Robot control method, robot control device, and storage medium
By using temperature detection components on the sweeping robot to obtain the ground temperature change, the problem of misjudgment of dark color ground detection is solved, and more accurate terrain judgment and higher user experience are achieved.
Patent Information
- Application Number
- CN202311348417.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-10-17
- Publication Date
- 2025-04-18
AI Technical Summary
When existing sweeping robots detect dark-colored grounds, infrared and ultrasonic signals are easily absorbed, resulting in misjudgment, believing that the flat ground is a cliff, reducing the user experience.
By setting a temperature detection component on the sweeping robot, the temperature change amount reflected back to the ground is obtained, and the movement direction of the robot is controlled based on the change amount to avoid misjudgment.
It effectively reduces misjudgment caused by different ground materials, improves robots' accurate judgment of terrain, and improves user experience.
Smart Images
Figure CN119837448A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of sweeping robots, and in particular to a robot control method, a robot control device, and a storage medium. Background Art
[0002] As a product of science and technology, there are many types of robots, which can solve the repetitive labor of people and improve labor efficiency and accuracy. Among them, the emergence of sweeping robots has liberated labor and is deeply loved by consumers. At present, the domestic sweeping robot market has great potential.
[0003] An important function of a sweeping robot is to detect cliff terrain. In related technologies, a cliff sensor is installed on the edge of the sweeping robot, and a built-in infrared or ultrasonic transceiver is used to determine whether it encounters a cliff terrain. However, some dark-colored ground has an absorption effect on infrared and ultrasonic waves, which can easily cause misjudgment, resulting in a weak received signal, and it is easy to misjudge a flat ground as a cliff, reducing the user experience. Summary of the invention
[0004] In order to overcome the problems existing in the related art, the present disclosure provides a robot control method, a robot control device and a storage medium.
[0005] According to a first aspect of an embodiment of the present disclosure, a robot control method is provided, the method comprising acquiring a temperature detected by a temperature detection component during movement of the robot; determining a temperature change in response to monitoring a change in the temperature detected by the temperature detection component; and controlling the movement of the robot based on the temperature change.
[0006] In one embodiment, controlling the movement of the robot based on the temperature change includes: controlling the movement of the robot based on a first temperature change and / or a second temperature change, as well as the temperature change; the first temperature change is a temperature change corresponding to an anti-fall height of the robot; the second temperature change is a pre-obtained temperature change between different ground properties of the robot at the same ground height, and the different ground properties correspond to different ground reflected temperatures.
[0007] In one embodiment, the movement of the robot is controlled based on the first temperature change and / or the second temperature change, as well as the temperature change, including: if the temperature change is less than or equal to the first temperature change, the robot is controlled to maintain the current movement; if the temperature change is greater than the first temperature change, the movement of the robot is controlled based on the temperature change and the second temperature change.
[0008] In one embodiment, if the temperature change is less than or equal to the first temperature change, the robot is controlled to maintain the current movement, including: if the temperature change is less than or equal to the first temperature change, determining that the terrain in the current movement direction is passable terrain, and controlling the robot to pass through the terrain.
[0009] In one embodiment, controlling the movement of the robot based on the temperature change and the second temperature change includes: if the temperature change is not equal to the second temperature change, controlling the movement direction of the robot to another movement direction different from the current movement direction; if the temperature change is equal to the second temperature change, determining the distance detected by a cliff sensor, and controlling the movement of the robot according to the distance detected by the cliff sensor.
[0010] In one embodiment, if the temperature change is not equal to the second temperature change, the movement direction of the robot is controlled to be other movement directions different from the current movement direction, including: if the temperature change is not equal to the second temperature change, determining that the terrain change height of the current movement direction is greater than the anti-fall height of the robot, and controlling the movement direction of the robot to be other movement directions different from the current movement direction.
[0011] In one embodiment, the cliff sensor includes a first cliff sensor and a second cliff sensor, and the first cliff sensor and the second cliff sensor detect the current terrain change height based on different parameters. The controlling the movement direction of the robot based on the distance detected by the cliff sensor includes: in response to any one of the first cliff sensor and the second cliff sensor detecting that the current terrain change height has not changed, controlling the robot to maintain the current movement; in response to the first cliff sensor and the second cliff sensor both detecting that the current ground height has changed, and the current ground change height detected by the first cliff sensor does not match the current ground change height of the second cliff sensor, controlling the robot to maintain the current movement; in response to the first cliff sensor and the second cliff sensor both detecting that the current ground height has changed, and the current ground change height detected by the first cliff sensor matches the current ground change height of the second cliff sensor, controlling the movement direction of the robot to another movement direction different from the current movement direction.
[0012] In one embodiment, the robot is provided with a heat dissipation hole and a cliff sensor, the heat dissipation hole is arranged on the robot within a first preset distance from the cliff sensor, and the temperature detection component is arranged on the robot within a second preset distance from the heat dissipation hole.
[0013] In one embodiment, the second temperature change is determined in the following manner: the robot moves to a ground having a second attribute based on a ground having a first attribute, and records the temperature change detected by the temperature detection component, wherein the first attribute and the second attribute are different ground attributes; based on the recorded temperature change detected by the temperature detection component, the second temperature change is determined.
[0014] According to a second aspect of an embodiment of the present disclosure, a robot control device is provided, which includes: an acquisition unit for acquiring the temperature detected by the temperature detection component during the movement of the robot; a determination unit for determining a temperature change in response to monitoring a change in the temperature detected by the temperature detection component; and a control unit for controlling the movement direction of the robot based on the temperature change.
[0015] In one embodiment, the control unit controls the movement of the robot based on the temperature change in the following manner: based on the first temperature change and / or the second temperature change, and the temperature change, the movement of the robot is controlled; the first temperature change is the temperature change corresponding to the anti-fall height of the robot; the second temperature change is the pre-obtained temperature change between different ground properties of the robot at the same ground height, and the different ground properties correspond to different ground reflected temperatures.
[0016] In one embodiment, the control unit controls the movement of the robot based on the first temperature change and / or the second temperature change, as well as the temperature change in the following manner: if the temperature change is less than or equal to the first temperature change, the robot is controlled to maintain the current movement; if the temperature change is greater than the first temperature change, the movement of the robot is controlled based on the temperature change and the second temperature change.
[0017] In one embodiment, if the temperature change is less than or equal to the first temperature change, the control unit controls the robot to maintain the current movement direction in the following manner, including: in response to the temperature change being less than or equal to the first temperature change, determining that the terrain in the current movement direction is passable terrain, and controlling the robot to pass through the terrain.
[0018] In one embodiment, the control unit controls the movement of the robot based on the temperature change and the second temperature change in the following manner, including: if the temperature change is not equal to the second temperature change, controlling the movement direction of the robot to another movement direction different from the current movement direction; if the temperature change is equal to the second temperature change, determining the distance detected by a cliff sensor, and controlling the movement of the robot according to the distance detected by the cliff sensor.
[0019] In one embodiment, if the temperature change is not equal to the second temperature change, the control unit controls the movement direction of the robot to other movement directions different from the current movement direction in the following manner, including: if the temperature change is not equal to the second temperature change, determining that the terrain change height of the current movement direction is greater than the anti-fall height of the robot, and controlling the movement direction of the robot to other movement directions different from the current movement direction.
[0020] In one embodiment, the control unit adopts the following method based on the cliff sensor including a first cliff sensor and a second cliff sensor, wherein the first cliff sensor and the second cliff sensor detect the current terrain change height based on different parameters, and the control of the movement direction of the robot based on the distance detected by the cliff sensor includes: in response to any one of the first cliff sensor and the second cliff sensor detecting that the current terrain change height has not changed, the robot is controlled to maintain the current movement; in response to the first cliff sensor and the second cliff sensor both detecting that the current ground height has changed, and the current ground change height detected by the first cliff sensor does not match the current ground change height of the second cliff sensor, the robot is controlled to maintain the current movement; in response to the first cliff sensor and the second cliff sensor both detecting that the current ground height has changed, and the current ground change height detected by the first cliff sensor and the current ground change height of the second cliff sensor match, the robot is controlled to move in a direction other than the current direction.
[0021] In one embodiment, the robot is provided with a heat dissipation hole and a cliff sensor, the heat dissipation hole is arranged on the robot within a first preset distance from the cliff sensor, and the temperature detection component is arranged on the robot within a second preset distance from the heat dissipation hole.
[0022] In one embodiment, the acquisition unit determines the second temperature change in the following manner: the robot moves to a ground having a second attribute based on a ground having a first attribute, and records the temperature change detected by the temperature detection component, wherein the first attribute and the second attribute are different ground attributes; based on the recorded temperature change detected by the temperature detection component, the second temperature change is determined.
[0023] According to the third aspect of the present disclosure, a robot is provided, comprising: a robot body; a temperature detection component for detecting temperature changes; a processor; and a memory for storing processor executable instructions; wherein the processor is configured to: execute the robot control method described in the first aspect or any one of the embodiments of the first aspect.
[0024] According to a fourth aspect of the present disclosure, a storage medium is provided, in which instructions are stored. When the instructions in the storage medium are executed by a processor of a terminal, the terminal is enabled to execute the robot control method described in the first aspect or any one of the embodiments of the first aspect.
[0025] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: the temperature reflected from the ground is detected by the robot temperature detection component, the temperature change is determined in response to the temperature detected by the temperature detection component being monitored to change, and the robot movement direction is controlled based on the temperature change. Through the present disclosure, the robot movement is controlled based on the temperature change, the situation of misjudgment caused by different ground materials is reduced, and the robot's accurate judgment of the terrain is improved.
[0026] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.
[0028] Figure 1 is a block diagram of a cleaning robot device according to an exemplary embodiment.
[0029] Figure 2 The figure is a flow chart of a robot control method according to an exemplary embodiment.
[0030] Figure 3 is a schematic diagram of an improved robot control device according to an exemplary embodiment
[0031] Figure 4The present invention is a flowchart of a method for controlling a robot based on a first temperature variation according to an exemplary embodiment.
[0032] Figure 5 The figure is a flow chart showing a cliff sensor detection method according to an exemplary embodiment.
[0033] Figure 6 is a block diagram of a robot control device according to an exemplary embodiment.
[0034] Figure 7 It is a block diagram of a device for robot control according to an exemplary embodiment. DETAILED DESCRIPTION
[0035] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present disclosure.
[0036] The cliff sensor of the sweeping robot provided in the embodiment of the present disclosure is composed of an infrared or ultrasonic transceiver.
[0037] like Figure 1 FIG. 1 is a schematic diagram of a cleaning robot device according to an exemplary embodiment. Figure 1 As shown, the robot vacuum cleaner can detect "cliff terrain". If a cliff terrain is detected, the moving direction will be changed. If no cliff is detected, there will be a risk of falling. Among them, the cliff terrain can be understood as stairs and other similar terrain.
[0038] The sweeping robot can be equipped with a cliff sensor at the edge to detect cliff terrain. The cliff sensor contains a set of infrared or ultrasonic transceivers, which uses the time difference between the time of emitting infrared (or ultrasonic) and the time of receiving infrared (or ultrasonic) to determine whether it encounters cliff terrain.
[0039] Among them, the cliff sensor is a sensor that realizes cliff detection and avoidance. The sensor can be composed of an infrared transmitting tube and an infrared receiving tube. The sensor is installed at the bottom. The infrared transmitting tube emits infrared rays to the ground at regular intervals. If it takes a long time to return or does not return, it indicates that the chassis is far away from the ground, so falling can be avoided.
[0040] The infrared transmitter is used to generate an infrared signal of a certain frequency and irradiate it onto the target object. After irradiation, part of the infrared light is absorbed by the target object and part is emitted back. The infrared receiver is used to receive the infrared signal reflected back by the target object. It can determine the distance between the target object and the sensor by measuring the intensity of the received infrared light.
[0041] If the time difference is greater than a preset threshold, it is considered that a cliff terrain has been encountered, and the sweeping robot needs to mark it on the map to avoid this area. If the time interval from transmission to reception is less than the preset threshold, it is considered to be normal flat ground, and the sweeping robot can work normally in this area.
[0042] However, the accuracy of infrared detection is affected by the color of the ground, and the accuracy of ultrasonic detection is affected by the material of the ground. When encountering some dark-colored ground (such as black marble ground, dark carpet, etc.), it has an adsorption (absorption) effect on infrared and ultrasonic waves. This causes the emitted infrared and ultrasonic waves, even if it is ordinary flat ground, only part of the reflected wave is received, resulting in misjudgment. That is, because the received signal is weak, the flat ground is misjudged as a cliff, so the sweeping robot will not clean this area, bringing a poor experience to users.
[0043] In view of this, the present disclosure proposes a robot control method to control the movement direction of the robot based on the temperature change.
[0044] Figure 2 is a flowchart of a robot control method according to an exemplary embodiment. Figure 2 As shown, the following steps are included.
[0045] In step S11 , during the movement of the robot, the temperature detected by the temperature detection component is obtained.
[0046] In the disclosed embodiment, the temperature detection component is disposed at the front bottom of the robot, and the temperature detection component can be used to detect the temperature reflected from the ground.
[0047] The embodiments of the present disclosure can be found in Figure 3 , Figure 3 FIG. 1 is a schematic diagram of an improved robot control device according to an exemplary embodiment. Figure 3 As shown, the temperature detection component is located at the front bottom of the robot and is used to detect the temperature emitted from the ground. By detecting temperature changes, the movement direction of the robot is controlled to prevent the robot from making misjudgments, falling down the stairs or not cleaning properly.
[0048] In one example, the temperature detection component may include a heat dissipation hole and a temperature sensor. Among them, the temperature sensor may be a sensor with monitoring temperature information. For example, a negative temperature coefficient thermistor. The temperature detected by the temperature sensor is affected by the indoor ambient temperature, the direct heat dissipation of the sweeping robot, and the reflected heat of the heat dissipation wind from the air outlet of the sweeping robot. Among the above three variables, the indoor ambient temperature and the direct heat dissipation of the air outlet of the sweeping robot are fixed for the same device to work once. The only thing that changes is the reflected heat of the heat dissipation wind from the air outlet of the sweeping robot, that is, the heat emitted by the hot air from the air outlet after it blows to the ground.
[0049] In step S12, in response to monitoring a change in the temperature detected by the temperature detection component, the amount of temperature change is determined.
[0050] In the disclosed embodiment, the temperature change detected by the temperature detection component may be in various situations, such as a change in the ground material, a change in the ground color, or a change in the ground height, and the temperature change amount is determined based on the above changes.
[0051] In step S13, the movement of the robot is controlled based on the temperature change amount.
[0052] In the disclosed embodiment, the movement of the robot is controlled by the temperature change, wherein the temperature change can be based on a variety of situations, each change corresponding to a respective movement direction, thereby improving the robot's accurate judgment of the terrain and reducing the possibility of misjudgment due to different ground materials.
[0053] The temperature variation is described below in the embodiments of the present disclosure.
[0054] The movement of the robot is controlled based on the temperature change. The temperature change is based on the first temperature change, the second temperature change, and the temperature change. The heat reflected by the cooling air from the air outlet of the sweeping robot is restricted by two factors: one is the change in the ground material (for example, when moving from a wooden floor to a carpet, the material changes and the heat reflection will change), and the other is the distance between the air outlet and the ground. Based on this, the first temperature change based on the distance between the air outlet and the ground and the second temperature change based on the change in the ground material can be set.
[0055] The first temperature change is the temperature change corresponding to the anti-fall height. It is understandable that in the disclosed embodiment, the temperature change corresponding to the anti-fall height of the robot is determined as the first temperature change. The anti-fall height can be understood as a height that, if less than or equal to, the robot will not fall and can continue to move in the current direction of movement.
[0056] The second temperature change is the pre-obtained temperature change between different ground properties of the robot at the same ground height, and different ground properties correspond to different ground reflection temperatures. It can be understood that in the disclosed embodiment, the robot can confirm the second temperature change based on the pre-obtained temperature change between different ground properties at the same ground height. Among them, different ground properties can be grounds of different colors and grounds of different materials. Different ground properties correspond to different ground reflection temperatures, which can also be understood as recording the temperature changes reflected by different grounds as the second temperature change. The second temperature change is obtained by training and learning.
[0057] In the disclosed embodiment, based on the multi-faceted detection of the first temperature change amount and the second temperature change amount, the robot movement is controlled to improve the robot's cliff detection accuracy.
[0058] Figure 4 is a flow chart showing a method for controlling a robot based on a first temperature variation according to an exemplary embodiment. Figure 4 As shown, the following steps are included.
[0059] In step S21, the movement of the robot is controlled based on the first temperature change.
[0060] In step S22a, the temperature change is less than or equal to the first temperature change, and the robot is controlled to maintain the current motion.
[0061] In the disclosed embodiment, if the temperature change is less than or equal to the first temperature change, that is, the temperature change is less than or equal to the temperature change corresponding to the anti-fall height of the robot, it can also be understood that the height difference between the current bottom and the ground is less than the anti-fall height, and the robot can pass directly without the risk of falling and being injured. Based on this, the robot maintains the current movement without making any changes.
[0062] In step S22b, the temperature change amount is greater than the first temperature change amount, and the movement of the robot is controlled based on the temperature change amount and the second temperature change amount.
[0063] In the disclosed embodiment, if the temperature change is greater than the first temperature change, it may be that the temperature change is greater than the temperature change corresponding to the robot's anti-fall height or equal to the second temperature change. Based on this, the relationship between the current change and the second temperature change is further determined to control the movement of the robot.
[0064] In the disclosed embodiment, the relationship between the first temperature change and the temperature change is first determined, and then the relationship between the second temperature change and the temperature change is determined, which provides multiple solutions for the detection of the sweeping robot and realizes accurate prediction of the sweeping robot.
[0065] The embodiment of the present disclosure is described below when the temperature change amount is less than or equal to the first temperature change amount.
[0066] Based on the temperature change being less than or equal to the first temperature change, the robot is controlled to maintain the current motion, including: based on the current temperature change being less than or equal to the first temperature change, the terrain in the current motion direction is determined to be passable terrain, and the robot is controlled to pass through the current terrain.
[0067] In the embodiment of the present disclosure, if the temperature change is less than or equal to the first temperature change, it can be understood that the robot determines that the current movement direction is passable terrain, and the robot is controlled to pass the current terrain and continue moving.
[0068] The embodiment of the present disclosure will now describe how to control the movement of the robot based on the second temperature variation.
[0069] If the temperature variation is not equal to the second temperature variation, the movement direction of the robot is controlled to be another movement direction different from the current movement direction.
[0070] In the disclosed embodiment, when the temperature change is greater than the first temperature change and is not equal to the second temperature change, it can be understood that the robot's anti-fall height has been reached and the ground properties have changed. At the same time, combined with the first temperature change, it can be determined that the robot's anti-fall height has been reached, and the movement direction of the sweeping robot is controlled to be other movement directions different from the current movement direction.
[0071] If the temperature change is equal to the second temperature change, the distance detected by the cliff sensor is determined, and the movement direction of the robot is controlled based on the distance detected by the cliff sensor. It can be understood that when it is determined that the current temperature change is equal to the second temperature change, the distance detected by the cliff sensor set at the bottom is determined, and the movement of the robot is controlled based on the distance detected by the cliff sensor.
[0072] In the disclosed embodiment, the temperature change is equal to the second temperature change, which can be understood as being consistent with the second temperature change in the learning process, that is, the ground properties have no effect on whether the sweeping robot changes direction, and further judges the distance between the sweeping robot and the ground to control the movement of the robot.
[0073] In the disclosed embodiment, the sweeping robot can further improve its accurate judgment of the terrain by using a cliff sensor.
[0074] The embodiment of the present disclosure will be described below in terms of the temperature change amount not being equal to the second temperature change amount.
[0075] If the temperature change is not equal to the second temperature change, the movement direction of the robot is controlled to be other movement directions different from the current movement direction, including: if the temperature change is not equal to the second temperature change, it is determined that the terrain change height of the current movement direction is greater than the anti-fall height of the robot, and the movement direction of the robot is controlled to be other movement directions different from the current movement direction.
[0076] In the disclosed embodiment, if the temperature change is not equal to the second temperature change, it can be understood that the terrain change height in the current movement direction is greater than the robot's anti-fall height, and it is an impassable terrain. In this case, the robot's movement direction is controlled to be other movement directions different from the current movement direction.
[0077] The following describes how the cliff sensor controls the movement direction of the sweeping robot in the embodiments of the present disclosure.
[0078] Figure 5 is a flow chart showing a cliff sensor detection method according to an exemplary embodiment. Figure 5 As shown, the following steps are included.
[0079] In step S31, the current terrain change height is detected based on the cliff sensor.
[0080] The cliff sensor in the disclosed embodiment includes a first cliff sensor and a second cliff sensor, wherein the first sensor may be an infrared sensor and the second sensor may be an ultrasonic sensor. The detection accuracy of the infrared sensor is affected by the color of the ground (white, black), and the detection accuracy of the ultrasonic sensor is affected by the material of the ground (ceramic tile, template, carpet). If only the material of the ground changes, the detection result of the first sensor is accurate, and if only the color of the ground changes, the detection result of the second cliff sensor is accurate.
[0081] The first cliff sensor and the second cliff sensor detect the current terrain change height based on different parameters.
[0082] In step S32a, in response to any one of the first cliff sensor and the second cliff sensor detecting that the current terrain change height does not change, the robot is controlled to maintain the current motion.
[0083] In the embodiment of the present disclosure, if any one of the first cliff sensor and the second cliff sensor detects that the current terrain change height has not changed, it can be understood that the first temperature change amount is exactly equal to the second temperature change amount. Based on further detection by the cliff sensor, it is determined that the current terrain change height has not changed, and the sweeping robot can be controlled to maintain the current motion.
[0084] In step S32b, in response to the current ground change height detected by the first cliff sensor not matching the current ground change height detected by the second cliff sensor, the robot is controlled to maintain the current motion.
[0085] In the disclosed embodiment, the first cliff sensor and the second cliff sensor both detect that the current height has changed, and the current ground change height detected by the first cliff sensor is inconsistent with the current ground change height detected by the second cliff sensor. Since the first cliff sensor and the second cliff sensor are subject to different interferences, the detection results are inconsistent, resulting in inaccurate detection results. In this case, it is still considered that the ground height has not changed, and the sweeping robot is controlled to maintain the current motion.
[0086] In step S32c, in response to the current ground change height detected by the first cliff sensor being consistent with the current ground change height detected by the second cliff sensor, the robot is controlled to move in another direction different from the current direction.
[0087] In the disclosed embodiment, the first cliff sensor and the second cliff sensor both detect that the current ground height has changed, and the current ground change height detected by the first cliff sensor is consistent with the current ground change height of the second cliff sensor, so it can be determined that the local height has changed, and the movement direction of the sweeping robot is controlled to be other movement directions different from the current movement direction, that is, the movement direction is changed.
[0088] In the disclosed embodiment, after the temperature change amount is equal to the second temperature change amount, the distance between the bottom and the ground is further determined by the cliff sensor to thereby control the movement direction of the sweeping robot, thereby reducing the probability of the sweeping robot misjudging the terrain and improving the detection accuracy of the sweeping robot.
[0089] The structure of the robot is described below in the embodiment of the present disclosure.
[0090] The robot is provided with a heat dissipation hole and a cliff sensor. The heat dissipation hole is arranged on the robot within a first preset distance from the cliff sensor, and the temperature detection component is arranged on the robot within a second preset distance from the heat dissipation hole.
[0091] In the disclosed embodiment, the heat dissipation holes of the robot are arranged within the first preset distance of the cliff sensor, and the temperature detection component is placed within the second preset distance. The first preset distance and the second preset distance can be preset. In the disclosed embodiment, by arranging the heat dissipation holes of the robot within the first preset distance of the cliff sensor, the heat can be concentratedly dissipated only from the heat dissipation holes within the first preset distance of the cliff sensor, thereby improving the detection accuracy of the robot cliff sensor and the temperature detection component, and reducing the misjudgment of the anti-fall terrain.
[0092] The following embodiments of the present disclosure describe other situations encountered by the sweeping robot.
[0093] A. The ground material and ground height change at the same time:
[0094] If the temperature change is less than or equal to the first temperature change, the cleaning robot is controlled to maintain the current movement direction.
[0095] If the temperature change is greater than the first temperature change, and the temperature change is equal to the second temperature change, the distance between the bottom and the ground is determined by the first cliff sensor. If the distance is greater than the current terrain change height, the robot is controlled to move in a direction different from the current direction; if the distance is less than the current terrain change height, the robot is controlled to maintain the current direction.
[0096] B. The ground color and ground height change at the same time:
[0097] If the temperature change is less than or equal to the first temperature change, the cleaning robot is controlled to maintain the current motion.
[0098] If the temperature change is greater than the first temperature change, and the temperature change is equal to the second temperature change, the distance between the bottom and the ground is determined by the second cliff sensor. If the distance is greater than the current terrain change height, the robot is controlled to move in a direction different from the current direction; if the distance is less than the current terrain change height, the robot is controlled to move in the current direction. The method for determining the second temperature change is described below in the disclosed embodiment.
[0099] In the disclosed embodiment, the robot moves to a ground with a second attribute based on a ground with a first attribute, and records the temperature change detected by a temperature detection component, wherein the first attribute and the second attribute are different ground attributes; based on the recorded temperature change detected by the temperature detection component, the second temperature change is determined.
[0100] In the embodiment of the present disclosure, the ground with the first attribute can be wooden floor, marble, etc., and the ground with the second attribute is a ground different from the first attribute. The temperature change is recorded based on the ground with different attributes and determined as the second temperature change. It can be understood that the sweeping robot is placed at the same height and the ground material changes to perform sampling learning.
[0101] For example, if there are two materials in the house, wooden floor and marble, the temperature change needs to be learned from wooden floor to marble, and then from marble to wooden floor; if there are three materials, wooden floor, marble, and carpet, they need to be learned at the intersection of each other, and so on. Based on this, the temperature changes caused by different materials at the same height can be obtained.
[0102] It should be noted that although the ambient temperature during the learning process is different from the ambient temperature during actual use, it has no effect on the temperature change. For example, if the learning action is done in spring, in summer, although the ambient temperature is higher, it has no effect on the temperature change of the learning.
[0103] In the above embodiments of the present disclosure, the probability of misjudgment of terrain is reduced through multiple judgments of temperature change and the first temperature change, the second temperature change, the first distance sensor, and the second distance sensor, while improving the accuracy of direction detection of the sweeping robot.
[0104] Based on the same concept, the embodiment of the present disclosure also provides a robot control device 100 .
[0105] It is understandable that the robot control device 100 provided in the embodiment of the present disclosure includes hardware structures and / or software modules corresponding to the execution of each function in order to realize the above functions. In combination with the units and algorithm steps of each example disclosed in the embodiment of the present disclosure, the embodiment of the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiment of the present disclosure.
[0106] Figure 6 FIG. 1 is a block diagram of a robot control device according to an exemplary embodiment. Figure 6 The device 100 includes an acquisition unit 101, a determination unit 102 and a control unit 103.
[0107] The acquisition unit 101 is used to acquire the temperature detected by the temperature detection component during the movement of the robot.
[0108] The determination unit 102 is used to determine a temperature change amount in response to monitoring a change in the temperature detected by the temperature detection component.
[0109] The control unit 103 is used to control the movement of the robot based on the temperature change.
[0110] In one embodiment, the control unit 103 controls the movement of the robot based on the temperature change in the following manner: based on the first temperature change and / or the second temperature change, and the temperature change, the movement direction of the robot is controlled. The first temperature change is the temperature change corresponding to the anti-fall height of the robot. The second temperature change is the temperature change between different ground properties of the robot at the same ground height obtained in advance, and different ground properties correspond to different ground reflection temperatures.
[0111] In one embodiment, the control unit 103 controls the movement of the robot based on the first temperature change amount and / or the second temperature change amount, and the temperature change amount in the following manner: if the temperature change amount is less than or equal to the first temperature change amount, the robot is controlled to maintain the current movement direction. If the temperature change amount is greater than the first temperature change amount, the movement of the robot is controlled based on the temperature change amount and the second temperature change amount.
[0112] In one embodiment, if the temperature change is less than or equal to the first temperature change, the control unit 103 controls the robot to maintain the current direction of movement in the following manner, including: in response to the temperature change being less than or equal to the first temperature change, determining that the terrain in the current direction of movement is passable terrain, and controlling the robot to pass through the terrain.
[0113] In one embodiment, if the temperature change is greater than the first temperature change, the control unit 103 controls the movement of the robot in the following manner: if the temperature change is not equal to the second temperature change, the movement direction of the robot is controlled to be another movement direction different from the current movement direction. If the temperature change is equal to the second temperature change, the distance detected by the cliff sensor is determined, and the movement of the robot is controlled based on the distance detected by the cliff sensor.
[0114] In one embodiment, if the temperature change is not equal to the second temperature change, the control unit 103 controls the movement direction of the robot to other movement directions different from the current movement direction in the following manner, including: if the temperature change is not equal to the second temperature change, determining that the terrain change height of the current movement direction is greater than the anti-fall height of the robot, and controlling the movement direction of the robot to other movement directions different from the current movement direction.
[0115] In one embodiment, the control unit 103 adopts the following method based on the cliff sensor including a first cliff sensor and a second cliff sensor, the first cliff sensor and the second cliff sensor detect the current terrain change height based on different parameters, and the robot's movement direction is controlled based on the distance detected by the cliff sensor, including: in response to any one of the first cliff sensor and the second cliff sensor detecting that the current terrain change height has not changed, the robot is controlled to maintain the current movement. In response to the first cliff sensor and the second cliff sensor both detecting that the current ground height has changed, and the current ground change height detected by the first cliff sensor does not match the current ground change height of the second cliff sensor, the robot is controlled to maintain the current movement. In response to the first cliff sensor and the second cliff sensor both detecting that the current ground height has changed, and the current ground change height detected by the first cliff sensor and the current ground change height of the second cliff sensor match, the robot's movement direction is controlled to be another movement direction different from the current movement direction.
[0116] In one embodiment, a heat dissipation hole and a cliff sensor are provided on the robot, the heat dissipation hole is provided on the robot within a first preset distance from the cliff sensor, and the temperature detection component is provided on the robot within a second preset distance from the heat dissipation hole.
[0117] In one embodiment, the acquisition unit 101 determines the second temperature change in the following manner: the robot moves from a ground having a first attribute to a ground having a second attribute, and records the temperature change detected by a temperature detection component, wherein the first attribute and the second attribute are different ground attributes. Based on the recorded temperature change detected by the temperature detection component, the second temperature change is determined.
[0118] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.
[0119] Figure 7 2 is a block diagram of a robot control device 200 according to an exemplary embodiment. For example, the device 200 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.
[0120] Reference Figure 7 , the device 200 may include one or more of the following components: a processing component 202 , a memory 204 , a power component 206 , a multimedia component 208 , an audio component 210 , an input / output (I / O) interface 212 , a sensor component 214 , and a communication component 216 .
[0121] The processing component 202 generally controls the overall operation of the device 200, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 202 may include one or more processors 220 to execute instructions to perform all or part of the steps of the above-described method. In addition, the processing component 202 may include one or more modules to facilitate interaction between the processing component 202 and other components. For example, the processing component 202 may include a multimedia module to facilitate interaction between the multimedia component 208 and the processing component 202.
[0122] The memory 204 is configured to store various types of data to support operations on the device 200. Examples of such data include instructions for any application or method operating on the device 200, contact data, phone book data, messages, pictures, videos, etc. The memory 204 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.
[0123] The power component 206 provides power to the various components of the device 200. The power component 206 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 200.
[0124] The multimedia component 208 includes a screen that provides an output interface between the device 200 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 208 includes a front camera and / or a rear camera. When the device 200 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
[0125] The audio component 210 is configured to output and / or input audio signals. For example, the audio component 210 includes a microphone (MIC), and when the device 200 is in an operation mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 204 or sent via the communication component 216. In some embodiments, the audio component 210 also includes a speaker for outputting audio signals.
[0126] I / O interface 212 provides an interface between processing component 202 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.
[0127] The sensor assembly 214 includes one or more sensors for providing various aspects of the status assessment of the device 200. For example, the sensor assembly 214 can detect the open / closed state of the device 200, the relative positioning of components, such as the display and keypad of the device 200, the sensor assembly 214 can also detect the position change of the device 200 or a component of the device 200, the presence or absence of user contact with the device 200, the orientation or acceleration / deceleration of the device 200 and the temperature change of the device 200. The sensor assembly 214 can include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 214 can also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 214 can also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor or a temperature sensor.
[0128] The communication component 216 is configured to facilitate wired or wireless communication between the device 200 and other devices. The device 200 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 216 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 216 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.
[0129] In an exemplary embodiment, the apparatus 200 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to perform the above method.
[0130] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 204 including instructions, and the instructions can be executed by the processor 220 of the device 200 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.
[0131] It is to be understood that in the present disclosure, "plurality" refers to two or more than two, and other quantifiers are similar. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. The singular forms "a", "the" and "the" are also intended to include plural forms, unless the context clearly indicates other meanings.
[0132] It is further understood that the terms "first", "second", etc. are used to describe various information, but such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other, and do not indicate a specific order or degree of importance. In fact, the expressions "first", "second", etc. can be used interchangeably. For example, without departing from the scope of the present disclosure, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information.
[0133] It can be further understood that, unless otherwise specified, “connection” includes a direct connection without other components between the two, and also includes an indirect connection with other components between the two.
[0134] It is further understood that, although the operations are described in a specific order in the drawings in the embodiments of the present disclosure, it should not be understood as requiring the operations to be performed in the specific order shown or in a serial order, or requiring the execution of all the operations shown to obtain the desired results. In certain environments, multitasking and parallel processing may be advantageous.
[0135] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modifications, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure.
[0136] It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the scope of the appended claims.
Claims
1. A robot control method, characterized in that: The robot is provided with a temperature detection component, including: During the movement of the robot, obtaining the temperature detected by the temperature detection component; In response to monitoring a change in the temperature detected by the temperature detection component, determining an amount of temperature change; Based on the temperature change, the movement of the robot is controlled.
2. The method according to claim 1, characterized in that The step of controlling the movement of the robot based on the temperature variation comprises: Controlling the movement of the robot based on the first temperature change amount and / or the second temperature change amount, as well as the temperature change amount; The first temperature change is the temperature change corresponding to the anti-fall height of the robot; The second temperature variation is a pre-obtained temperature variation between different ground properties of the robot at the same ground height, and the different ground properties correspond to different ground reflection temperatures.
3. The method according to claim 2, wherein the controlling the movement of the robot based on the first temperature variation and / or the second temperature variation, as well as the temperature variation, comprises: If the temperature change is less than or equal to the first temperature change, controlling the robot to maintain the current motion; If the temperature change is greater than the first temperature change, the movement of the robot is controlled based on the temperature change and the second temperature change.
4. The method according to claim 3, wherein if the temperature change is less than or equal to the first temperature change, controlling the robot to maintain the current motion comprises: If the temperature change is less than or equal to the first temperature change, the terrain in the current moving direction is determined to be passable terrain, and the robot is controlled to pass through the terrain.
5. The method according to claim 3, characterized in that: If the temperature change is greater than a first temperature change, controlling the movement of the robot comprises: If the temperature change is not equal to the second temperature change, controlling the movement direction of the robot to another movement direction different from the current movement direction; If the temperature change is equal to the second temperature change, a distance detected by a sensor disposed on a cliff is determined, and the movement of the robot is controlled based on the distance detected by the cliff sensor.
6. The method according to claim 5, characterized in that If the temperature change is not equal to the second temperature change, controlling the movement direction of the robot to another movement direction different from the current movement direction includes: If the temperature change is not equal to the second temperature change, it is determined that the terrain change height of the current movement direction is greater than the anti-fall height of the robot, and the movement direction of the robot is controlled to be another movement direction different from the current movement direction.
7. The method according to claim 5, characterized in that The cliff sensor includes a first cliff sensor and a second cliff sensor, wherein the first cliff sensor and the second cliff sensor detect the current terrain change height based on different parameters. The controlling the movement direction of the robot based on the distance detected by the cliff sensor comprises: In response to any one of the first cliff sensor and the second cliff sensor detecting that the current terrain change height does not change, controlling the robot to maintain the current motion; In response to the first cliff sensor and the second cliff sensor both detecting that the current ground height has changed, and the current ground change height detected by the first cliff sensor does not match the current ground change height detected by the second cliff sensor, controlling the robot to maintain the current motion; In response to both the first cliff sensor and the second cliff sensor detecting a change in the current ground height, and the current ground change height detected by the first cliff sensor matches the current ground change height detected by the second cliff sensor, the movement direction of the robot is controlled to be another movement direction different from the current movement direction.
8. The method according to claim 1, characterized in that The robot is provided with a heat dissipation hole and a cliff sensor, the heat dissipation hole is arranged on the robot within a first preset distance from the cliff sensor, and the temperature detection component is arranged on the robot within a second preset distance from the heat dissipation hole.
9. The method according to claim 2, characterized in that: The second temperature change is determined in the following manner: the robot moves from a ground having a first attribute to a ground having a second attribute, and records the temperature change detected by the temperature detection component, wherein the first attribute and the second attribute are different ground attributes; Based on the recording of the temperature change amount detected by the temperature detection component, a second temperature change amount is determined.
10. A robot control device, characterized in that: The robot is provided with a temperature detection component, including: An acquisition unit, used for acquiring the temperature detected by the temperature detection component during the movement of the robot; a determining unit, configured to determine a temperature change amount in response to monitoring a change in the temperature detected by the temperature detecting component; A control unit is used to control the movement of the robot based on the temperature change.
11. The device according to claim 10, characterized in that The control unit controls the movement of the robot based on the temperature change in the following manner: Controlling the movement of the robot based on the first temperature change amount and / or the second temperature change amount, as well as the temperature change amount; The first temperature change is the temperature change corresponding to the anti-fall height of the robot; The second temperature variation is a pre-obtained temperature variation between different ground properties of the robot at the same ground height, and the different ground properties correspond to different ground reflection temperatures.
12. The device according to claim 11, characterized in that The control unit controls the movement of the robot based on the first temperature change amount and / or the second temperature change amount, and the temperature change amount in the following manner: If the temperature change is less than or equal to the first temperature change, controlling the robot to maintain the current motion; If the temperature change is greater than the first temperature change, the movement of the robot is controlled based on the temperature change and the second temperature change.
13. The device according to claim 12, wherein if the temperature change is less than or equal to the first temperature change, the control unit controls the robot to maintain the current movement direction in the following manner, including: In response to the temperature change being less than or equal to the first temperature change, the terrain in the current moving direction is determined to be passable terrain, and the robot is controlled to pass through the terrain.
14. The device according to claim 12, characterized in that If the temperature change is greater than the first temperature change, the control unit controls the movement of the robot in the following manner: If the temperature change is not equal to the second temperature change, controlling the movement direction of the robot to another movement direction different from the current movement direction; If the temperature change is equal to the second temperature change, a distance detected by a sensor disposed on a cliff is determined, and the movement of the robot is controlled based on the distance detected by the cliff sensor.
15. The device according to claim 14, characterized in that If the temperature change is not equal to the second temperature change, the control unit controls the movement direction of the robot to another movement direction different from the current movement direction in the following manner, including: If the temperature change is not equal to the second temperature change, it is determined that the terrain change height of the current movement direction is greater than the anti-fall height of the robot, and the movement direction of the robot is controlled to be another movement direction different from the current movement direction.
16. The device according to claim 14, characterized in that The control unit adopts the following method based on the cliff sensor including a first cliff sensor and a second cliff sensor, wherein the first cliff sensor and the second cliff sensor detect the current terrain change height based on different parameters. The control of the movement direction of the robot is based on the distance detected by the cliff sensor: In response to any one of the first cliff sensor and the second cliff sensor detecting that the current terrain change height does not change, controlling the robot to maintain the current motion; In response to the first cliff sensor and the second cliff sensor both detecting that the current ground height has changed, and the current ground change height detected by the first cliff sensor does not match the current ground change height detected by the second cliff sensor, controlling the robot to maintain the current motion; In response to both the first cliff sensor and the second cliff sensor detecting a change in the current ground height, and the current ground change height detected by the first cliff sensor matches the current ground change height detected by the second cliff sensor, the movement direction of the robot is controlled to be another movement direction different from the current movement direction.
17. The device according to claim 10, characterized in that The robot is provided with a heat dissipation hole and a cliff sensor, the heat dissipation hole is arranged on the robot within a first preset distance from the cliff sensor, and the temperature detection component is arranged on the robot within a second preset distance from the heat dissipation hole.
18. The device according to claim 11, characterized in that The acquisition unit determines the second temperature change in the following manner; The robot moves from a ground having a first attribute to a ground having a second attribute, and records a temperature change detected by the temperature detection component, wherein the first attribute and the second attribute are different ground attributes; Based on the recording of the temperature change amount detected by the temperature detection component, a second temperature change amount is determined.
19. A robot, characterized in that: include: Robot body; A temperature detection component, used to detect the temperature change; processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: execute the robot control method according to any one of claims 1 to 9.
20. A storage medium, characterized in that: The storage medium stores instructions, and when the instructions in the storage medium are executed by the processor of the terminal, the terminal is enabled to execute the robot control method described in any one of claims 1 to 9.