Robot control method, device and equipment and storage medium

Abstract

The invention discloses a robot control method, device and equipment and a storage medium, and relates to the field of robots. If the robot is in the slipping state at present, a task execution device of the robot is lifted to a target height position from a current height position; and after the task execution device ascends to the target height position, the robot continues to be controlled to move. By starting slip detection, when it is detected that the robot slips, the position of the cutter head is adjusted to avoid subsequent continuous slip of the robot, and the use experience of a user is improved.

Description

Technical Field

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

[0002] A smart lawn mower is a device that can move autonomously on a lawn and complete mowing tasks. However, the lawn surface is often uneven. When the blade under the lawn mower drops to a lower position, it is easy to contact the raised ground and cause the lawn mower to be lifted. At this time, the wheels of the lawn mower are suspended in the air or the friction between the wheels and the ground is small, causing the wheels to slip. Therefore, how to prevent the lawn mower from slipping during operation is a problem to be solved in this field. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a robot control method, device, equipment and storage medium, which can adjust the position of the cutter disc to prevent the lawn mower from continuing to slip by turning on the slip detection when the lawn mower is detected to slip, thereby improving the user experience. The specific scheme is as follows:

[0004] In a first aspect, the present application provides a robot control method, comprising:

[0005] controlling the robot to move;

[0006] If the robot is currently in a slipping state, raising the task execution device of the robot from a current height position to a target height position;

[0007] After the task execution device rises to the target height position, the robot continues to be controlled to move.

[0008] Optionally, raising the task execution device of the robot from a current height position to a target height position includes:

[0009] The robot's blade control device is used to raise the robot's task execution device from the current height position to the target height position; the task execution device is the blade of the robot used to perform mowing tasks, and the target position is the highest position to which the blade can be adjusted.

[0010] Optionally, the continuing to control the movement of the robot includes:

[0011] If the robot is still in a slipping state, controlling the robot to move backward and turn, so as to continue to control the robot to move after the robot turns;

[0012] If the robot is currently out of the slipping state, the task execution device of the robot is adjusted to the current height position, and the robot is continued to be controlled to move.

[0013] Optionally, the robot control method further includes:

[0014] The slipping position of the robot when it starts to slip is determined, and a corresponding slipping area is generated in the working map of the robot according to the slipping position.

[0015] Optionally, the robot control method further includes:

[0016] When it is determined by using the working map that the robot reaches the slipping area again, the robot is directly controlled to turn or the task execution device of the robot is directly raised to the target height position so as to continue to control the movement of the robot.

[0017] Optionally, directly controlling the robot to turn or directly raising the task execution device of the robot to the target height position includes:

[0018] If the slipping area is the first target area, the task execution device of the robot is directly raised to the target height position so as to continue to control the movement of the robot; the first target area is the area where the robot can escape from the slipping state when it is in the slipping position;

[0019] If the slipping area is a second target area, the robot is directly controlled to turn so as to continue to control the movement of the robot; the second target area is an area where the robot is not out of the slipping state at the slipping position.

[0020] Optionally, after generating a corresponding slip area in a work map of the robot according to the slip position, the method further includes:

[0021] If the slip area clearing information sent by the user is obtained, the corresponding slip area is cleared in the work map according to the slip area clearing information.

[0022] Optionally, the process of controlling the movement of the robot further includes:

[0023] Acquiring positioning information of the robot within a preset time period, and determining actual displacement information of the robot according to the positioning information;

[0024] Determining the wheel speed of the robot within the preset time period, and determining theoretical displacement information of the robot based on the wheel speed;

[0025] The displacement difference between the actual displacement information and the theoretical displacement information is determined, and whether the robot is currently in a slipping state is determined according to a preset displacement difference threshold.

[0026] In a second aspect, the present application provides a robot, comprising:

[0027] main body;

[0028] A wheel assembly, mounted on the main body, for driving the main body to move;

[0029] A task execution device, installed on the main body, for executing work tasks;

[0030] A controller is used to implement the aforementioned robot control method.

[0031] In a third aspect, the present application provides an electronic device, comprising a processor and a memory; wherein the memory is used to store a computer program, and the computer program is loaded and executed by the processor to implement the aforementioned robot control method.

[0032] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program, which implements the aforementioned robot control method when executed by a processor.

[0033] This application can control the movement of the robot; if the robot is currently in a slipping state, the task execution device of the robot is raised from the current height position to the target height position; after the task execution device is raised to the target height position, the robot continues to be controlled to move. In this way, this application can turn on the slip detection when the robot is working, and adjust the position of the cutter disc when the robot is detected to be slipping, which can avoid the phenomenon that the mowing robot is lifted and slips due to the low position of the cutter disc of the mowing robot when the lawn ground is uneven. In other words, this application can avoid the contact between the cutter disc and the ground by timely adjusting the height of the cutter disc of the robot, thereby making the robot out of the slipping state, and after the cutter disc position is adjusted, it can detect again to avoid the lawn mower from continuing to slip in subsequent operations, which helps to improve the working efficiency of the lawn mower and improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, 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 embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0035] Figure 1A flow chart of a robot control method provided for this application;

[0036] Figure 2 A schematic diagram of a lawn mower provided for this application;

[0037] Figure 3 A flow chart of a specific robot control method provided for this application;

[0038] Figure 4 A structural diagram of an electronic device provided for this application. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] Since the lawn surface where smart lawn mowers work is often uneven, when the cutter disc under the lawn mower drops to a lower position, it is easy to come into contact with the raised ground, causing the lawn mower to be lifted, causing the wheels to slip. The present application can turn on slip detection when the lawn mower is working, and when the lawn mower is detected to slip, adjust the position of the cutter disc to prevent the lawn mower from continuing to slip in subsequent operations, thereby helping to improve the working efficiency of the lawn mower.

[0041] See also Figure 1 As shown, an embodiment of the present invention discloses a robot control method, comprising:

[0042] Step S11, controlling the robot to move.

[0043] In the process of controlling the movement of the robot, this embodiment can obtain the positioning information of the robot within a preset time period, and determine the actual displacement information of the robot based on the positioning information, and determine the wheel speed of the robot within the preset time period, and determine the theoretical displacement information of the robot based on the wheel speed, and then determine the displacement difference between the actual displacement information and the theoretical displacement information, and judge whether the robot is currently in a slipping state based on a preset displacement difference threshold.

[0044] It should be noted that the robot in this embodiment can be specifically an intelligent lawn mower. Accordingly, the first positioning information of the lawn mower can be obtained through the satellite positioning of the lawn mower, and the first actual displacement information of the lawn mower in the first preset time period can be determined according to the first positioning information, and then the current first wheel speed of the lawn mower can be determined through the wheel speed sensor of the lawn mower, and the first theoretical displacement information of the lawn mower in the first preset time period can be determined based on the first wheel speed. Afterwards, when judging whether the lawn mower is currently in a slipping state based on the first displacement information, the first displacement difference between the first actual displacement information and the first theoretical displacement information can be determined, and it can be judged whether the first displacement difference is greater than the preset displacement difference threshold. If the first displacement difference is greater than the preset displacement difference threshold, it is determined that the lawn mower is currently in a slipping state. It can be understood that the above-mentioned first displacement difference and the second displacement difference in the following steps can also be adjusted according to the actual situation or the needs of the user, so as to achieve precision control of the slipping state of the lawn mower. That is to say, the slip detection in this embodiment includes determining the actual distance of the lawn mower over a period of time through satellite positioning, and determining the wheel speed through a wheel speed sensor, and then determining the theoretical distance of the lawn mower over a period of time based on the wheel speed. If the actual distance is too different from the theoretical distance, it is determined that slippage has occurred.

[0045] Step S12: if the robot is currently in a slipping state, raising the task execution device of the robot from the current height position to the target height position.

[0046] In this embodiment, if it is determined that the lawn mower is currently in a slipping state, the blade disc control device of the lawn mower is used to adjust the current height position of the blade disc of the lawn mower to the target height position. The above-mentioned blade disc control device is a working device that can control the position of the blade disc of the lawn mower. And in a specific embodiment, the blade disc control device of the lawn mower can be used to raise the blade disc of the lawn mower from the current initial working position to the target height position of the lawn mower; wherein the target height position is the highest working position that the blade disc can be adjusted to in the lawn mower. Figure 2 In the lawn mower shown, most of the slippage during the operation of the lawn mower is due to the fact that the current ground is high and the lawn mower blade cannot work normally after contacting the ground. Therefore, in this embodiment, the blade can be raised to the highest working position of the lawn mower to solve the problem of the lawn mower slipping. That is to say, if the lawn mower detects slippage, it may be that the blade (working device) contacts the ground, causing the wheels to be lifted, or it may be other reasons, such as wet grass, or the lawn mower is stuck by an obstacle and cannot move. At this time, the blade can be raised to the upper limit position to separate the blade from the ground to prevent the lawn mower from continuing to slip.

[0047] Step S13: After the task execution device rises to the target height position, continue to control the movement of the robot.

[0048] In this embodiment, after the adjustment of the working position of the cutter disc is completed, the second displacement information of the lawn mower in the second preset time period can be determined, and it is determined whether the lawn mower is still in a slipping state according to the second displacement information, and the lawn mower is controlled to continue mowing according to the current judgment result. When determining the second displacement information of the lawn mower in the second preset time period, the second positioning information of the lawn mower can be obtained accordingly, and the second actual displacement information of the lawn mower in the second preset time period can be determined according to the second positioning information, and then the current second wheel speed of the lawn mower is determined by the wheel speed sensor of the lawn mower, and the second theoretical displacement information of the lawn mower in the second preset time period is determined based on the second wheel speed. It can be understood that the positioning information of the lawn mower in this embodiment is not limited to satellite positioning, and other methods that can be used for positioning are all available, which are not specifically limited here, and when determining the theoretical displacement information of the lawn mower, it is not limited to determining by wheel speed, for example, methods such as determining the theoretical distance of the lawn mower in a certain period of time by the control software corresponding to the lawn mower can also be used. It can also be understood that the first preset time period and the second preset time period are usually equal and can be adjusted according to actual conditions or user needs. The smaller the time period, the higher the frequency of judging the state of the lawn mower.

[0049] Correspondingly, when judging whether the lawn mower is still in a slipping state, the second displacement difference between the second actual displacement information and the second theoretical displacement information can be determined, and it can be judged whether the second displacement difference is greater than a preset displacement difference threshold; if the second displacement difference is greater than the preset displacement difference threshold, it is judged that the lawn mower is still in a slipping state; if the second displacement difference is not greater than the preset displacement difference threshold, it is judged that the lawn mower has currently left the slipping state.

[0050] In this embodiment, the positioning information of the lawn mower can be firstly obtained through the satellite positioning of the lawn mower, and the actual displacement information of the lawn mower within a preset time period can be determined based on the positioning information, and then the current wheel speed of the lawn mower can be determined through the wheel speed sensor of the lawn mower, and the theoretical displacement information of the lawn mower within the preset time period can be determined based on the wheel speed, and then the displacement difference between the actual displacement information and the theoretical displacement information can be determined, and it can be determined whether the displacement difference is greater than a preset displacement difference threshold value. If the displacement difference is greater than the preset displacement difference threshold value, it is determined that the lawn mower is currently in a slipping state, and then the blade control device of the lawn mower is used to adjust the current initial working position of the blade of the lawn mower to the target position, and after the adjustment of the working position of the blade is completed, it is determined whether the lawn mower is still in a slipping state, and the lawn mower is controlled to continue mowing according to the current judgment result. In this way, by calculating the displacement difference between the actual displacement and theoretical displacement of the lawn mower within a certain period of time, and then comparing the calculated displacement difference with the preset threshold, the current operating state of the lawn mower can be effectively judged, and the position of the cutter disc can be adjusted in time when the lawn mower is in a slipping state to make the lawn mower out of the slipping state, thereby avoiding the lawn mower from continuing to slip in subsequent operations, which helps to improve the working efficiency of the lawn mower and improve the user experience.

[0051] Based on the above embodiment, it can be known that the present application can adjust the position of the cutter disc when the lawn mower is detected to slip, so as to prevent the lawn mower from continuing to slip in subsequent operations. Next, the subsequent working process of the lawn mower will be described in detail in this embodiment. Figure 3 As shown, the embodiment of the present application discloses a specific robot control method, including:

[0052] Step S21, obtaining the positioning information of the robot within a preset time period, and determining the actual displacement information of the robot based on the positioning information; determining the wheel speed of the robot within the preset time period, and determining the theoretical displacement information of the robot based on the wheel speed; determining the displacement difference between the actual displacement information and the theoretical displacement information, and judging whether the robot is currently in a slipping state based on a preset displacement difference threshold.

[0053] It should be noted that, in this embodiment, after the adjustment of the working position of the cutter disc is completed, the current state of the mower can be determined according to the actual displacement information and the theoretical displacement information of the mower. That is, the second displacement information of the mower in the second preset time period can be determined, and the mower can be judged whether it is still in a slipping state according to the second displacement information, and the mower can be controlled to continue mowing according to the current judgment result. And in this embodiment, after judging whether the mower is still in a slipping state according to the second displacement information, if the mower is still in a slipping state, the mower is controlled to retreat according to a preset retreat distance, and after the mower retreats, the mower is controlled to turn based on a preset turning direction, and after the mower turns, the mower is controlled to continue mowing. That is to say, if the mower still slips after the cutter disc is raised, it means that the mower slips due to other reasons, such as wet grass, or the mower is stuck by an obstacle and cannot move. At this time, the mower can be retreated a certain distance to leave a turning space, and then the mower can be controlled to turn and move around the slipping position to continue working.

[0054] If the lawn mower is no longer in a slipping state, the blade disc control device of the lawn mower is used to adjust the blade disc to the above-mentioned current height position, that is, the position of the blade disc before the lawn mower slipped, and the lawn mower is controlled to continue mowing. Correspondingly, after the blade disc is raised, if the lawn mower does not slip, it means that the slip of the lawn mower is caused by the contact between the blade disc and the ground. When the lawn mower does not slip, or after the lawn mower moves a certain distance, it can be considered that the lawn mower has left the raised ground, and the blade disc can be restored to its original height.

[0055] Step S22: determine the slipping position of the robot when it starts to slip, and generate a corresponding slipping area in the working map of the robot according to the slipping position.

[0056] In this embodiment, the current position of the lawn mower can be determined, and the current position can be recorded as a slipping position in the working map of the lawn mower. That is to say, after the cutter disc is raised, if the lawn mower does not slip, the slipping position can be recorded in the map, and the cutter disc can be raised in advance when it reaches the slipping position later. Specifically, satellite positioning can be used (same as the previous embodiment, satellite positioning is not limited in this embodiment, and other positioning can also be selected, such as visual positioning / UWB (Ultra Wide Band) technology) to determine the position where the slip occurs, and generate a corresponding slipping area based on the slipping position to record the slipping area in the map of the working area. In this way, when the lawn mower is about to move to the recorded slipping position, the cutter disc of the lawn mower can be raised in advance, and the cutter disc can be lowered after leaving the slipping position. That is to say, if the lawn mower is still in a slipping state within the second preset time period, the lawn mower will be directly controlled to turn based on the preset steering direction when it reaches the slipping position next time; if the lawn mower is currently out of the slipping state, the initial working position of the cutter disc will be directly adjusted to the target position when the lawn mower reaches the slipping position next time.

[0057] Step S23: If the slip area clearing information sent by the user is obtained, the corresponding slip area is cleared in the work map according to the slip area clearing information.

[0058] In this embodiment, the slip area clearing information sent by the user based on the editing page of the preset application can also be obtained, and the corresponding slip area can be cleared in the work map based on the slip area clearing information.

[0059] Based on the previous step, it can be understood that if the lawn mower still slips after the blade disc is raised, the slipping position can be recorded in the map, and the slipping position can be avoided in advance when it reaches it later. And when the lawn mower still slips after the blade disc is raised, it is considered that there are obstacles (such as tables and chairs) or the grass is wet at the slipping position, and it is impossible to walk. At this time, the slipping position can be recorded in the map of the working area and marked as a restricted area, so that the lawn mower can automatically bypass the restricted area later. In addition, the newly created restricted area can be displayed on the map of the user's mobile client to remind the user that a new restricted area has been created. At the same time, an editing function can be provided. After the user believes that the factors causing the lawn mower to slip have been cleared, the newly created restricted area can be deleted through the editing function. After the restricted area is deleted, the lawn mower will not avoid the slipping position.

[0060] Through the above technical solution, this embodiment can control the lawn mower to retreat and turn when the lawn mower is still in a slipping state, bypass the slipping position and continue to work, or adjust the current working position of the cutter disc to the initial working position to control the lawn mower to continue working. In addition, the current position of the lawn mower slipping can be determined in the process, and the current position can be recorded as the slipping position in the working map of the lawn mower. When the lawn mower is about to move to the recorded slipping position, the cutter disc of the lawn mower can be raised in advance, and the cutter disc can be lowered after leaving the slipping position. The slipping position can also be recorded in the map of the working area and marked as a restricted area, so that the lawn mower can automatically bypass the restricted area and walk in the subsequent lawn mower. After the restricted area is deleted, the lawn mower will not avoid the slipping position. In this way, by establishing the position where the mower slips in the working map of the mower, the cutter disc can be raised in advance or the slipping position can be directly bypassed before the mower reaches the last slipping position next time, thereby further improving the working efficiency of the mower. At the same time, by setting and clearing restricted areas in the working map of the client, the next operation of the mower will not be affected after the slipping area is cleared, thereby effectively improving the working effect of the mower.

[0061] Furthermore, the present application also discloses a robot, comprising:

[0062] main body;

[0063] A wheel assembly is installed on the main body and is used to drive the main body to move;

[0064] A task execution device, installed on the main body, used to execute work tasks;

[0065] A controller is used to implement the aforementioned robot control method.

[0066] Based on this robot, the above robot control method can be implemented and has the same beneficial effects as the above method, which will not be elaborated in detail here.

[0067] Furthermore, the present application also discloses an electronic device. Figure 4 This is a structural diagram of an electronic device 10 according to an exemplary embodiment. The content in the diagram cannot be regarded as any limitation on the scope of use of the present application.

[0068] Figure 4The present invention provides a schematic diagram of the structure of an electronic device 10 provided in an embodiment of the present application. The electronic device 10 may specifically include: at least one processor 11, at least one memory 12, a power supply 13, a communication interface 14, an input / output interface 15, and a communication bus 16. The memory 12 is used to store a computer program, which is loaded and executed by the processor 11 to implement the relevant steps in the robot control method disclosed in any of the aforementioned embodiments. In addition, the electronic device 10 in this embodiment may specifically be an electronic computer.

[0069] In this embodiment, the power supply 13 is used to provide working voltage for each hardware device on the electronic device 10; the communication interface 14 can create a data transmission channel between the electronic device 10 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 15 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0070] In addition, the memory 12, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon can include an operating system 121, a computer program 122, etc., and the storage method can be temporary storage or permanent storage.

[0071] The operating system 121 is used to manage and control the hardware devices on the electronic device 10 and the computer program 122, which can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program that can be used to complete the lawn mower control method executed by the electronic device 10 disclosed in any of the aforementioned embodiments, the computer program 122 can further include a computer program that can be used to complete other specific tasks.

[0072] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein the computer program, when executed by a processor, implements the robot control method disclosed above. The specific steps of the method can refer to the corresponding contents disclosed in the above embodiments, and will not be repeated here.

[0073] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0074] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may 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.

[0075] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0076] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0077] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A robot control method, characterized in that: include: controlling the robot to move; If the robot is currently in a slipping state, raising the task execution device of the robot from a current height position to a target height position; After the task execution device rises to the target height position, the robot continues to be controlled to move.

2. The robot control method according to claim 1, characterized in that: The step of raising the task execution device of the robot from a current height position to a target height position comprises: The robot's blade control device is used to raise the robot's task execution device from the current height position to the target height position; the task execution device is the blade of the robot used to perform mowing tasks, and the target position is the highest position to which the blade can be adjusted.

3. The robot control method according to claim 1, characterized in that: The continuing to control the movement of the robot comprises: If the robot is still in a slipping state, controlling the robot to move backward and turn, so as to continue to control the robot to move after the robot turns; If the robot is currently out of the slipping state, the task execution device of the robot is adjusted to the current height position, and the robot is continued to be controlled to move.

4. The robot control method according to any one of claims 1 to 3, characterized in that: Also includes: The slipping position of the robot when it starts to slip is determined, and a corresponding slipping area is generated in the working map of the robot according to the slipping position.

5. The robot control method according to claim 4, characterized in that: Also includes: When it is determined by using the working map that the robot reaches the slipping area again, the robot is directly controlled to turn or the task execution device of the robot is directly raised to the target height position so as to continue to control the movement of the robot.

6. The robot control method according to claim 5, characterized in that: The directly controlling the robot to turn or directly raising the task execution device of the robot to the target height position includes: If the slipping area is the first target area, the task execution device of the robot is directly raised to the target height position so as to continue to control the movement of the robot; the first target area is the area where the robot can escape from the slipping state when it is in the slipping position; If the slipping area is a second target area, the robot is directly controlled to turn so as to continue to control the movement of the robot; the second target area is an area where the robot is not out of the slipping state at the slipping position.

7. The robot control method according to claim 4, characterized in that: After the corresponding slipping area is generated in the working map of the robot according to the slipping position, the method further includes: If the slip area clearing information sent by the user is obtained, the corresponding slip area is cleared in the work map according to the slip area clearing information.

8. The robot control method according to claim 1, characterized in that: The process of controlling the movement of the robot further includes: Acquiring positioning information of the robot within a preset time period, and determining actual displacement information of the robot according to the positioning information; Determining the wheel speed of the robot within the preset time period, and determining theoretical displacement information of the robot based on the wheel speed; The displacement difference between the actual displacement information and the theoretical displacement information is determined, and whether the robot is currently in a slipping state is determined according to a preset displacement difference threshold.

9. A robot, characterized in that: include: main body; A wheel assembly, mounted on the main body, for driving the main body to move; A task execution device, installed on the main body, for executing work tasks; A controller, used to implement the robot control method as described in any one of claims 1 to 7.

10. An electronic device, characterized in that: The electronic device comprises a processor and a memory; wherein the memory is used to store a computer program, and the computer program is loaded and executed by the processor to implement the robot control method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: Used to store a computer program, which, when executed by a processor, implements the robot control method according to any one of claims 1 to 8.

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