Control method and device of mobile robot, storage medium and electronic equipment

Abstract

The embodiment of the invention provides a control method and device of a mobile robot, a storage medium and electronic equipment, and the method comprises the steps: transmitting a target detection signal to a sensing range of a metal sensor through a transmitter of the metal sensor disposed on the mobile robot, a target reflection signal matched with the target detection signal is received through a receiver of the metal sensor, and the sensing range of the metal sensor is located outside the mobile robot; target detection is conducted on the received target reflection signal, a target detection result is obtained, and the target detection result is used for indicating whether a metal object exists in the sensing range of the metal sensor or not; under the condition that it is determined that the target metal object exists in the sensing range of the metal sensor according to the target detection result, the mobile robot is controlled to execute equipment operation matched with the target metal object; according to the invention, the precision of metal object recognition can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of robotics technology, and in particular, to a control method and device for a mobile robot, a storage medium, and an electronic device. Background Art

[0002] A mobile robot is a machine device with mobile functions. It is a robot composed of devices such as sensors, remote control operators and mobile carriers. For example, the mobile robot can be a sweeping robot.

[0003] In related technologies, mobile robots mostly use laser sensors for environmental perception, that is, they identify objects and measure distances by analyzing and measuring the propagation parameters of light. However, for metal objects, due to the high reflective and conductive properties of metal, the propagation of the measuring light on the surface of the metal object is affected, making it difficult for mobile robots to identify metal objects.

[0004] It can be seen that the control method of the mobile robot in the related art has the technical problem of difficulty in identifying metal objects. Summary of the invention

[0005] The embodiments of the present application provide a control method and device for a mobile robot, a storage medium, and an electronic device to at least solve the technical problem that the control method for a mobile robot in the related art has difficulty in identifying metal objects.

[0006] According to one embodiment of the present application, a control method for a mobile robot is provided, comprising: transmitting a target detection signal within a sensing range of the metal sensor through a transmitter of a metal sensor provided on the mobile robot, and receiving a target reflection signal matching the target detection signal through a receiver of the metal sensor, wherein the sensing range of the metal sensor is located outside the mobile robot; performing target detection on the received target reflection signal to obtain a target detection result, wherein the target detection result is used to indicate whether there is a metal object within the sensing range of the metal sensor; and in the case where it is determined that there is a target metal object within the sensing range of the metal sensor according to the target detection result, controlling the mobile robot to perform a device operation matching the target metal object.

[0007] According to another embodiment of the present application, a control device for a mobile robot is provided, comprising: a transmitting unit, for transmitting a target detection signal to a sensing range of the metal sensor through a transmitter of a metal sensor provided on the mobile robot; a receiving unit, for receiving a target reflection signal matching the target detection signal through a receiver of the metal sensor, wherein the sensing range of the metal sensor is located outside the mobile robot; a detection unit, for performing target detection on the received target reflection signal to obtain a target detection result, wherein the target detection result is used to indicate whether there is a metal object within the sensing range of the metal sensor; and a control unit, for controlling the mobile robot to perform a device operation matching the target metal object when it is determined that there is a target metal object within the sensing range of the metal sensor according to the target detection result.

[0008] According to another embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when run.

[0009] According to another embodiment of the present application, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0010] According to another embodiment of the present application, a computer program product is provided, including a computer program, characterized in that when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0011] Through the embodiments provided by the present application, a target detection signal is emitted by a metal sensor arranged on the mobile robot, and a target reflection signal matching the target detection signal is received. Thus, a special metal detector can be used to detect metal objects outside the mobile robot, thereby avoiding the drawback that optical sensors in related technologies are difficult to identify metal objects; target detection is performed on the received target reflection signal to determine whether there is a metal object within the sensing range of the metal detector of the mobile robot. Thus, target detection can be performed on the metal object according to the target reflection signal to accurately identify small metal objects; after the metal object is identified, the mobile robot is controlled to perform equipment operations matching the target metal object. Thus, the mobile robot can be effectively controlled to perform corresponding different equipment operations for different metal objects, thereby improving the intelligence of the mobile robot; thereby solving the technical problem that the control method of the mobile robot in related technologies is difficult to identify metal objects; and achieving the technical effect of improving the accuracy of metal object identification. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a schematic diagram of an optional control system of a mobile robot provided in an embodiment of the present application;

[0013] Figure 2 is a schematic diagram of the structure of an optional electronic device provided in an embodiment of the present application;

[0014] Figure 3 is a schematic flow chart of an optional control method for a mobile robot according to an embodiment of the present application;

[0015] Figure 4 is a schematic diagram of an optional non-contact metal induction sensor provided in an embodiment of the present application;

[0016] Figure 5 is a schematic diagram of the structure of an optional metal sensor provided in an embodiment of the present application;

[0017] Figure 6 This is a schematic diagram of an optional mobile robot charging docking provided in an embodiment of the present application;

[0018] Figure 7 is a structural block diagram of an optional control device for a mobile robot according to an embodiment of the present application;

[0019] Figure 8 It is a structural block diagram of a computer system of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0021] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0022] The embodiments of the present application provide a control method and device for a mobile robot, a computer storage medium, an electronic device, and a computer program product, which can improve the accuracy of metal object recognition. The exemplary application of the electronic device provided by the embodiments of the present application is described below. The electronic device provided by the embodiments of the present application can be implemented as various types of robot devices such as a mobile robot, a sweeping robot, a floor washing robot, a navigation robot, a robot dog, etc., and can also be implemented as other types of processing devices. The exemplary application when the device is implemented as a mobile robot will be described below.

[0023] refer to Figure 1 , Figure 1 is a schematic diagram of an optional control system of a mobile robot provided in an embodiment of the present application;

[0024] According to one aspect of an embodiment of the present application, a control method for a mobile robot is provided. Optionally, in this embodiment, the control method for a mobile robot can be applied to Figure 1 The control system of the mobile robot shown in the figure. Figure 1 As shown, the control system 100 of the mobile robot may include: a mobile robot 101, a network 102 and a processing device 103. In order to realize a control application supporting a mobile robot, the mobile robot 101 may be connected to the processing device 103 through the network 102, and the network 102 may include but is not limited to at least one of the following: a wired network, a wireless network. The wired network may include but is not limited to at least one of the following: a wide area network, a metropolitan area network, and a local area network, and the wireless network may include but is not limited to at least one of the following: WIFI (Wireless Fidelity), Bluetooth.

[0025] The mobile robot 101 is capable of sending a target detection signal within a sensing range through a transmitter of a metal sensor located outside the mobile robot, and receiving a target reflection signal matching the target detection signal through a receiver of the metal sensor; and performing target detection on the received target reflection signal to obtain a target detection result; when it is determined according to the target detection result that a target metal object exists within the sensing range of the metal sensor, the mobile robot 101 sends the target detection result to the processing device 103 through the network 102, the processing device 103 receives the target detection result, and specifies a corresponding device operation instruction according to the target detection result; the processing device 103 returns the device operation instruction to the mobile robot 101 through the network 102, and the mobile robot 101 responds to the device operation instruction and executes a device operation matching the device operation instruction.

[0026] It should be noted that the above process can also be completed independently by the mobile robot 101, that is, in the absence of a network or other device connection, the mobile robot 101 can transmit a target detection signal within the perception range through the transmitter of the metal sensor located outside the mobile robot, and receive a target reflection signal matching the target detection signal through the receiver of the metal sensor, and perform target detection on the target reflection signal to obtain a target detection result; when it is determined that there is a target metal object within the perception range of the metal sensor according to the target detection result, the device operation matching the target metal object is executed.

[0027] The processing device 103 can be a terminal device, for example, various types of terminal devices such as smart phones, smart watches, smart homes, etc.; it can also be an independent physical device (for example, a physical server), or a device cluster (for example, a server cluster) or a distributed system composed of multiple physical devices, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, as well as big data and artificial intelligence platforms.

[0028] In addition to metal sensors, the mobile robot 101 can also be configured with other physical devices or means, such as image acquisition devices (e.g., cameras), sound acquisition devices (e.g., microphones), optical sensors, etc. The mobile robot 101 can be configured with corresponding other physical devices or means according to the actual application scenarios.

[0029] refer to Figure 2 , Figure 2 is a schematic diagram of the structure of an optional electronic device provided in an embodiment of the present application;

[0030] Optionally, in this embodiment, the control method of the mobile robot may be as follows: Figure 2The electronic device shown is executed. Figure 2 As shown, the electronic device 200 may be the mobile robot 101 or the processing device 103 described above, and the electronic device 200 includes: at least one processor 201, at least one network interface 202, a bus system 203, and a memory 204. The various components in the electronic device 200 are coupled together through the bus system 203. It can be understood that the bus system 203 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 203 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, the bus system 203 is not described in detail. Figure 2 Various buses are labeled as bus system 203.

[0031] The processor 201 can be an integrated circuit chip with signal processing capabilities, such as a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., where the general-purpose processor can be a microprocessor or any conventional processor, etc.

[0032] The memory 204 may be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid-state memory, hard disk drives, optical disk drives, etc. The memory 204 may optionally include one or more storage devices that are physically remote from the processor 201.

[0033] The memory 204 includes a volatile memory or a non-volatile memory, and may also include both volatile and non-volatile memories. The non-volatile memory may be a read-only memory (ROM), and the volatile memory may be a random access memory (RAM). The memory 204 described in the embodiments of the present application is intended to include any suitable type of memory.

[0034] In some embodiments, the memory 204 can store data to support various operations, examples of which include programs, modules, and data structures, or a subset or superset thereof, as exemplarily described below.

[0035] Operating system 2041, including system programs for processing various basic system services and performing hardware-related tasks, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks;

[0036] A network communication module 2042, for reaching other computing devices via one or more (wired or wireless) network interfaces 202, exemplary network interfaces 202 include: Bluetooth, Wireless Compatibility Certification (WiFi), and Universal Serial Bus (USB);

[0037] In some embodiments, the device provided in the embodiments of the present application can be implemented in software. Figure 2 The control device 2043 of the mobile robot stored in the memory 204 is shown, which can be software in the form of programs and plug-ins, etc., including the following software units: a sending unit, a receiving unit, a detection unit, and a control unit. These units are logical, so they can be arbitrarily combined or further split according to the functions implemented. The functions of each unit will be explained below.

[0038] In some embodiments, the robot device, terminal or server can implement the control method of the mobile robot provided in the embodiment of the present application by running a computer program. For example, the computer program can be a native program or software module in the operating system; it can be a native application (Application, referred to as APP), that is, a program that needs to be installed in the operating system to run; it can also be a small program, that is, a program that can be run only by downloading it to a computer environment; it can also be a small program that can be embedded in any APP. In short, the above-mentioned computer program can be an application, module or plug-in in any form.

[0039] In the related art, the ranging tools of mobile robots usually use visible light sensors, invisible light sensors and acoustic sensors, etc. However, since metal objects have high reflectivity and high conductivity properties, the control method of the mobile robot in the related art makes it difficult for the mobile robot to identify metal objects.

[0040] For example, in an indoor cleaning scenario, when the mobile robot is implemented as a sweeping robot, in the related technology, the sweeping robot only uses light sensors (for example, line laser sensors, time-of-flight sensors) for mobile ranging and object recognition, so that the sweeping robot often sucks some small metal objects left on the ground into the dust box during the automatic cleaning and vacuuming process, causing the metal foreign objects to cause significant wear and tear on the cleaning components and storage components of the sweeping robot.

[0041] Through the embodiments provided in the present application, a metal sensor can be set on the outside of the mobile robot, and a special metal detector can be used to detect metal objects within the sensing range of the mobile robot, thereby avoiding the disadvantage that optical sensors in related technologies have difficulty in identifying metal objects; matching equipment operations are performed for the identified target metal objects, thereby improving the automation and intelligence of the mobile robot.

[0042] Optionally, the control method of the mobile robot may be executed by the mobile robot 101 alone, or by the mobile robot 101 and the processing device 103 together, or by other processing devices other than the mobile robot 101 and the processing device 103. As an optional implementation, the control method of the mobile robot in this embodiment is executed by the mobile robot 101 as an example.

[0043] refer to Figure 3 , Figure 3 is a flow chart of an optional control method for a mobile robot according to an embodiment of the present application; Figure 3 As shown, the process of the control method of the above mobile robot may include the following steps.

[0044] In step S301, a target detection signal is transmitted into the sensing range of the metal sensor by a transmitter of the metal sensor provided on the mobile robot, and a target reflection signal matching the target detection signal is received by a receiver of the metal sensor.

[0045] Among them, the sensing range of the metal sensor is located outside the mobile robot.

[0046] In some embodiments, a metal sensor is installed on the mobile robot to detect metal objects outside the mobile robot, avoiding the drawback that optical sensors have difficulty in accurately identifying metal objects; by transmitting a target detection signal within the sensing range through the metal sensor's transmitter, and receiving target reflection information matching the target detection signal through the metal sensor's receiver, metal objects within the sensing range of the mobile robot's metal sensor can be accurately identified, allowing the mobile robot to obtain information about metal objects in the surrounding environment.

[0047] Here, the target detection signal and the target reflection signal may be electromagnetic signals or other types of signals, which may be determined according to the type of the metal sensor. For example, when the metal sensor is an inductive sensor, the target detection signal and the target reflection signal may be electromagnetic signals.

[0048] In some embodiments, the metal sensor includes a magnetic sensor (magnetic metal detector) and an inductive sensor (electromagnetic induction metal detector), wherein the magnetic sensor is used to detect whether there is a metal object within the sensing range by detecting changes in the magnetic field; the inductive sensor is used to detect whether there is a metal object within the sensing range by detecting changes in inductance.

[0049] Here, the metal sensor may be a non-contact metal induction sensor, for example, a coil-type inductive sensor, a parallel capacitive inductive sensor, and the like.

[0050] refer to Figure 4 , Figure 4 4 is a schematic diagram of an optional non-contact metal induction sensor provided in an embodiment of the present application; it includes a metal induction coil 401 and a metal induction component 402.

[0051] Through the embodiments provided in the present application, a metal sensor can be set on a mobile robot to accurately detect metal objects within a sensing range.

[0052] In step S302, target detection is performed on the received target reflection signal to obtain a target detection result.

[0053] The target detection result is used to indicate whether there is a metal object within the sensing range of the metal sensor.

[0054] In some embodiments, the metal sensor of the mobile robot includes a magnetic sensor. When there is a metal object within the sensing range of the metal sensor, the metal sensor can identify the type of the metal object by detecting changes in the magnetic field of the metal object.

[0055] Here, the metal objects may be precious metal objects, such as rings and earrings; they may also be metal parts, such as screws and nails; they may also be decorations (such as hairpins and metal buttons), office supplies (such as paper clips and pins), etc.

[0056] In the related art, the light sensors (eg, line laser sensors, etc.) of mobile robots have limited recognition capabilities and are difficult to detect small metal objects.

[0057] refer to Figure 5 , Figure 5 It is a schematic structural diagram of an optional metal sensor provided in an embodiment of the present application, including a metal sensing area 501 and a metal sensing component 502 .

[0058] For example, magnetic metals such as iron and nickel have a strong effect on magnetic fields and can therefore be detected more easily by metal detectors.

[0059] In some embodiments, the metal sensor of the mobile robot includes a magnetic sensor, which can identify preset magnetic markers within a sensing range to help the mobile robot navigate and locate.

[0060] In some embodiments, the metal sensor of the mobile robot includes an inductive sensor. When there is a metal object within the sensing range of the metal sensor, the metal object will interfere with the electromagnetic signal emitted by the metal detector. The inductive sensor can identify changes in the intensity or frequency of the electromagnetic signal to determine the type of the metal object.

[0061] Through the embodiments provided in the present application, it is possible to determine whether there is a metal object within the sensing range, and the type of the metal object can be determined based on the magnetic field type or electromagnetic interference of the metal object.

[0062] In step S303, when it is determined according to the target detection result that there is a target metal object within the sensing range of the metal sensor, the mobile robot is controlled to perform a device operation matching the target metal object.

[0063] In some embodiments, when it is determined based on the target detection results that there is a target metal object within the perception range of the metal sensor, image acquisition and position acquisition are performed on the target metal object to record the image information and position information of the target metal object. When the mobile robot is in a networked state, the image information and position information of the target metal object are sent to a pre-bound terminal device through the network.

[0064] Here, after receiving the image information and position information of the target metal object, the terminal device can return a preset device operation instruction so that the mobile robot performs a corresponding device operation on the target metal object.

[0065] For example, the device operation corresponding to the preset device operation instruction may be to interrupt the current task to avoid the target metal object; or to ignore the target metal object to execute the current task.

[0066] In some embodiments, in an indoor cleaning scenario, when it is determined that there is a target metal object within the perception range of the metal sensor based on the target detection results, after the mobile robot records the image information and position information of the metal object on the panel, the mobile robot performs an avoidance operation by default to avoid sucking small metal objects into the dust box during automatic cleaning and vacuuming.

[0067] Through the embodiments provided in the present application, when a metal object is detected, the image information and location information of the target metal object can be recorded, and a reminder message can be sent to a pre-bound terminal device to reduce the possibility of loss of user items and improve user experience; the user can assist the mobile robot to make corresponding strategies to avoid the mobile robot being trapped due to obstruction of metal objects; and avoid wear of the internal structure of the machine due to the inhalation of metal objects to increase the service life of the mobile robot.

[0068] Through the above steps of the embodiment of the present application, a target detection signal is transmitted to the sensing range of the metal sensor through the transmitter of the metal sensor set on the mobile robot, and a target reflection signal matching the target detection signal is received through the receiver of the metal sensor, wherein the sensing range of the metal sensor is located outside the mobile robot; target detection is performed on the received target reflection signal to obtain a target detection result, wherein the target detection result is used to indicate whether there is a metal object within the sensing range of the metal sensor; when it is determined according to the target detection result that there is a target metal object within the sensing range of the metal sensor, the mobile robot is controlled to perform a device operation matching the target metal object. The technical problem that the control method of the mobile robot in the related art is difficult to identify metal objects is solved; the technical effect of improving the accuracy of metal object identification and enhancing the degree of intelligence is achieved.

[0069] In an exemplary embodiment, the metal sensor is disposed at at least one of the following positions of the mobile robot: a lower edge of the front side of the mobile robot, a dust suction port of a cleaning member of the mobile robot.

[0070] In the indoor cleaning scenario, the mobile robot also includes a cleaning component (cleaning device), wherein the cleaning component includes a vacuum cleaner, a dust box, a roller brush, and the like.

[0071] In some embodiments, when the metal sensor is disposed at the lower edge of the front side of the mobile robot, the metal sensor has a larger sensing range to detect metal objects in the surrounding environment of the mobile robot, so as to avoid the metal objects in advance and prevent the metal objects from being sucked into the dust box.

[0072] In some embodiments, when the metal sensor is set at the suction port of the cleaning part of the mobile robot, the perception accuracy of the metal sensor is higher. In response to the metal sensor detecting a metal object, the mobile robot stops the current task and stops the rolling brush or reverse rolling brush to avoid the metal object; in response to detecting that the metal object is not within the perception range (the target reflection signal corresponding to the target metal object disappears), the original task is restored.

[0073] Here, the current task of the mobile robot can be determined according to the actual application scenario. For example, in an indoor cleaning scenario, the current task may be to clean the target area; in an indoor navigation scenario, the current task may be to reach the target location according to the expected route.

[0074] Through the embodiments provided in the present application, multiple installation positions for metal sensors are provided, and the installation position of the metal sensor in the mobile robot can be flexibly selected according to the actual application scenario.

[0075] In an exemplary embodiment, when it is determined according to the target detection result that there is a target metal object within the sensing range of the metal sensor, controlling the mobile robot to perform a device operation matching the target metal object includes:

[0076] S11, when the metal sensor is set at the lower edge of the front side of the mobile robot, when it is determined according to the target detection result that there is a target metal object within the sensing range of the metal sensor, the object position of the target metal object is obtained.

[0077] S12, based on the object position of the target metal object, controlling the mobile robot to perform an avoidance operation on the target metal object.

[0078] In some embodiments, the mobile robot can determine the specific location of the target metal object based on a preset laser sensor. The laser sensor can use laser technology to measure the location information and distance information of the target metal object. For example, a light beam is emitted through the laser transmitter of the laser sensor, and the returned reflected light beam is received through the laser sensor receiver. The distance and position between the object and the sensor (i.e., the object position) are calculated based on the time delay of the received reflected light beam and the angle of the reflected light beam.

[0079] For example, the laser sensor preset for the mobile robot may be a time of flight (TOF) sensor.

[0080] In some embodiments, when the metal sensor is set at the lower edge of the front side of the mobile robot, when it is determined according to the target detection result that there is a target metal object within the perception range of the metal sensor, the current task is paused and the mobile robot is controlled to perform a rotation operation or a backward operation. When the metal object is no longer within the perception range (the target reflection signal corresponding to the target metal object disappears), the original task is resumed.

[0081] Here, the avoidance operation may be a rotation operation or a backward operation performed by controlling the mobile robot to enable the mobile robot to avoid the target metal object.

[0082] Through the embodiments provided in the present application, the metal sensor can be set at the lower edge of the front side of the mobile robot, which can increase the sensing range and avoid the detected metal objects in advance.

[0083] In an exemplary embodiment, the target metal object is at least one of the following: a metal sliding door slide rail, a metal bar set on a cliff boundary, and a metal bar set at the entrance and exit of a charging station matched with the mobile robot.

[0084] In some embodiments, the mobile robot can identify a preset target metal object through a metal sensor to perform a preset device operation matching the target metal object.

[0085] For example, when the mobile robot determines that the target metal object is a metal sliding door slide rail, the target metal object is ignored; when the mobile robot determines that the target metal object is a metal bar set on the edge of a cliff, the current task is suspended and the mobile robot turns to avoid or retreats to avoid the target metal object.

[0086] In some embodiments, the metal sliding door slide rail is a metal slide rail used to assist the movement of the room door. The metal sliding door slide rail can be a single metal slide rail or two metal slide rails parallel to each other.

[0087] In some embodiments, the mobile robot is preset with a cliff sensor. The function of the cliff sensor is to determine whether there is a "cliff" (such as steps, platforms, etc.) in front. The cliff sensor is usually installed at the edge of the bottom of the mobile robot, and the number is 4-6. The cliff sensor consists of an infrared signal transmitting tube and a receiving tube. The signal transmitting tube will emit infrared rays to the ground at regular intervals. The sensor determines the height of the ground by recording the time it takes for the signal to return to the receiving tube. If the return time exceeds the set limit value, it is determined that there is a "cliff" in front and sends a signal to the controller. The controller sends a turn or stop command to the mobile robot to prevent falling.

[0088] By setting up metal bars on the edge of the cliff, the mobile robot can be assisted in accurately determining the location of the cliff to avoid falling due to being too close to the edge of the cliff.

[0089] Through the embodiments provided in the present application, it is possible to preset a target metal object and preset matching equipment operations for the mobile robot, thereby improving the intelligence level of the mobile robot.

[0090] In an exemplary embodiment, the target metal object is disposed on two rows of metal bars at the entrance and exit of a charging station matched with a mobile robot; based on the object position of the target metal object, the mobile robot is controlled to perform an avoidance operation on the target metal object, including:

[0091] S21, when the mobile robot is ready to perform a charging operation, based on the position of each row of metal bars in the two rows of metal bars, the mobile robot is controlled to move along the middle area of ​​the two rows of metal bars to dock with the charging station.

[0092] S22, when the mobile robot is docked with the charging station, a charging operation is performed through the charging station.

[0093] In some embodiments, a power threshold is set for the mobile robot. When the power level of the mobile robot is lower than the power threshold, the mobile robot enters a state where charging operations are to be performed. Here, the power threshold setting operation for the mobile robot can be performed directly on the mobile robot, or when the mobile robot is in a state of connection with a target object, the power threshold of the mobile robot can be set through an application in the target object (for example, a mobile terminal device) that is pre-matched with the mobile robot, and a power threshold setting instruction can be sent to the mobile robot to enable the mobile robot to complete the power threshold setting.

[0094] refer to Figure 6 , Figure 6 It is a schematic diagram of an optional mobile robot charging docking provided in an embodiment of the present application; it includes a mobile robot 601, a charging station 602, a metal bar 603 and a metal bar 604.

[0095] In some embodiments, when the mobile robot is about to perform a charging operation, when the mobile robot determines based on the target detection result that the target metal object is two rows of metal bars preset at the entrance and exit of a charging station that matches the mobile robot, the mobile robot is controlled to move along the middle area of ​​the two rows of metal bars according to the position of each row of metal bars in the two rows of metal bars to dock with the charging station. When the docking of the mobile robot and the charging station is completed, the charging operation is performed through the charging station.

[0096] Here, the metal strip provided at the entrance and exit of the charging station matching the mobile robot may be magnetic, and the mobile robot determines the magnetic pole position or magnetic field information of the metal strip through a metal sensor to confirm the docking direction with the charging station.

[0097] Through the embodiments provided in the present application, a plurality of metal bars can be preset near the charging station so that the mobile robot can move along the middle area between two rows of metal bars to accurately dock with the charging station.

[0098] In an exemplary embodiment, when the metal sensor is disposed at the lower edge of the front side of the mobile robot, when it is determined according to the target detection result that there is a target metal object within the sensing range of the metal sensor, obtaining the object position of the target metal object includes:

[0099] S31, when the metal sensor is set at the lower edge of the front side of the mobile robot, when it is determined according to the target detection result that there is a target metal object within the sensing range of the metal sensor, the relative position of the target metal object and the mobile robot is determined based on the target reflection signal.

[0100] S32, converting the relative position according to the current position of the mobile robot to obtain the object position of the target metal object.

[0101] Here, the relative position of the target metal object and the mobile robot is based on the current position information of the mobile robot as the origin, and the distance information and angle information of the target metal object from the origin.

[0102] In some embodiments, the mobile robot can determine the specific location of the target metal object based on a preset laser sensor. The laser sensor can use laser technology to measure the location information and distance information of the target metal object. For example, a light beam is emitted by the laser transmitter of the laser sensor, and the returned reflected light beam is received by the laser sensor receiver. The distance and position between the object and the sensor (i.e., the relative position of the target metal object and the mobile robot) are calculated based on the time delay of the received reflected light beam and the angle of the reflected light beam.

[0103] In some embodiments, the mobile robot is preset with a global positioning system (GPS) module to determine the current position information of the mobile robot. When the metal sensor is set at the lower edge of the front side of the mobile robot, when it is determined according to the target detection result that there is a target metal object within the perception range of the metal sensor, the relative position of the target metal object is converted according to the current position information of the mobile robot to obtain the object position of the target metal object (for example, the coordinate information of the target metal object).

[0104] It should be noted that the mobile robot can simultaneously locate multiple target metal objects, other types of objects, and relative position information or position information of specified target positions within the sensing range.

[0105] In some embodiments, after the mobile robot determines the position of the target object, it can avoid it in advance to avoid problems such as being entangled in wires or blocked by metal objects.

[0106] Through the embodiments provided in the present application, the position information of the target metal object can be determined based on the relative position between the current position of the mobile robot and the target metal object.

[0107] In an exemplary embodiment, when it is determined according to the target detection result that there is a target metal object within the sensing range of the metal sensor, controlling the mobile robot to perform a device operation matching the target metal object includes:

[0108] S41, when the metal sensor is set at the suction port of the cleaning part of the mobile robot, when it is determined according to the target detection result that there is a target metal object within the sensing range of the metal sensor, the mobile robot is controlled to perform a rotation operation or a backward operation.

[0109] In some embodiments, when a metal sensor is disposed at a suction port of a cleaning component of a mobile robot, when it is determined that a target metal object exists within the sensing range of the metal sensor according to a target detection result, the mobile robot is controlled to pause the current task and perform an avoidance operation.

[0110] Here, the mobile robot performs an avoidance operation based on the current position and the object position of the target metal object, wherein the avoidance operation can be a rotation operation or a backward operation, or a combination of multiple movement or turning operations; when it is determined according to the target detection result that there is no target metal object within the perception range of the metal sensor, the avoidance operation is ended.

[0111] In some embodiments, after controlling the mobile robot to perform a rotation operation or a backward operation, if it is determined based on the target detection result that there is no target metal object within the perception range of the metal sensor, the mobile robot continues to perform the original task to complete the preset task while avoiding the target metal object.

[0112] For example, in an indoor cleaning scenario, after controlling the mobile robot to perform a rotation operation, if it is determined based on the target detection results that there is no target metal object within the perception range of the metal sensor, the mobile robot can continue the pre-set cleaning task of the target cleaning area, so as to complete the cleaning of the target cleaning area while avoiding metal objects being accidentally sucked into the cleaning parts.

[0113] In the related art, in indoor cleaning scenarios, the sweeping robot will directly collect the precious metal objects or other metal objects left behind by the user into the dust bag (dust box), causing the user to be unaware that the precious metal objects have been cleaned up directly.

[0114] Through the embodiments provided in the present application, when the metal sensor is arranged at the suction port of the cleaning part of the mobile robot, the metal objects can be avoided according to the preset avoidance operation, which can effectively prevent the loss of precious metal objects.

[0115] In an exemplary embodiment, the method further comprises:

[0116] S51, controlling the cleaning part of the mobile robot to stop running.

[0117] In some embodiments, when a metal sensor is set at the suction port of a cleaning part of a mobile robot, if it is determined based on the target detection result that there is a target metal object within the perception range of the metal sensor, it means that the target metal object is close to the suction port of the cleaning part. If the current task continues, the target metal object will be sucked into the dust box. Therefore, it is necessary to control the cleaning part of the mobile robot to stop operating to avoid the target metal object causing wear to the cleaning part.

[0118] Through the embodiments provided in the present application, it is possible to avoid unnecessary wear of the cleaning element by metal objects, and at the same time, it is also possible to protect precious metal objects from being worn by the cleaning element.

[0119] In an exemplary embodiment, when it is determined according to the target detection result that there is a target metal object within the sensing range of the metal sensor, controlling the mobile robot to perform a device operation matching the target metal object includes:

[0120] S61, when it is determined according to the target detection result that there is a target metal object within the sensing range of the metal sensor, a metal object prompt information is sent to the target object.

[0121] Among them, the metal object prompt information is used to prompt that the target metal object is detected.

[0122] S62, in response to the target operation instruction issued by the target object, controlling the mobile robot to execute the device operation indicated by the target operation instruction and matching the target metal object.

[0123] In some embodiments, in response to determining that there is a target metal object within the perception range of the metal sensor based on the target detection result, the mobile robot sends metal object prompt information to the target object; after the target object receives the metal object prompt information, it sends a corresponding target operation instruction to the mobile robot; the mobile robot responds to the target operation instruction issued by the target object, and controls the robot to execute the device operation indicated by the target operation instruction and matching the target metal object.

[0124] Here, the target object can be a user, a terminal device, etc. When the target object is a user, the mobile robot sends a voice message through a preset voice device to remind the user that the target metal object is detected; when the target object is a terminal device, the mobile robot sends a metal object prompt message to the terminal object to remind the user that the target metal object is detected, for example, by notifying the user through an application that matches the mobile robot.

[0125] In some embodiments, the target operation instruction is pre-set, and the mobile robot can perform matching device operations according to the received target operation instruction, such as avoidance operations, image acquisition operations, position acquisition operations, etc.

[0126] Through the embodiments provided in the present application, the user can be notified when a target metal object is detected, so that the user can assist the mobile robot in performing corresponding operations.

[0127] In an exemplary embodiment, the method further comprises:

[0128] S71, before sending metal object prompt information to the target object, acquiring acquisition data obtained by an image acquisition component on the mobile robot performing image acquisition within a specified time period to obtain target acquisition data.

[0129] The specified time period is a time period determined based on the emission time of the target detection signal or the reception time of the target reflection signal, and the metal object prompt information includes the target acquisition data.

[0130] In some embodiments, when it is determined that there is a target metal object within the perception range of the metal sensor based on the target detection result, a target time period determined by the emission time of the target detection signal when the target metal object is detected and the reception time of the target reflection signal is determined, and acquisition data obtained by the mobile robot through image acquisition within the target time period is obtained as target acquisition data. Here, the acquisition data can be video data or picture data.

[0131] Through the embodiments provided by the present application, after metal is detected, the image acquisition device of the mobile robot can be used to send the video or photos before and after the period of time to the user for viewing, and the user can confirm whether it is a special valuable item. After the user participates in the decision-making, it can be ensured to the greatest extent that valuable items are not lost, and dangerous items can be removed in time.

[0132] In an exemplary embodiment, the method further comprises:

[0133] S81, before sending metal object prompt information to the target object, the target metal object is photographed from multiple angles by an image acquisition component on the mobile robot to obtain a group of first object images corresponding to the target metal object, wherein the metal object prompt information includes a group of first object images.

[0134] In some embodiments, the mobile robot calls the image acquisition component and moves the current position to perform multi-angle image acquisition on the target metal object to obtain a set of first object images of the target metal object, and sends the set of first object images to the target object as one of the metal object prompt information. Here, the mobile robot can perform multi-angle shooting of the target metal object according to a pre-set image acquisition strategy to obtain multi-angle images of the target metal object (for example, front image, side image, overhead image), and record the image acquisition process of the mobile robot.

[0135] Through the embodiments provided in the present application, after the target metal object is detected, multi-angle image acquisition can be performed to facilitate user identification.

[0136] In an exemplary embodiment, the method further comprises:

[0137] S91, before sending metal object prompt information to the target object, the target metal object is photographed from multiple angles by an image acquisition component on the mobile robot to obtain a set of second object images corresponding to the target metal object.

[0138] S92, performing three-dimensional modeling on the target metal object based on a set of second object images to obtain a three-dimensional object model of the target metal object, wherein the metal object prompt information includes the three-dimensional object model.

[0139] In some embodiments, the mobile robot can take multi-angle photos of the target metal object based on the image acquisition component to obtain a set of second object images, and perform three-dimensional modeling based on the second object images to obtain a three-dimensional object model of the target metal object, and send the three-dimensional object model to the target object as one of the metal object prompt information.

[0140] Here, the current position of the mobile robot can be adjusted to achieve multi-angle shooting of the target metal object.

[0141] In some embodiments, after acquiring a set of second object images, the set of second object images is input into a preset three-dimensional modeling application in the mobile robot to complete the construction of a three-dimensional object model of the target metal object based on multi-angle images of the target metal object.

[0142] Through the embodiments provided in the present application, after detecting the target metal object, multi-angle images of the target metal object can be obtained, and a three-dimensional object model of the target metal object can be constructed based on the multi-angle images, thereby improving the intelligence level of the mobile robot.

[0143] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0144] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods of each embodiment of the present application.

[0145] According to another aspect of the embodiments of the present application, a control device for a mobile robot is also provided, and the device is used to implement the control method for the mobile robot provided in the above-mentioned embodiments, which has been described and will not be repeated here. As used below, the terms "module" and "unit" can implement a combination of software and / or hardware for a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0146] Figure 7 is a structural block diagram of an optional control device for a mobile robot according to an embodiment of the present application, such as Figure 7 As shown, the device comprises:

[0147] The transmitting unit 701 is used to transmit a target detection signal to a sensing range of the metal sensor through a transmitter of the metal sensor provided on the mobile robot;

[0148] A receiving unit 702 is used to receive a target reflection signal matching the target detection signal through a receiver of a metal sensor, wherein the sensing range of the metal sensor is located outside the mobile robot;

[0149] The detection unit 703 is used to perform target detection on the received target reflection signal to obtain a target detection result, wherein the target detection result is used to indicate whether there is a metal object within the sensing range of the metal sensor;

[0150] The control unit 704 is used to control the mobile robot to perform equipment operations matching the target metal object when it is determined that there is a target metal object within the sensing range of the metal sensor according to the target detection result.

[0151] It should be noted that the transmitting unit 701 and the receiving unit 702 in this embodiment can be used to execute the above step S301, the detecting unit 703 in this embodiment can be used to execute the above step S302, and the control unit 704 in this embodiment can be used to execute the above step S303.

[0152] Through the embodiments provided by the present application, a target detection signal is emitted by a metal sensor arranged on the mobile robot, and a target reflection signal matching the target detection signal is received. Thus, a special metal detector can be used to detect metal objects outside the mobile robot, thereby avoiding the drawback that optical sensors in related technologies are difficult to identify metal objects; target detection is performed on the received target reflection signal to determine whether there is a metal object within the sensing range of the metal detector of the mobile robot. Thus, target detection can be performed on the metal object according to the target reflection signal to accurately identify small metal objects; after the metal object is identified, the mobile robot is controlled to execute device operations matching the target metal object. Thus, the mobile robot can be effectively controlled to execute corresponding different preset device operations for different metal objects, thereby improving the intelligence of the mobile robot; thereby solving the technical problem that the control method of the mobile robot in related technologies is difficult to identify metal objects; and achieving the technical effect of improving the accuracy of metal object identification.

[0153] In an exemplary embodiment, the control unit comprises:

[0154] The acquisition module is used to acquire the object position of the target metal object when the metal sensor is set at the lower edge of the front side of the mobile robot and it is determined according to the target detection result that there is a target metal object within the sensing range of the metal sensor.

[0155] The control module is used to control the mobile robot to perform an avoidance operation on the target metal object based on the object position of the target metal object.

[0156] In one exemplary embodiment, the control module includes:

[0157] A first control submodule, for controlling the mobile robot to move along a middle area of ​​the two rows of metal bars based on the position of each row of metal bars in the two rows of metal bars to dock with the charging station when the mobile robot is to perform a charging operation;

[0158] The execution submodule is used to execute the charging operation through the charging station when the mobile robot is docked with the charging station.

[0159] In an exemplary embodiment, the acquisition module includes:

[0160] A first determination submodule is used to determine the relative position of the target metal object and the mobile robot based on the target reflection signal when the metal sensor is arranged at the lower edge of the front side of the mobile robot and it is determined according to the target detection result that there is a target metal object within the sensing range of the metal sensor;

[0161] The conversion submodule is used to convert the relative position according to the current position of the mobile robot to obtain the object position of the target metal object.

[0162] In one exemplary embodiment, the control module includes:

[0163] The second control submodule is used to control the mobile robot to perform a rotation operation or a backward operation when the metal sensor is set at the suction port of the cleaning part of the mobile robot and it is determined according to the target detection result that there is a target metal object within the sensing range of the metal sensor.

[0164] In an exemplary embodiment, the above device further comprises:

[0165] The stopping unit is used to control the cleaning part of the mobile robot to stop running.

[0166] In one exemplary embodiment, the control module includes:

[0167] a prompting subunit, for sending metal object prompting information to the target object when it is determined according to the target detection result that there is a target metal object within the sensing range of the metal sensor, wherein the metal object prompting information is used to prompt that the target metal object is detected;

[0168] The execution subunit is used to control the mobile robot to execute the equipment operation indicated by the target operation instruction and matching the target metal object in response to the target operation instruction issued by the target object.

[0169] In an exemplary embodiment, the above device further comprises:

[0170] The acquisition unit is used to obtain the acquisition data obtained by the image acquisition component on the mobile robot during image acquisition within a specified time period to obtain target acquisition data, wherein the specified time period is a time period determined based on the emission time of the target detection signal or the reception time of the target reflection signal, and the metal object prompt information includes the target acquisition data.

[0171] In an exemplary embodiment, the above device further comprises:

[0172] The first shooting unit is used to shoot the target metal object at multiple angles through the image acquisition component on the mobile robot before sending the metal object prompt information to the target object, so as to obtain a group of first object images corresponding to the target metal object, wherein the metal object prompt information includes a group of first object images.

[0173] In an exemplary embodiment, the above device further comprises:

[0174] A second shooting unit is used to shoot the target metal object at multiple angles through an image acquisition component on the mobile robot before sending the metal object prompt information to the target object, so as to obtain a group of second object images corresponding to the target metal object;

[0175] The modeling unit is used to perform three-dimensional modeling on the target metal object based on a set of second object images to obtain a three-dimensional object model of the target metal object, wherein the metal object prompt information includes the three-dimensional object model.

[0176] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0177] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when run.

[0178] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0179] According to one aspect of the present application, a computer program product is provided, the computer program product comprising a computer program / instruction, the computer program / instruction comprising a program code for executing the method shown in the flowchart. Figure 8 The computer program can be downloaded and installed from the network through the communication part 809, and / or installed from the removable medium 811. When the computer program is executed by the central processor 801, various functions provided by the embodiments of the present application are executed. The serial numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

[0180] refer to Figure 8 , Figure 8 It is a structural block diagram of a computer system of an optional electronic device according to an embodiment of the present application.

[0181] Figure 8 The computer system structure block diagram of the electronic device used to implement the embodiment of the present application is schematically shown. Figure 8 As shown, the computer system 800 includes a central processing unit 801 (CPU), which can perform various appropriate actions and processes according to the program stored in the read-only memory 802 (ROM) or the program loaded from the storage part 808 to the random access memory 803 (RAM). Various programs and data required for system operation are also stored in the random access memory 803. The central processing unit 801, the read-only memory 802 and the random access memory 803 are connected to each other through a bus 804. The input / output interface 805 (Input / Output interface, i.e., I / O interface) is also connected to the bus 804.

[0182] The following components are connected to the input / output interface 805: an input section 806 including a keyboard, a mouse, etc.; an output section 807 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a local area network card, a modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the input / output interface 805 as needed. A removable medium 811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 810 as needed so that a computer program read therefrom is installed into the storage section 808 as needed.

[0183] In particular, according to an embodiment of the present application, the process described in each method flow chart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program contains a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 809, and / or installed from the removable medium 811. When the computer program is executed by the central processor 801, various functions defined in the system of the present application are executed.

[0184] It should be noted that Figure 8The computer system 800 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0185] According to another aspect of the embodiments of the present application, there is also provided an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0186] In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the input / output resource pool, and the input / output device is connected to the input / output resource pool.

[0187] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0188] Obviously, those skilled in the art should understand that the modules or steps of the above-mentioned embodiments of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. In this way, the embodiments of the present application are not limited to any specific combination of hardware and software.

[0189] The above description is only the preferred embodiment of the present application and is not intended to limit the embodiments of the present application. For those skilled in the art, the embodiments of the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principles of the embodiments of the present application shall be included in the protection scope of the embodiments of the present application.

Claims

1. A control method for a mobile robot, characterized in that: include: Transmitting a target detection signal into a sensing range of the metal sensor through a transmitter of the metal sensor provided on the mobile robot, and receiving a target reflection signal matching the target detection signal through a receiver of the metal sensor, wherein the sensing range of the metal sensor is located outside the mobile robot; Performing target detection on the received target reflection signal to obtain a target detection result, wherein the target detection result is used to indicate whether there is a metal object within the sensing range of the metal sensor; In a case where it is determined according to the target detection result that a target metal object exists within the sensing range of the metal sensor, the mobile robot is controlled to perform a device operation matching the target metal object.

2. The method according to claim 1, characterized in that The metal sensor is arranged at at least one of the following positions of the mobile robot: the lower edge of the front side of the mobile robot, and the dust suction port of the cleaning part of the mobile robot.

3. The method according to claim 1, characterized in that: When it is determined according to the target detection result that there is a target metal object within the sensing range of the metal sensor, controlling the mobile robot to perform a device operation matching the target metal object includes: When the metal sensor is disposed at the lower edge of the front side of the mobile robot, in the case where it is determined according to the target detection result that the target metal object exists within the sensing range of the metal sensor, acquiring the object position of the target metal object; Based on the object position of the target metal object, the mobile robot is controlled to perform an avoidance operation on the target metal object.

4. The method according to claim 3, characterized in that The target metal object is at least one of the following: a metal sliding door slide rail, a metal bar set on the edge of a cliff, and a metal bar set at the entrance and exit of a charging station matched with the mobile robot.

5. The method according to claim 3, characterized in that: The target metal objects are arranged on two rows of metal bars at the entrance and exit of a charging station matched with the mobile robot; The controlling the mobile robot to perform an avoidance operation on the target metal object based on the object position of the target metal object comprises: When the mobile robot is to perform a charging operation, based on the position of each of the two rows of metal bars, controlling the mobile robot to move along the middle area of ​​the two rows of metal bars to dock with the charging station; When the mobile robot is docked with the charging station, the charging operation is performed through the charging station.

6. The method according to claim 3, characterized in that When the metal sensor is disposed at the lower edge of the front side of the mobile robot, in the case where it is determined according to the target detection result that the target metal object exists within the sensing range of the metal sensor, obtaining the object position of the target metal object comprises: When the metal sensor is arranged at the lower edge of the front side of the mobile robot, in the case where it is determined according to the target detection result that the target metal object exists within the sensing range of the metal sensor, the relative position of the target metal object and the mobile robot is determined based on the target reflection signal; The relative position is converted according to the current position of the mobile robot to obtain the object position of the target metal object.

7. The method according to claim 2, characterized in that When it is determined according to the target detection result that there is a target metal object within the sensing range of the metal sensor, controlling the mobile robot to perform a device operation matching the target metal object includes: When the metal sensor is disposed at the suction port of the cleaning part of the mobile robot, when it is determined according to the target detection result that the target metal object exists within the sensing range of the metal sensor, the mobile robot is controlled to perform a rotation operation or a backward operation.

8. The method according to claim 7, characterized in that In the process of controlling the mobile robot to perform a rotation operation or a backward operation, the method further includes: The cleaning part of the mobile robot is controlled to stop running.

9. The method according to any one of claims 1 to 8, characterized in that When it is determined according to the target detection result that there is a target metal object within the sensing range of the metal sensor, controlling the mobile robot to perform a device operation matching the target metal object comprises: When it is determined according to the target detection result that there is a target metal object within the sensing range of the metal sensor, metal object prompt information is sent to the target object, wherein the metal object prompt information is used to prompt that the target metal object is detected; In response to the target operation instruction issued by the target object, the mobile robot is controlled to perform the equipment operation indicated by the target operation instruction and matching the target metal object.

10. The method according to claim 9, characterized in that Before sending the metal object prompt information to the target object, the method further includes: Acquire acquisition data obtained by the image acquisition component on the mobile robot performing image acquisition within a specified time period to obtain target acquisition data, wherein the specified time period is a time period determined based on the emission time of the target detection signal or the reception time of the target reflection signal, and the metal object prompt information includes the target acquisition data.

11. The method according to claim 9, characterized in that Before sending the metal object prompt information to the target object, the method further includes: The target metal object is photographed at multiple angles by an image acquisition component on the mobile robot to obtain a group of first object images corresponding to the target metal object, wherein the metal object prompt information includes the group of first object images.

12. The method according to claim 9, characterized in that Before sending the metal object prompt information to the target object, the method further includes: The target metal object is photographed at multiple angles by an image acquisition component on the mobile robot to obtain a set of second object images corresponding to the target metal object; Based on the set of second object images, three-dimensional modeling is performed on the target metal object to obtain a three-dimensional object model of the target metal object, wherein the metal object prompt information includes the three-dimensional object model.

13. A control device for a mobile robot, characterized in that: include: A transmitting unit, used for transmitting a target detection signal to a sensing range of the metal sensor through a transmitter of the metal sensor provided on the mobile robot; a receiving unit, configured to receive a target reflection signal matching the target detection signal through a receiver of the metal sensor, wherein a sensing range of the metal sensor is located outside the mobile robot; a detection unit, configured to perform target detection on the received target reflection signal to obtain a target detection result, wherein the target detection result is used to indicate whether there is a metal object within the sensing range of the metal sensor; The control unit is used to control the mobile robot to perform equipment operations matching the target metal object when it is determined that there is a target metal object within the sensing range of the metal sensor according to the target detection result.

14. A computer readable storage medium stores a computer program, wherein: When the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 12 are implemented.

15. An electronic device 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 method described in any one of claims 1 to 12 are implemented.

Images