidate connected domain 3 exists. Here, the existence of candidate connected domain 3 is detected, so the robot can be controlled to move in the direction of candidate connected domain 3 until it approaches candidate connected domain 3 to perform edge cleaning on candidate connected domain 3. Since candidate connected domain 3 is the last candidate connected domain detected, candidate connected domain 3 can be used as the next round of target connected domain, and the edge cleaning of candidate connected domain 3 can be performed with reference to the above method for edge cleaning of the target connected domain.

[0077] In summary, in the edge cleaning process of the target connected domain, the embodiment of the present application detects whether there is a candidate connected domain; wherein the target connected domain is a closed cleaning connected domain being cleaned, the candidate connected domain is a closed cleaning connected domain to be cleaned covered by the robot, and the starting point and the end point of the edge cleaning path of the closed cleaning connected domain are the same; if the candidate connected domain exists, a repeated path point corresponding to the candidate connected domain is determined in the edge cleaning path of the target connected domain; wherein the repeated path point is the path point closest to the candidate connected domain on the edge cleaning path of the target connected domain; after completing the edge cleaning of the target connected domain, the robot is controlled to move to the repeated path point according to the edge cleaning path of the target connected domain, and the edge cleaning of the candidate connected domain is performed. Through the embodiment of the present application, the closed cleaning connected domain covered by the robot can be detected during the cleaning process. After the cleaning is completed, the edge cleaning of the closed cleaning connected domain detected during the cleaning process can be continued based on the edge cleaning path that has been reached, thereby effectively reducing the probability of being trapped and missed during the cleaning process, which helps to improve the cleaning experience.

[0078] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0079] Corresponding to a robot control method described in the above embodiment, Fig.11 A structural diagram of an embodiment of a robot control device provided in an embodiment of the present application is shown.

[0080] In an embodiment of the present application, a robot control device may include:

[0081] The candidate connected domain detection module 1101 is used to detect whether there is a candidate connected domain during the edge cleaning process of the target connected domain; wherein the target connected domain is a closed cleaning connected domain being cleaned, and the candidate connected domain is a closed cleaning connected domain to be cleaned covered by the robot, and the starting point and end point of the edge cleaning path of the closed cleaning connected domain are the same;

[0082] A repeated path point determination module 1102 is used to determine a repeated path point corresponding to the candidate connected domain in the edge cleaning path of the target connected domain if the candidate connected domain exists; wherein the repeated path point is a path point on the edge cleaning path of the target connected domain that is closest to the candidate connected domain;

[0083] The edge cleaning control module 1103 is used to control the robot to move to the repeated path point according to the edge cleaning path of the target connected domain after completing the edge cleaning of the target connected domain, and to perform edge cleaning on the candidate connected domain.

[0084] In a specific implementation of the embodiment of the present application, the edge cleaning control module includes:

[0085] A target repeated path point determination submodule is used to determine a target repeated path point from each of the repeated path points; wherein the target repeated path point is the repeated path point that is the first in the detection order among each of the repeated path points and has not been repeatedly reached;

[0086] An edge cleaning control submodule, used to control the robot to move to the target repeated path point according to the edge cleaning path of the target connected domain, and perform edge cleaning on the selected connected domain; wherein the selected connected domain is the candidate connected domain corresponding to the target repeated path point;

[0087] The target repeated path point return submodule is used to control the robot to return to the target repeated path point after completing the edge cleaning of the selected connected domain, and return to execute the step of determining the target repeated path point from each of the repeated path points and its subsequent steps.

[0088] In a specific implementation of the embodiment of the present application, the edge cleaning control submodule includes:

[0089] A target repeated path point motion unit, used to control the robot to move to the target repeated path point according to the edge cleaning path of the target connected domain;

[0090] A selected connected domain detection unit, used for detecting whether the selected connected domain exists when the robot is located at the target repeated path point;

[0091] A selected connected domain cleaning unit is used to clean the edge of the selected connected domain if the selected connected domain exists;

[0092] The step returns to the execution unit, which is used to return to the step of determining the target repeated path point from each of the repeated path points and its subsequent steps if the selected connected domain does not exist.

[0093] In a specific implementation of the embodiment of the present application, the robot control device further includes:

[0094] A modified repeated path point determination module, configured to determine a modified repeated path point in the edge cleaning path of the target connected domain based on the repeated path points corresponding to the first connected domain and the repeated path points corresponding to the second connected domain if the distance between the first connected domain and the second connected domain is less than a preset distance threshold; wherein the first connected domain is any one of the candidate connected domains, and the second connected domain is any one of the candidate connected domains except the first connected domain;

[0095] Furthermore, the edge cleaning control module is also used to control the robot to move to the corrected repeated path point according to the edge cleaning path of the target connected domain after completing the edge cleaning of the target connected domain, and to perform edge cleaning on the first connected domain and the second connected domain.

[0096] In a specific implementation of the embodiment of the present application, the robot control device further includes:

[0097] A connected domain information acquisition module, used to acquire the connected domain information of the area to be cleaned; wherein the connected domain information includes the area of ​​the connected domain and the cleaned area;

[0098] A closed cleaning connected domain determination module, configured to determine that the target connected domain is a closed cleaning connected domain to be cleaned if the area of ​​the target connected domain is less than or equal to a preset area threshold, the target connected domain does not overlap with the cleaned area, and the target connected domain is not connected to the cleaned area;

[0099] The target connected domain cleaning module is used to control the robot to clean the edge of the target connected domain according to the edge cleaning path of the target connected domain.

[0100] In a specific implementation of the embodiment of the present application, the robot control device further includes:

[0101] An obstacle acquisition module, used to acquire various obstacles in the area to be cleaned;

[0102] An expansion processing module, used to perform expansion processing on each obstacle based on a preset expansion range to obtain a corresponding expansion area;

[0103] The connected domain determining module is used to determine each connected domain based on the expansion area of ​​each obstacle.

[0104] In a specific implementation of the embodiment of the present application, the connectivity domain determination module includes:

[0105] a first connected domain determination submodule, configured to determine the first expansion area and the second expansion area as the same connected domain if the first expansion area is connected to the second expansion area; wherein the first expansion area is the expansion area of ​​the first obstacle, the second expansion area is the expansion area of ​​the second obstacle, the first obstacle is any one of the obstacles in the area to be cleaned, and the second obstacle is any one of the obstacles in the area to be cleaned except the first obstacle;

[0106] The connected domain determining second submodule is configured to determine the first dilation region and the second dilation region as different connected domains if the first dilation region is connected to the second dilation region.

[0107] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices, modules and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0108] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0109] Fig.12 A schematic block diagram of a robot provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0110] like Fig.12 As shown, the robot 12 of this embodiment includes: a processor 120, a memory 121, and a computer program 122 stored in the memory 121 and executable on the processor 120. When the processor 120 executes the computer program 122, the steps in the above-mentioned robot control method embodiments are implemented, for example Figure 7 Alternatively, when the processor 120 executes the computer program 122, the functions of each module / unit in the above-mentioned device embodiments are realized, for example Fig.11 The functions of modules 1101 to 1103 are shown.

[0111] Exemplarily, the computer program 122 may be divided into one or more modules / units, which are stored in the memory 121 and executed by the processor 120 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 122 in the robot 12.

[0112] Those skilled in the art will understand that Fig.12 It is only an example of the robot 12 and does not constitute a limitation of the robot 12. The robot 12 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the robot 12 may also include input and output devices, network access devices, buses, etc.

[0113] The processor 120 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0114] The memory 121 may be an internal storage unit of the robot 12, such as a hard disk or memory of the robot 12. The memory 121 may also be an external storage device of the robot 12, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the robot 12. Further, the memory 121 may also include both an internal storage unit of the robot 12 and an external storage device. The memory 121 is used to store the computer program and other programs and data required by the robot 12. The memory 121 may also be used to temporarily store data that has been output or is to be output.

[0115] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0116] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0117] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0118] In the embodiments provided in the present application, it should be understood that the disclosed devices / robots and methods can be implemented in other ways. For example, the device / robot embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple 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, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0119] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0120] 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.

[0121] If the integrated module / 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 present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electric carrier signals and telecommunication signals.

[0122] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A robot control method, characterized in that: include: During the edge cleaning process of the target connected domain, detecting whether there is a candidate connected domain; wherein the target connected domain is a closed cleaning connected domain being cleaned, and the candidate connected domain is a closed cleaning connected domain to be cleaned covered by the robot, and the starting point and the end point of the edge cleaning path of the closed cleaning connected domain are the same; If the candidate connected domain exists, determining a repeated path point corresponding to the candidate connected domain in the edge cleaning path of the target connected domain; wherein the repeated path point is a path point on the edge cleaning path of the target connected domain that is closest to the candidate connected domain; After completing the edge cleaning of the target connected domain, the robot is controlled to move to the repeated path point according to the edge cleaning path of the target connected domain, and performs edge cleaning on the candidate connected domain.

2. The robot control method according to claim 1, characterized in that: After completing the edge cleaning of the target connected domain, controlling the robot to move to the repeated path point according to the edge cleaning path of the target connected domain, and performing edge cleaning on the candidate connected domain, comprises: Determine a target repeated path point from each of the repeated path points; wherein the target repeated path point is the repeated path point that has the highest detection order among each of the repeated path points and has not been reached repeatedly; Controlling the robot to move to the target repeated path point according to the edge cleaning path of the target connected domain, and performing edge cleaning on the selected connected domain; wherein the selected connected domain is the candidate connected domain corresponding to the target repeated path point; After completing the edge cleaning of the selected connected domain, the robot is controlled to return to the target repeated path point, and returns to execute the step of determining the target repeated path point from each of the repeated path points and its subsequent steps.

3. The robot control method according to claim 2, characterized in that: The controlling the robot to move to the target repeated path point according to the edge cleaning path of the target connected domain and performing edge cleaning on the selected connected domain includes: Controlling the robot to move to the target repeated path point according to the edge cleaning path of the target connected domain; When the robot is located at the target repeated path point, detecting whether the selected connected domain exists; If the selected connected domain exists, performing edge cleaning on the selected connected domain; If the selected connected domain does not exist, the process returns to the step of determining the target repeated path point from each of the repeated path points and its subsequent steps.

4. The robot control method according to claim 1, characterized in that: After determining the repeated path points corresponding to the candidate connected domain in the edge cleaning path of the target connected domain if the candidate connected domain exists, the method further includes: If the distance between the first connected domain and the second connected domain is less than a preset distance threshold, based on the repeated path points corresponding to the first connected domain and the repeated path points corresponding to the second connected domain, a corrected repeated path point is determined in the edge cleaning path of the target connected domain; wherein the first connected domain is any one of the candidate connected domains, and the second connected domain is any one of the candidate connected domains except the first connected domain; After completing the edge cleaning of the target connected domain, controlling the robot to move to the repeated path point according to the edge cleaning path of the target connected domain, and performing edge cleaning on the candidate connected domain, is: After completing the edge cleaning of the target connected domain, the robot is controlled to move to the corrected repeated path point according to the edge cleaning path of the target connected domain, and performs edge cleaning on the first connected domain and the second connected domain.

5. The robot control method according to claim 1, characterized in that: In the edge cleaning process of the target connected domain, before detecting whether there is a candidate connected domain, the method further includes: Acquire the connected domain information of the area to be cleaned; wherein the connected domain information includes the area of ​​the connected domain and the cleaned area; If the area of ​​the target connected domain is less than or equal to a preset area threshold, the target connected domain does not overlap with the cleaned area, and the target connected domain is not connected to the cleaned area, then the target connected domain is determined to be a closed cleaned connected domain to be cleaned; The robot is controlled to clean the edge of the target connected domain according to the edge cleaning path of the target connected domain.

6. The robot control method according to claim 5, characterized in that: Before acquiring the connected domain information of the area to be cleaned, the method further includes: Obtaining various obstacles in the area to be cleaned; Based on a preset expansion range, each obstacle is expanded to obtain a corresponding expansion area; Based on the expansion area of ​​each obstacle, each connected domain is determined.

7. The robot control method according to claim 6, characterized in that: The step of determining each connected domain based on the expansion area of ​​each obstacle comprises: If the first expansion area is connected to the second expansion area, the first expansion area and the second expansion area are determined as the same connected domain; wherein the first expansion area is the expansion area of ​​the first obstacle, the second expansion area is the expansion area of ​​the second obstacle, the first obstacle is any one of the obstacles in the area to be cleaned, and the second obstacle is any one of the obstacles in the area to be cleaned except the first obstacle; If the first expansion region is not connected to the second expansion region, the first expansion region and the second expansion region are determined as different connected domains.

8. A robot control device, characterized in that: include: A candidate connected domain detection module is used to detect whether there is a candidate connected domain during the edge cleaning process of the target connected domain; wherein the target connected domain is a closed cleaning connected domain being cleaned, and the candidate connected domain is a closed cleaning connected domain to be cleaned covered by the robot, and the starting point and end point of the edge cleaning path of the closed cleaning connected domain are the same; A repeated path point determination module, configured to determine, if the candidate connected domain exists, a repeated path point corresponding to the candidate connected domain in the edge cleaning path of the target connected domain; wherein the repeated path point is a path point on the edge cleaning path of the target connected domain that is closest to the candidate connected domain; The edge cleaning control module is used to control the robot to move to the repeated path point according to the edge cleaning path of the target connected domain after completing the edge cleaning of the target connected domain, and to perform edge cleaning on the candidate connected domain.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the robot control method according to any one of claims 1 to 7 are implemented.

10. A robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the robot control method according to any one of claims 1 to 7 are implemented.

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