Robot control method and device, robot, program product and storage medium

Abstract

The invention provides a robot control method and device, a robot, a program product and a storage medium. The method comprises the steps that a first mechanism of the robot is controlled to obtain a first object, and according to information of the first object, a second mechanism of the robot is controlled to drive so that the robot can move towards a first target position; after the robot moves to the first target position, the first mechanism is controlled to place the obtained first object according to the information of the first object; wherein the information of the first object comprises at least one of the following information: the category of the first object, the original position of the first object, the shape of the first object and the environment information of the original position of the first object.

Description

Technical Field

[0001] This application relates to robot technology, including but not limited to robots and their control methods, program products, and storage media. Background Art

[0002] With the increasing improvement of the level of science and technology, the robot industry shows a booming development trend. Now, more and more robots appear in people's daily lives, and robots have become an indispensable part of modern life. Incorporating a robotic arm mechanism into a robot can effectively complete multi-functional tasks such as object handling, cleaning, and recycling, achieving "one machine with multiple functions" and enhancing the versatility of the robot and the adaptability of the application scenarios. Summary of the Invention

[0003] In a first aspect, an embodiment of this application provides a control method for a robot. The method includes: controlling a first mechanism of the robot to acquire a first object, and according to the information of the first object, controlling a second mechanism of the robot to drive so that the robot moves to a first target position; after the robot moves to the first target position, according to the information of the first object, controlling the first mechanism to place the acquired first object; where the information of the first object includes at least one of the following: the category of the first object, the original position of the first object, the shape of the first object, and the environmental information of the original position of the first object.

[0004] In some embodiments, the controlling the first mechanism to place the acquired first object according to the information of the first object includes: when the category of the first object is the same as that of a second object and the shape of the first object or the second object does not require orientation distinction, controlling the first mechanism to stack the first object on the second object.

[0005] Further, in some embodiments, the controlling the first mechanism to stack the first object on the second object includes: controlling the first mechanism to face a first target placement point; where the second object is placed at the first target placement point, and the distance between the first target placement point and the first target position is less than or equal to the maximum extension length of the first mechanism; after the first mechanism faces the first target placement point, controlling the first mechanism to stack the first object on the second object.

[0006] Further, in some embodiments, controlling the first mechanism to stack the first object on the second object includes: controlling the environmental perception sensor of the robot to collect environmental information of the first target placement point, and determining the size of the space above the second object based on the collected environmental information; when the size of the space above the second object can accommodate the first object, controlling the first mechanism to stack the first object on the second object.

[0007] In some embodiments, the method further includes: when the size of the space above the second object cannot accommodate the first object, controlling the second mechanism to drive the robot to move a first distance away from the first target placement point and then place the first object.

[0008] In some embodiments, controlling the first mechanism to place the acquired first object according to the information of the first object includes: when the first object and the second object are of the same category and the first object needs to be placed with a specific orientation, controlling the first mechanism to place the first object adjacent to the second object.

[0009] Further, in some embodiments, controlling the first mechanism to place the first object adjacent to the second object includes: when the first target placement point is not occupied by an obstacle, controlling the first mechanism to place the first object at the first target placement point; wherein, the first target placement point is adjacent to the second object, and the distance between the first target placement point and the first target position is less than or equal to the maximum extension length of the first mechanism.

[0010] Further, in some other embodiments, controlling the first mechanism to place the first object adjacent to the second object includes: when the first target placement point is occupied by an obstacle, determining a second target placement point; wherein, the distance between the second target placement point and the second object is equal to a second distance; determining a second target position according to the second target placement point and the maximum extension length of the first mechanism; controlling the second mechanism to drive the robot to move towards the second target position; after the robot moves to the second target position, controlling the first mechanism to place the first object at the second target placement point, so as to be adjacent to the second object.

[0011] Furthermore, in some embodiments, the second target position is in a first direction and the distance from the second target placement point is less than or equal to the maximum extension length of the first mechanism; wherein, the first direction is opposite to the orientation of the first part of the first object, and the first part faces the edge of the site of the second target placement point.

[0012] In some embodiments, controlling the first mechanism to place the first object at the target placement point includes: controlling the first mechanism to face the target placement point; after the first mechanism faces the target placement point, controlling the first mechanism to place the first object at the target placement point; wherein, the target placement point is the first target placement point or the second target placement point.

[0013] In some embodiments, controlling the first mechanism to place the first object at the target placement point includes: controlling the environmental perception sensor of the robot to collect environmental information of the target placement point, and identifying the spatial size of the target placement point based on the collected environmental information; wherein, the target placement point is the first target placement point or the second target placement point; when the spatial size of the target placement point can accommodate the first object, controlling the first mechanism to place the first object at the target placement point.

[0014] Further, in some embodiments, the method further includes: when the spatial size of the target placement point cannot accommodate the first object, controlling the second mechanism to drive the robot to move a third distance away from the target placement point and then place the first object.

[0015] Exemplarily, in some embodiments, when the first object is placed, a first part of the first object faces the edge of the field.

[0016] In some embodiments, the method further includes: determining that there is a third object near the original position of the first object according to the environmental information of the original position of the first object and the original position of the first object; after the first mechanism completes the placement of the first object, controlling the first mechanism to preferentially acquire and place the third object; wherein, the distance between the original position of the third object and the original position of the first object is less than or equal to a fourth distance.

[0017] Further, in some embodiments, controlling the first mechanism to preferentially acquire and place the third object includes: controlling the first mechanism to preferentially place the third object near the first object; wherein, the distance between the placement position of the third object and the placement position of the first object is less than or equal to the distance between the original position of the third object and the original position of the first object.

[0018] In some embodiments, the method further includes: determining that there is a fourth object in the distance from the original position of the first object according to the environmental information of the original position of the first object and the original position of the first object; determining that the category of the fourth object is the same as the category of the first object according to the environmental information of the original position of the first object and the category of the first object; after the first mechanism completes the placement of the first object, controlling the first mechanism to stack or place the fourth object adjacent to the first object.

[0019] Exemplarily, in some embodiments, the target placement point for the robot to place the current object avoids one or more of the following areas:

[0020] The area where the movement of the first mechanism is interfered;

[0021] The restricted area demarcated by the user;

[0022] A specific edge area; there is a space between the edge of the specific edge area and the area below.

[0023] The area affecting the passage of the robot;

[0024] The threshold area;

[0025] The long-haired area of the carpet;

[0026] The area in front of the charging pile that affects the robot's return to the charging pile;

[0027] The area that is currently not cleaned but is expected to be cleaned;

[0028] The area affecting the cleaning of the original position of the current object;

[0029] The designated placement area for other category objects.

[0030] Exemplarily, in some embodiments, controlling the target placement point for the robot to place the current object within a target area; wherein, the target area is the user-specified placement area, or at least one side of the target area is the edge of the site and the target area does not interfere with the movement of the first mechanism.

[0031] In a second aspect, an embodiment of the present application provides a control device for a robot. The device includes: a first control unit configured to control a first mechanism of the robot to acquire a first object; a second control unit configured to control a mechanism of the robot to drive the robot to move towards a first target position according to information of the first object; a third control unit configured to, after the robot moves to the first target position, control the first mechanism to place the acquired first object according to the information of the first object; wherein the information of the first object includes at least one of the following: the category of the first object, the original position of the first object, the shape of the first object, and environmental information of the original position of the first object.

[0032] In some embodiments, the controlling the first mechanism to place the acquired first object according to the information of the first object includes: when the category of the first object is the same as that of a second object and the shape of the first object or the second object does not require orientation distinction, controlling the first mechanism to stack the first object on the second object.

[0033] Further, in some embodiments, the controlling the first mechanism to stack the first object on the second object includes: controlling the first mechanism to face a first target placement point; wherein the second object is placed at the first target placement point, and the distance between the first target placement point and the first target position is less than or equal to the maximum extension length of the first mechanism; after the first mechanism faces the first target placement point, controlling the first mechanism to stack the first object on the second object.

[0034] Even further, in some embodiments, the controlling the first mechanism to stack the first object on the second object includes: controlling an environmental perception sensor of the robot to collect environmental information of the first target placement point, and determining the size of the space above the second object based on the collected environmental information; when the size of the space above the second object can accommodate the first object, controlling the first mechanism to stack the first object on the second object.

[0035] In some embodiments, the third control unit is further configured to: when the size of the space above the second object cannot accommodate the first object, control the second mechanism to drive the robot to move a first distance away from the first target placement point and then place the first object.

[0036] In some embodiments, controlling the first mechanism to place the acquired first object according to the information of the first object includes: when the category of the first object is the same as that of the second object and the first object needs to be placed with a specific orientation, controlling the first mechanism to place the first object adjacent to the second object.

[0037] Further, in some embodiments, controlling the first mechanism to place the first object adjacent to the second object includes: when the first target placement point is not occupied by an obstacle, controlling the first mechanism to place the first object at the first target placement point; wherein, the first target placement point is adjacent to the second object, and the distance between the first target placement point and the first target position is less than or equal to the maximum extension length of the first mechanism.

[0038] Further, in some other embodiments, controlling the first mechanism to place the first object adjacent to the second object includes: when the first target placement point is occupied by an obstacle, determining a second target placement point; wherein, the distance between the second target placement point and the second object is equal to a second distance; determining a second target position according to the second target placement point and the maximum extension length of the first mechanism; controlling the second mechanism to drive the robot to move towards the second target position; after the robot moves to the second target position, controlling the first mechanism to place the first object at the second target placement point, so as to be placed adjacent to the second object.

[0039] Furthermore, in some embodiments, the second target position is in a first direction and the distance from the second target placement point is less than or equal to the maximum extension length of the first mechanism; wherein, the first direction is opposite to the orientation of the first part of the first object, and the first part faces the edge of the site of the second target placement point.

[0040] In some embodiments, controlling the first mechanism to place the first object at the first target placement point or the second target placement point includes: controlling the first mechanism to face the first target placement point or the second target placement point; after the first mechanism faces the first target placement point or the second target placement point, controlling the first mechanism to place the first object at the first target placement point or the second target placement point.

[0041] In some embodiments, controlling the first mechanism to place the first object at the target placement point includes: controlling the environmental perception sensor of the robot to collect environmental information of the target placement point, and identifying the spatial size of the target placement point based on the collected environmental information; wherein, the target placement point is the first target placement point or the second target placement point; when the spatial size of the target placement point can accommodate the first object, controlling the first mechanism to place the first object at the target placement point.

[0042] Further, in some embodiments, the third control unit is further configured to: when the spatial size of the target placement point cannot accommodate the first object, control the second mechanism to drive the robot to move a third distance away from the target placement point and then place the first object.

[0043] Exemplarily, in some embodiments, when the first object is placed, the first part of the first object faces the edge of the site.

[0044] In some embodiments, the first control unit is further configured to: based on the environmental information of the original position of the first object and the original position of the first object, determine that there is a third object near the original position of the first object; wherein, the distance between the original position of the third object and the original position of the first object is less than or equal to a fourth distance.

[0045] After the first mechanism completes the placement of the first object, control the first mechanism to preferentially acquire the third object.

[0046] Further, in some embodiments, the third control unit is further configured to: control the first mechanism to preferentially place the third object near the first object; wherein, the distance between the placement position of the third object and the placement position of the first object is less than or equal to the distance between the original position of the third object and the original position of the first object.

[0047] In some other embodiments, the third control unit is further configured to: based on the environmental information of the original position of the first object and the original position of the first object, determine that there is a fourth object far away from the original position of the first object; the distance between the fourth object and the original position of the first object is greater than the fourth distance; based on the environmental information of the original position of the first object and the category of the first object, determine that the category of the fourth object is the same as the category of the first object; after the first mechanism completes the placement of the first object, control the first mechanism to stack or place the fourth object adjacent to the first object.

[0048] Exemplarily, in some embodiments, the target placement point where the robot places the current object avoids one or more of the following areas:

[0049] The area where the movement of the first mechanism is interfered;

[0050] The restricted area delimited by the user;

[0051] A specific edge area; there is a space between the edge of the specific edge area and the area below.

[0052] The area that affects the robot's passage;

[0053] The threshold area;

[0054] The long hair area of the carpet;

[0055] The area in front of the charging pile that affects the robot's return to the charging pile;

[0056] The area that is not currently cleaned but is expected to be cleaned;

[0057] The area that affects the original position of the current object to be cleaned;

[0058] The designated placement area for other types of objects.

[0059] Exemplarily, in some embodiments, control the target placement point where the robot places the current object within the target area; wherein, the target area is the user-specified placement area, or at least one side of the target area is the edge of the site and the target area does not interfere with the movement of the first mechanism.

[0060] In a third aspect, an embodiment of the present application provides a robot, including a memory and a processor, the memory stores a computer program that can run on the processor, and when the processor executes the program, the method described in the first aspect of the present application is implemented.

[0061] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor or a robot, the method described in the first aspect of the present application is implemented.

[0062] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program or instruction, and when the computer program or instruction is executed by a processor or a robot, the method described in the first aspect of the present application is implemented.

[0063] In a sixth aspect, an embodiment of the present application provides a computer program, and the computer program enables a processor or a robot to execute the method described in the first aspect.

[0064] It can be understood that in the embodiments of the present application, during the process of the robot carrying an object, the robot controls the placement of the acquired first object according to at least one of the category of the first object, the original position of the first object, the shape of the first object, and the environmental information of the original position of the first object; thus, it is beneficial for the robot to place the objects more neatly and reasonably when arranging the objects.

[0065] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] The drawings herein are incorporated into the specification and constitute a part of this specification. These drawings show embodiments consistent with the present application and, together with the specification, are used to explain the technical solutions of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0067] The flowchart shown in the drawings is only an exemplary illustration, and does not necessarily include all the contents and operations / steps, nor does it necessarily need to be executed in the described order. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined, so the actual execution order may change according to the actual situation.

[0068] Figure 1 Structural schematic of the robot provided by the embodiments of the present application Figure 1 ;

[0069] Figure 2 Schematic diagram of the implementation process of the control method of the robot provided by the embodiments of the present application;

[0070] Figure 3 Structural schematic of the robot provided by the embodiments of the present application Figure 2 ;

[0071] Figure 4 Schematic diagram of the control process for realizing object stacking provided by the embodiments of the present application;

[0072] Figure 5 Mechanism schematic of the robot provided by the embodiments of the present application Figure 3 ;

[0073] Figure 6 Schematic diagram of the control process for realizing adjacent placement of objects provided by the embodiments of the present application;

[0074] Figure 7 Exemplary diagram of a specific edge region provided by the embodiments of the present application;

[0075] Figure 8 Schematic structural diagram of the control device of the robot provided by an embodiment of the present application;

[0076] Figure 9 Schematic structure of the robot provided by an embodiment of the present application Figure 4 。 Specific embodiments

[0077] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will further describe the specific technical solutions of the present application in detail with reference to the accompanying drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application but are not intended to limit the scope of the present application.

[0078] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0079] In the following descriptions, references to "some embodiments", "this embodiment", "embodiments of the present application", and examples, etc., describe subsets of all possible embodiments. However, it can be understood that "some embodiments" can be the same or different subsets of all possible embodiments and can be combined with each other without conflict.

[0080] The descriptions such as "first, second, third", etc. that appear in the embodiments of the present application do not have specific meanings (such as no order, nor do they represent special limitations on the number of devices in the embodiments of the present application). They are only for the convenience of clearly describing the embodiments of the present application and cannot constitute any limitation to the embodiments of the present application.

[0081] Figure 1 Schematic structure of the robot provided by an embodiment of the present application Figure 1 。As Figure 1 shown, the robot 100 includes a fuselage main body 101, a first mechanism 102, a second mechanism 103, and a processor 104; among them,

[0082] Fuselage main body 101;

[0083] The first mechanism 102, connected to the fuselage main body 101, is at least used to acquire and place objects;

[0084] The second mechanism 103, connected to the fuselage main body 101, is used to move the robot 100 when driven;

[0085] Processor 104.

[0086] Figure 2This is a schematic flowchart of the implementation of the control method for the robot provided in the embodiments of the present application. This control method can be applied to the processor 104. As Figure 2 shown, the method includes the following steps 201 to step 203:

[0087] Step 201, control the first mechanism of the robot to obtain the first object;

[0088] Step 202, according to the information of the first object, control the second mechanism of the robot to drive so that the robot moves to the first target position.

[0089] It should be noted that controlling the robot to move to the first target position is after controlling the first mechanism of the robot to execute the acquisition of the first object, that is, step 202 is executed after step 201.

[0090] Step 203, after the robot moves to the first target position, according to the information of the first object, control the first mechanism to place the acquired first object; wherein, the information of the first object includes at least one of the following: the category of the first object, the original position of the first object, the shape of the first object, and the environmental information of the original position of the first object.

[0091] It can be understood that in the embodiments of the present application, during the process of the robot carrying an object, according to at least one of the category of the first object, the original position of the first object, the shape of the first object, and the environmental information of the original position of the first object, control the robot to place the acquired first object; in this way, it is beneficial for the robot to place the objects more neatly and reasonably when sorting the objects.

[0092] The following will respectively describe further optional implementation manners of the above steps and related terms, etc.

[0093] In step 202, according to the information of the first object, control the second mechanism of the robot to drive so that the robot moves to the first target position.

[0094] In some embodiments, the robot can determine the first target position according to the information of the first object, and then control the second mechanism to drive, so as to move to the first target position.

[0095] In order to make the robot place the objects more reasonably, it is necessary to consider at least one of the category of the object, the shape of the object, the original position of the object, and the environmental information at the original position of the object (such as the positional relationship between the object and other objects at the original position before the object is carried), etc., and based on this, select a reasonable placement method. The following will specifically describe the implementation manners of realizing the placement / sorting of the objects.

[0096] In step 203, after the robot moves to the first target position, according to the information of the first object, control the first mechanism to place the acquired first object in order.

[0097] Exemplarily, in some embodiments, controlling the first mechanism to stack the first object on the second object includes: when the categories of the first object and the second object are the same and the shapes of the first object or the second object do not need to distinguish the orientation, controlling the first mechanism to stack the first object on the second object. In this way, it is in line with the user's habit for the robot to stack objects with the same category and without the need to distinguish the orientation together, and stacking such objects together is beneficial to saving space.

[0098] In the embodiments of the present application, the method for determining whether the shape of the first object or the second object needs to distinguish the orientation is not limited. In some embodiments, if the category of the first object (or the second object) is a preset first category, it is determined that the shape of the first object (or the second object) does not need to distinguish the orientation. For example, the preset first category is an object type that does not need to distinguish the orientation, such as fabric, ball, paper ball, or building block. In other embodiments, the shape of the first object (or the second object) can also be recognized. If the shape of the first object (or the second object) is a preset first shape, it is determined that the shape of the first object (or the second object) does not need to distinguish the orientation. For example, the preset first shape is spherical, flat, or cubic.

[0099] In some embodiments, as Figure 3 shown, the robot 100 further includes an environmental perception sensor 301, which is arranged on the fuselage main body 101 and is used to collect environmental information.

[0100] In a possible implementation manner, the method further includes: before controlling the first mechanism to acquire the first object, first control the environmental perception sensor to collect environmental information, identify that the first object is included according to the collected environmental information, and identify the category of the first object; further, control the first mechanism 102 to acquire the first object and control the robot to move to the first target position after acquiring the first object; and after the robot moves to the first target position and before the first mechanism places the first object, the environmental perception sensor can be controlled to face the first target placement point of the first object and collect the environmental information of the first target placement point, identify that the second object is included based on the collected environmental information, and identify the category of the second object; based on this, judge whether the category of the second object is the same as the category of the first object; if they are the same and the category of the first object is a preset first category, control the first mechanism to stack the first object on the second object.

[0101] In one or more of the above embodiments, the first mechanism is controlled to acquire a first object, and based on the information of the first object, the second mechanism is controlled to drive the robot to move towards a first target position; and after the robot moves to the first target position, the first mechanism is controlled to stack the first object on the second object. For example, when the categories of the first object and the second object are the same and the shapes of the first object or the second object do not require orientation distinction, the first mechanism is controlled to stack the first object on the second object.

[0102] In some embodiments, as Figure 4 shown, for the step of controlling the first mechanism to stack the first object on the second object, the following steps 401 and 402 may be further included:

[0103] Step 401, controlling the first mechanism to face a first target placement point; wherein, the second object is placed at the first target placement point, and the distance between the first target placement point and the first target position is less than or equal to the maximum extension length of the first mechanism.

[0104] In the embodiments of the present application, controlling the first mechanism to face the first target placement point can also be understood as controlling the extension direction of the first mechanism to face the first target placement point.

[0105] It can be understood that the distance between the first target placement point and the first target position is less than or equal to the maximum extension length of the first mechanism, that is, the distance between the first target position where the robot is located and the first target placement point where the first object is about to be placed is less than or equal to the maximum extension length of the first mechanism; thus, ensuring that the end of the first mechanism can extend above the first target placement point, so that the first object can be placed at the first target placement point.

[0106] Taking Figure 5 the shown robot 100 as an example, as Figure 5 shown, the robot 100 has a first mechanism 102, and this first structure 102 is a robotic arm, and the robotic arm is arranged at the central position of the robot 100. In a possible implementation manner, the distance between the first target placement point and the first target position can be equal to the horizontal distance from the end position of the first mechanism 102 when placing an object to the center of the robot 100.

[0107] Step 402, after the first mechanism faces the first target placement point, controlling the first mechanism to stack the first object on the second object.

[0108] Considering that in actual application scenarios, the upper space of the second object may not be able to accommodate the first object. Therefore, for one or more of the above embodiments, further, in some embodiments, controlling the first mechanism to stack the first object on the second object in step 402 may include: controlling the environmental perception sensor of the robot to collect environmental information of the first target placement point, and determining the size of the upper space of the second object based on the collected environmental information; when the size of the upper space of the second object can accommodate the first object, controlling the first mechanism to stack the first object on the second object.

[0109] In other embodiments, the method further includes: when the size of the upper space of the second object cannot accommodate the first object, controlling the second mechanism to drive the robot to move a first distance away from the first target placement point and then place the first object.

[0110] It can be understood that the above describes the implementation manner in which the robot stacks the first object on the second object in a scenario where the first object and the second object are of the same category and the shapes of the first object or the second object do not need to distinguish the orientation.

[0111] In addition, there is another possible scenario where the first object and the second object are of the same category but the first object needs to distinguish the orientation. For example, the first object is a shoe or an object with a handle, etc. For such objects, stacking may be unreasonable, and the object needs to be placed adjacent to the second object of the same category.

[0112] That is, for step 203, after the robot moves to the first target position, according to the information of the first object, controlling the first mechanism to place the obtained first object. Further, in some embodiments, controlling the first mechanism to place the obtained first object according to the information of the first object includes: when the first object and the second object are of the same category and the first object needs to distinguish the orientation, controlling the first mechanism to place the first object adjacent to the second object; in this way, the robot can make the placed objects arranged neatly and reasonably when sorting objects.

[0113] In the embodiments of the present application, there is no limitation on the method for determining whether the first object needs to distinguish its orientation. In some embodiments, if the category of the first object is a preset second category, it is determined that the first object needs to distinguish its orientation. For example, the preset second category is an object type that needs to distinguish its orientation, such as shoes or handles. In other embodiments, the shape of the first object can also be recognized. If the shape of the first object is a preset second shape, it is determined that the first object needs to distinguish its orientation. For example, the preset second shape is a shoe shape or a handle shape. The recognition of the category or shape of the first object can be based on the environmental information containing the first object collected by the environmental perception sensor.

[0114] It should be understood that in a possible situation in the actual application scenario, before placing the first object, the first target placement point for placing the first object may be empty and not occupied by other objects / obstacles, or may already be occupied by other objects / obstacles.

[0115] Based on this, in some embodiments, the step of controlling the first mechanism to place the first object adjacent to the second object may further include: when the first target placement point is not occupied by an obstacle, controlling the first mechanism to place the first object at the first target placement point; wherein, the first target placement point is adjacent to the second object, and the distance between the first target placement point and the first target position is less than or equal to the maximum extension length of the first mechanism.

[0116] It should be understood that the first target placement point being adjacent to the second object means that there is no other object between the first target placement point and the second object. The second object does not refer to a specific object, but to another object different from the first object. The first target position is the position where the robot is located when placing the first object, and the distance between the first target placement point and the first target position is less than or equal to the maximum extension length of the first mechanism; in this way, it is ensured that the end of the first mechanism can extend above the first target placement point, so that the first object can be placed at the first target placement point.

[0117] In some embodiments, the step of controlling the first mechanism to place the first object at the first target placement point may further include: controlling the first mechanism to face the first target placement point; and after the first mechanism faces the first target placement point, controlling the first mechanism to place the first object at the first target placement point.

[0118] In the embodiments of the present application, the control of the first mechanism to face the first target placement point can also be understood as controlling the extension direction of the first mechanism 102 to face the first target placement point.

[0119] It can be understood that in an actual application scenario, before placing the first object at the first target placement point, even if the first target placement point is not occupied by other objects / obstacles, it is still possible that the spatial size of the first target placement point may not be able to accommodate the first object. For this consideration, in some embodiments, controlling the first mechanism to place the first object at the first target placement point includes: controlling the environmental perception sensor to collect environmental information of the first target placement point, and identifying the spatial size of the first target placement point based on the collected environmental information; in the case where the spatial size of the first target placement point can accommodate the first object, controlling the first mechanism to place the first object at the first target placement point.

[0120] In some other embodiments, the method further includes: in the case where the spatial size of the first target placement point cannot accommodate the first object, controlling the second mechanism to drive the robot to move a third distance away from the first target placement point and then place the first object.

[0121] In a situation that may exist in an actual application scenario, before placing the first object, the first target placement point where the first object is to be placed may already be occupied by other objects / obstacles. For this consideration, further, in some other embodiments, as Figure 6 shown, controlling the first mechanism to place the first object adjacent to the second object includes the following steps 601 to step 604:

[0122] Step 601, in the case where the first target placement point is occupied by an obstacle, determine a second target placement point;

[0123] Wherein, in some embodiments, the distance between the second target placement point and the second object is equal to a second distance. For example, the second distance is 10 cm.

[0124] In some other embodiments, the distance between the second target placement point and the second object is greater than or equal to the width of the first object, and the distance between the second target placement point and the second object is less than or equal to a fifth distance. For example, the fifth distance is equal to the sum of the width of the first object and a sixth distance; wherein, the sixth distance is predefined. The purpose of such a design is that it can not only enable the second target placement point to accommodate / place the first object, but also enable the first object to be adjacent / near to the second object.

[0125] In a possible implementation, when the first placement point is occupied by an obstacle, the second mechanism is controlled to drive the robot to search for the next target placement point (i.e., the second target placement point) along the edge of the scene where the obstacle is located. The distance between the target placement point and the nearest second object is equal to the second distance, or the distance between the target placement point and the nearest second object is greater than or equal to the width of the first object, and the distance between the target placement point and the nearest second object is less than or equal to the fifth distance.

[0126] Step 602, determine the second target position according to the second target placement point and the maximum extension length of the first mechanism.

[0127] In some embodiments, the second target position is in the first direction and the distance from the second target placement point is less than or equal to the maximum extension length of the first mechanism; wherein, the first direction is opposite to the orientation of the first part of the first object, and the first part faces the edge of the site of the second target placement point; thus, it is convenient for the first mechanism to place the first object at the edge of the site.

[0128] It should be noted that the first part may be the part with a larger weight or the center of gravity of the first object (reducing the risk of tilting or tipping over), or the symmetric point part of the first object (uniform force and stable operation), or the flat part of the surface of the first object. The embodiments of the present application do not limit the first part. For example, when the first object is a shoe, the first part may be the heel. When the first object is a bottle, the first part may be the bottom area of the bottle, or the first part may also be the bottle mouth.

[0129] In some embodiments, the first mechanism can be controlled to grasp the first part of the first object to ensure accurate and stable grasping of the first object and reduce the error rate of grasping the first object.

[0130] Step 603, control the second mechanism to drive the robot to move towards the second target position;

[0131] Step 604, after the robot moves to the second target position, control the first mechanism to place the first object at the second target placement point, so as to place it adjacent to the second object.

[0132] Furthermore, in some embodiments, for step 604, the control of the first mechanism to place the first object at the second target placement point includes: controlling the first mechanism to face the second target placement point; after the first mechanism faces the second target placement point, controlling the first mechanism to place the first object at the second target placement point. In the embodiments of the present application, controlling the first mechanism to face the second target placement point can also be understood as controlling the extension direction of the first mechanism to face the second target placement point.

[0133] In an actual application scenario, even if a second target placement point that is not occupied by an obstacle is found, the spatial size of the second target placement point may not be able to accommodate the first object. Considering this, in some embodiments, controlling the first mechanism to place the first object at the second target placement point includes: controlling the environmental perception sensor to collect environmental information of the second target placement point, and identifying the spatial size of the second target placement point based on the collected environmental information; when the spatial size of the second target placement point can accommodate the first object, controlling the first mechanism to place the first object at the second target placement point.

[0134] In some embodiments, the method further includes: when the spatial size of the second target placement point cannot accommodate the first object, controlling the second mechanism to drive the robot to move a third distance away from the second target placement point and then place the first object.

[0135] It should be noted that in the embodiments of the present application, both the first target placement point and the second target placement point can be understood as the target placement points of the first object.

[0136] It can be understood that the above embodiments describe the placement method for the first object that needs to distinguish the orientation. Considering that this type of object is an object that needs to distinguish the orientation, such as a shoe or an object provided with a handle, therefore, in order to facilitate the user to wear or pick up after placement, exemplarily, in some embodiments, when the first object is placed, the first part of the first object (such as the toe of the shoe or the part connected to the handle) faces the edge of the site. For example, the toe of the shoe is placed against the wall.

[0137] In some embodiments, the method further includes: determining that there is a third object near the original position of the first object according to the environmental information of the original position of the first object and the original position of the first object; after the first mechanism completes the placement of the first object, controlling the first mechanism to preferentially acquire and place the third object; wherein, the original position of the third object is less than or equal to a fourth distance from the original position of the first object; wherein, the fourth distance is predefined, for example, the fourth distance is less than or equal to 30 cm.

[0138] It can be understood that in the embodiments of the present application, after the robot completes the handling and placement of the first object, if there are other objects (referred to as the third object for ease of description in this article) near the original position of the first object, then control the robot to preferentially handle the objects near the original position.

[0139] Further, in some embodiments, controlling the first mechanism to preferentially acquire and place the third object includes: controlling the first mechanism to preferentially place the third object near the first object; wherein, the distance between the placement position of the third object and the placement position of the first object is less than or equal to the distance between the original position of the third object and the original position of the first object. In this way, objects with close original positions are still close after being transported and sorted.

[0140] In other embodiments, the method further includes: determining, according to the environmental information of the original position of the first object and the original position of the first object, that there is a fourth object far away from the original position of the first object; determining, according to the environmental information of the original position of the first object and the category of the first object, that the category of the fourth object is the same as the category of the first object; and after the first mechanism completes the placement of the first object, controlling the first mechanism to stack or place the fourth object adjacent to the first object; wherein, the distance between the fourth object and the original position of the first object is greater than a fourth distance.

[0141] It can be understood that in the above embodiments, even if the original position of the fourth object is far from the original position of the first object, if the category of the fourth object is the same as the category of the first object, the first mechanism is still controlled to stack or place the fourth object adjacent to the first object, so that the robot's sorting of objects is more reasonable, and the objects are more reasonable and tidy after being sorted.

[0142] In some embodiments, the target placement point for the robot to place the current object avoids one or more of the following areas:

[0143] (1) Areas where the actions of the first mechanism are interfered; for example, low spaces / low areas will interfere with the stretching or placement actions of the first mechanism; common low spaces include under the coffee table, under the TV cabinet, under the sofa, or under the bed, etc.

[0144] (2) Forbidden areas delimited by the user;

[0145] (3) Specific edge areas; there is a space between the edge of the specific edge area and the lower area; for example Figure 7 As shown, 701 is a specific edge area, and there is a space between the edge of this specific edge area and the lower area 702.

[0146] (4) Areas that affect the robot's passage; for example, the dining table area.

[0147] (5) Threshold areas;

[0148] (6) Long-haired areas of the carpet;

[0149] (7) The area in front of the charging pile that affects the robot's return to the charging pile;

[0150] (8) The area that is not currently cleaned but is expected to be cleaned;

[0151] (9) The area that affects the original position of the current object to be cleaned; for example, the area whose distance from the original position of the current object is less than or equal to the seventh distance;

[0152] (10) The designated placement area for other types of objects.

[0153] In some embodiments, the control robot places the target placement point of the current object within the target area; wherein, the target area is the user-specified placement area, or at least one side of the target area is the edge of the site and the target area does not interfere with the operation of the first mechanism.

[0154] For the determination of the first target placement point, in some embodiments, the first target placement point can be determined according to the information of the first object. Of course, in other embodiments, the first target placement point can also be determined according to the information of the first object and the target area. In still other embodiments, the first target placement point can also be determined according to the information of the first object and the area to be avoided. In yet other embodiments, the first target placement point can also be determined according to the information of the first object, the predefined target area, and the predefined area to be avoided. In short, the first target placement point can be determined according to at least one of the information of the first object, the target area, and the area to be avoided.

[0155] As mentioned above, for the determination of the first target position, in some embodiments, the first target position can be determined according to the information of the first object. Of course, in other embodiments, the first target position can also be determined according to the first target placement point. In still other embodiments, the first target position can also be determined according to the information of the first object and the target area. In still other embodiments, the first target position can also be determined according to the information of the first object and the area to be avoided. In yet other embodiments, the first target position can also be determined according to the information of the first object, the predefined target area, and the predefined area to be avoided. In short, the first target position can be determined according to at least one of the information of the first object, the target area, and the area to be avoided.

[0156] It should be noted that the second mechanism may include a driving mechanism, such as wheels, a legged / legged structure, a crawler structure, etc., and the embodiments of the present application do not limit this.

[0157] It should be noted that the first mechanism may include a robotic arm, a robotic hand, a robotic claw, etc., and the embodiments of the present application do not limit this. The specific structure of the first mechanism 102 is not limited. In short, this mechanism only needs to have the ability to acquire and place an object. Exemplarily, referring to Figure 5 the robot 100 shown, the first mechanism 102 may be a robotic arm, which can be stored in the robotic arm compartment when not in use.

[0158] It should also be noted that the number of the first mechanisms may be one or more. Exemplarily, referring to Figure 5 the robot 100 shown, one or more first mechanisms may be provided on the fuselage main body 101. The embodiments of the present application do not limit the number of the first mechanisms.

[0159] It should also be noted that in the embodiments of the present application, the environmental perception sensor is not limited either. Exemplarily, in some embodiments, the environmental perception sensor includes a camera; in some other embodiments, the environmental perception sensor includes a camera and a lidar sensor (Laser Distance Sensor, LDS). In still some other embodiments, the environmental perception sensor includes a camera, a lidar sensor (Laser Distance Sensor, LDS) and a structured light sensor. In yet some other embodiments, the environmental perception sensor 301 includes a camera and a structured light sensor.

[0160] It should be noted that the number of the environmental perception sensors 301 may be one or more. When the number of the environmental perception sensors 301 is multiple, they may be arranged at different positions on the fuselage main body 101 to sense the environmental information in different directions. Exemplarily, referring to Figure 5 as shown, two environmental perception sensors 301A and 105B are provided on the fuselage main body 101 of the robot 100. Among them, the environmental perception sensor 301A is a forward perception sensor for sensing the forward environmental information in the traveling direction of the robot 100. The environmental perception sensor 301B is a top surface perception sensor for sensing the environmental information on the top of the robot 100.

[0161] In the embodiments of the present application, the type of the robot is not limited. The robot may be a cleaning robot, a handling robot or other types of robots. For a cleaning robot, a third mechanism is further provided on the fuselage main body of the robot, and this third mechanism is used to clean the contacted surface. For example, the third mechanism includes a side brush and a side mop.

[0162] The possible implementation solutions of the above one or more embodiments are described by way of example as follows.

[0163] A robot with a robotic arm has the ability to move obstacles to assist in cleaning a room or organizing items to a designated area. In the following technical solution, the selection of the placement position and direction during the obstacle placement stage by the robot with a robotic arm is described to make the placed objects as reasonably and neatly positioned as possible.

[0164] In this technical solution, the robot comprehensively considers the placement method based on the type of the object, its original position, the placement positions and directions of other objects.

[0165] In a possible implementation, after the robot places an object A, if there is still an object B near the original position of object A (usually judged that the distance is less than 30 cm), the robot preferentially moves the object B near the original position and places it in a position close to A, so that the objects (A / B) originally in a similar position are still in a relatively close position.

[0166] In a possible implementation, after the robot grabs an object C, if the original positions of all the placed objects are not close to the original position of C (for example, the distances between the original positions are all greater than 30 cm), and there is an object D of the same type as C among the placed objects, then C is placed in a position close to D, so that objects of the same type are in close positions.

[0167] Specifically, for objects such as lumps / fabrics that do not distinguish between orientations and can be stacked without hindrance, they can be placed in the same position when placing. When placing, the robot only needs to move to a position P at a preset distance D from the target placement point (this distance is equal to the horizontal distance from the end position of the robotic arm during placement to the center of the robot), and rotate the robot so that the robotic arm faces the target placement point.

[0168] Specifically, for objects such as shoes that distinguish between orientations (assuming the head end of the object is H, corresponding to the toe, and the grasping end is B, corresponding to the heel, and B and H are in opposite directions), it is necessary to consider whether there are other objects near the target placement point when placing:

[0169] If there are no other objects, when placing, the H direction of the object needs to face the edge of the site (this not only conforms to the user's habit but also facilitates the robot to grab again), and this placement direction is recorded as T.

[0170] If there is another object, search for the next placement position along the edge of the field. This position is separated from the position of nearby obstacles by a preset distance S (usually, S = 10 cm, which can prevent the two shoes from overlapping and yet not being too far apart). Denote the placement direction T in which the H-end / toe of the object faces the edge of the field. Take the position on the opposite direction of T of the target placement point, at a distance D from the target placement point (this distance is equal to the horizontal distance from the end position of the robotic arm during placement to the center of the robot) as the target operating position P for the robot's placement action. Make the robot move to position P and turn the robotic arm towards direction T.

[0171] After the robotic arm of the robot faces the target placement point, detect the environment in front of the robot using ranging devices such as ToF / line lasers. If there is not enough space to place the object, first control the robot to retreat a certain distance so that the object can just be placed, and then control the robotic arm to place the object.

[0172] It should be noted that in some embodiments, when the robot selects the target placement point of the object, it will avoid the following areas: 1) areas where interference may occur during the operation of the robotic arm, such as under the bed / under the sofa; 2) restricted areas delimited by the user; 3) specific edge areas; 4) areas affecting the robot's passage; 5) threshold areas; 6) long-haired areas of the carpet; 7) areas in front of the charging pile that affect the robot's return to the charging pile.

[0173] In some embodiments, for the selection of the target placement point in the auxiliary cleaning task, the robot will also avoid the following areas: 1) areas that have not been cleaned yet but are expected to be cleaned in this cleaning task; 2) areas that are relatively close to the original position of the object (such as the distance from the original position of the object is less than or equal to the seventh distance), that is, areas affecting the cleaning of the original position of the object; 3) designated placement areas for other types of objects.

[0174] In some embodiments, for the selection of the target placement point in the sorting task, a reasonable target placement point will be directly selected within the designated placement area.

[0175] In some embodiments, the target placement point of the object can be a position in an area near the edge of the field but without interfering with the movement of the robotic arm.

[0176] It can be understood that the above solution makes the position and direction of placing the object more reasonable and neater when the robot with a robotic arm transports the object.

[0177] It should be noted that although the steps of the method in this application are described in a specific order in the accompanying drawings, this does not require or imply that these steps must be executed in this specific order, or that all the steps shown must be executed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution; or, the steps in different embodiments may be combined into a new technical solution.

[0178] Based on the foregoing embodiments, an embodiment of the present application provides a control device for a robot, which can be implemented by a processor; of course, it can also be implemented by specific logic circuits; during implementation, the processor can be an AI acceleration engine (such as an NPU, etc.), a GPU, a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA), etc.

[0179] Figure 8 It is a schematic structural diagram of the control device for the robot provided by the embodiment of the present application, as Figure 8 shown, the control device 800 of the robot includes a first control unit 801, a second control unit 802, and a third control unit 803, wherein:

[0180] The first control unit 801 is configured to control a first mechanism of the robot to acquire a first object;

[0181] The second control unit 802 is configured to control the mechanism drive of the robot to move the robot to a first target position according to the information of the first object;

[0182] The third control unit 803 is configured to, after the robot moves to the first target position, control the first mechanism to place the acquired first object according to the information of the first object; wherein, the information of the first object includes at least one of the following: the category of the first object, the original position of the first object, the shape of the first object, and the environmental information of the original position of the first object.

[0183] In some embodiments, the controlling the first mechanism to place the acquired first object according to the information of the first object includes: when the category of the first object is the same as that of the second object and the shape of the first object or the second object does not require orientation distinction, controlling the first mechanism to stack the first object on the second object.

[0184] Further, in some embodiments, controlling the first mechanism to stack the first object on the second object includes: controlling the first mechanism to face a first target placement point; wherein the second object is placed at the first target placement point, and the distance between the first target placement point and the first target position is less than or equal to the maximum extension length of the first mechanism; after the first mechanism faces the first target placement point, controlling the first mechanism to stack the first object on the second object.

[0185] Furthermore, in some embodiments, controlling the first mechanism to stack the first object on the second object includes: controlling the environmental perception sensor of the robot to collect environmental information about the first target placement point, and determining the size of the space above the second object based on the collected environmental information; when the size of the space above the second object can accommodate the first object, controlling the first mechanism to stack the first object on the second object.

[0186] In some embodiments, the third control unit 803 is further configured to: when the size of the space above the second object cannot accommodate the first object, control the second mechanism to drive the robot to move a first distance away from the first target placement point and then place the first object.

[0187] In some embodiments, controlling the first mechanism to place the acquired first object according to the information of the first object includes: when the first object and the second object are of the same category and the first object needs to be placed with a specific orientation, controlling the first mechanism to place the first object adjacent to the second object.

[0188] Further, in some embodiments, controlling the first mechanism to place the first object adjacent to the second object includes: when the first target placement point is not occupied by an obstacle, controlling the first mechanism to place the first object at the first target placement point; wherein the first target placement point is adjacent to the second object, and the distance between the first target placement point and the first target position is less than or equal to the maximum extension length of the first mechanism.

[0189] Further, in some other embodiments, controlling the first mechanism to place the first object adjacent to the second object includes: when the first target placement point is occupied by an obstacle, determining a second target placement point; wherein the distance between the second target placement point and the second object is equal to a second distance; determining a second target position according to the second target placement point and the maximum extension length of the first mechanism; controlling the second mechanism to drive the robot to move towards the second target position; after the robot moves to the second target position, controlling the first mechanism to place the first object at the second target placement point, so as to be placed adjacent to the second object.

[0190] Still further, in some embodiments, the second target position is in a first direction and the distance from the second target placement point is less than or equal to the maximum extension length of the first mechanism; wherein the first direction is opposite to the orientation of the first part of the first object, and the first part faces the edge of the site where the second target placement point is located.

[0191] In some embodiments, controlling the first mechanism to place the first object at the first target placement point or the second target placement point includes: controlling the first mechanism to face the first target placement point or the second target placement point; after the first mechanism faces the first target placement point or the second target placement point, controlling the first mechanism to place the first object at the first target placement point or the second target placement point.

[0192] In some embodiments, controlling the first mechanism to place the first object at the target placement point includes: controlling the environmental perception sensor of the robot to collect environmental information of the target placement point, and identifying the spatial size of the target placement point based on the collected environmental information; wherein the target placement point is the first target placement point or the second target placement point; when the spatial size of the target placement point can accommodate the first object, controlling the first mechanism to place the first object at the target placement point.

[0193] Further, in some embodiments, the third control unit 803 is further configured to: when the spatial size of the target placement point cannot accommodate the first object, control the second mechanism to drive the robot to move a third distance away from the target placement point and then place the first object.

[0194] Exemplarily, in some embodiments, when the first object is placed, the first part of the first object faces the edge of the site.

[0195] In some embodiments, the first control unit 801 is further configured to: determine that there is a third object near the original position of the first object according to the environmental information of the original position of the first object and the original position of the first object; after the first mechanism completes the placement of the first object, control the first mechanism to preferentially acquire the third object; wherein, the distance between the original position of the third object and the original position of the first object is less than or equal to a fourth distance.

[0196] Further, in some embodiments, the third control unit 803 is further configured to: control the first mechanism to preferentially place the third object near the first object; wherein, the distance between the placement position of the third object and the placement position of the first object is less than or equal to the distance between the original position of the third object and the original position of the first object.

[0197] In some other embodiments, the third control unit 803 is further configured to: determine that there is a fourth object far away from the original position of the first object according to the environmental information of the original position of the first object and the original position of the first object; wherein, the distance between the fourth object and the original position of the first object is greater than the fourth distance; determine that the category of the fourth object is the same as the category of the first object according to the environmental information of the original position of the first object and the category of the first object; after the first mechanism completes the placement of the first object, control the first mechanism to stack or place the fourth object adjacent to the first object.

[0198] Exemplarily, in some embodiments, the target placement point for the robot to place the current object avoids one or more of the following areas:

[0199] The area where the movement of the first mechanism is interfered;

[0200] The restricted area demarcated by the user;

[0201] A specific edge area; there is a space between the edge of the specific edge area and the lower area;

[0202] The area affecting the robot's passage;

[0203] The threshold area;

[0204] The long-haired area of the carpet;

[0205] The area in front of the charging pile that affects the robot's return to the charging pile;

[0206] The area that is not currently cleaned but is expected to be cleaned;

[0207] The area affecting the cleaning of the original position of the current object;

[0208] Designated placement areas for other types of objects.

[0209] Exemplarily, in some embodiments, the target placement point for controlling the robot to place the current object is within the target area; wherein, the target area is a user-designated placement area, or at least one side of the target area is the edge of the site and the target area does not interfere with the operation of the first mechanism.

[0210] The description of the above device embodiments is similar to the description of the above method embodiments and has similar beneficial effects to the method embodiments. For the technical details not disclosed in the device embodiments of the present application, please refer to the description of the method embodiments of the present application for understanding.

[0211] It should be noted that the division of modules in the embodiments of the present application is illustrative, only a logical function division, and there may be other division methods in actual implementation. In addition, each functional unit in the various embodiments of the present application may be integrated in one processing unit, may exist alone physically, or two or more units may be integrated in one unit. The above integrated units may be implemented in the form of hardware, or in the form of software functional units, or in the form of a combination of software and hardware.

[0212] It should be noted that in the embodiments of the present application, if the above method is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of the present application, in essence, or the part that contributes to the related technology, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing an electronic device to execute all or part of the methods described in the various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), magnetic disks, or optical discs that can store program codes. In this way, the embodiments of the present application are not limited to any specific combination of hardware and software.

[0213] The embodiments of the present application provide a robot Figure 9 is a schematic structure of the robot provided by the embodiments of the present application Figure 4 , as Figure 9 shown, the robot 900 includes a memory 901 and a processor 902. The memory 901 stores a computer program that can run on the processor 902. When the processor 902 executes the program, it implements the steps in the method provided in the above embodiments.

[0214] It should be noted that the memory 901 is configured to store instructions and applications executable by the processor 902, and can also cache data to be processed or already processed by each module in the processor 902 and the robot 900 (for example, image data, audio data, voice communication data, and video communication data), and can be implemented by flash memory (FLASH) or random access memory (Random Access Memory, RAM).

[0215] The embodiment of the present application also provides a computer-readable storage medium for storing a computer program.

[0216] Optionally, the computer-readable storage medium can be applied to the processor or the robot in the embodiment of the present application, and the computer program causes the processor or the robot to execute the various methods of the embodiment of the present application. For the sake of brevity, it will not be elaborated here.

[0217] The embodiment of the present application also provides a computer program product including computer program instructions.

[0218] Optionally, the computer program product can be applied to the processor or the robot in the embodiment of the present application, and the computer program instructions cause the processor or the robot to execute the various methods of the embodiment of the present application. For the sake of brevity, it will not be elaborated here.

[0219] The embodiment of the present application also provides a computer program.

[0220] Optionally, the computer program can be applied to the processor or the robot in the embodiment of the present application. When the computer program runs on the processor or the robot, it causes the processor or the robot to execute the various methods of the embodiment of the present application. For the sake of brevity, it will not be elaborated here.

[0221] It should be pointed out here that: the descriptions of the above storage medium, computer program product, and computer program embodiment are similar to the description of the above method embodiment, and have beneficial effects similar to those of the method embodiment. For the technical details not disclosed in the storage medium, computer program product, and computer program embodiment of the present application, please refer to the description of the method embodiment of the present application for understanding.

[0222] It should be understood that the "one embodiment" or "an embodiment" or "some embodiments" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the appearances of "in one embodiment" or "in an embodiment" or "in some embodiments" throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the magnitudes of the sequence numbers of the above processes do not mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The sequence numbers of the embodiments of the present application above are only for description and do not represent the advantages or disadvantages of the embodiments. The above descriptions of each embodiment tend to emphasize the differences between the embodiments. Their similarities or similarities can be referred to each other. For the sake of brevity, they will not be elaborated herein.

[0223] The term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, object A and / or object B can represent: object A exists alone, object A and object B exist simultaneously, and object B exists alone.

[0224] It should be noted that in this article, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including the element.

[0225] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The above-described embodiments are merely illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there can be other division methods, such as: multiple modules or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed with each other can be through some interfaces. The indirect coupling or communication connection of the devices or modules can be electrical, mechanical or other forms.

[0226] The modules described above as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules; they may be located in one place or distributed across multiple network elements; some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0227] In addition, each functional module in the embodiments of the present application may be all integrated in a processing unit, or each module may be separately used as a unit, or two or more modules may be integrated in a unit; the above integrated modules may be implemented in the form of hardware, or in the form of a combination of hardware and software functional units.

[0228] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including the above method embodiments; and the foregoing storage medium includes: removable storage devices, read-only memory (ROM), magnetic disks, or optical disks and other various media that can store program codes.

[0229] Alternatively, if the above integrated unit of the present application is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present application, in essence, or the part that contributes to the related technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a robot to execute all or part of the methods described in the various embodiments of the present application. And the foregoing storage medium includes: removable storage devices, ROM, magnetic disks, or optical disks and other various media that can store program codes.

[0230] The methods disclosed in several method embodiments provided by the present application can be arbitrarily combined without conflict to obtain new method embodiments.

[0231] The features disclosed in several product embodiments provided by the present application can be arbitrarily combined without conflict to obtain new product embodiments.

[0232] The features disclosed in several method or device embodiments provided by the present application can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0233] As described above, it is only the implementation mode of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed by this application can easily think of changes or substitutions, which should all be covered within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims described above.

Claims

1. A robot control method, characterized in that: The method comprises: Controlling the first mechanism of the robot to acquire a first object, and controlling the second mechanism of the robot to drive the robot to move toward a first target position according to information of the first object; After the robot moves to the first target position, the first mechanism is controlled to place the acquired first object according to the information of the first object; The information of the first object includes at least one of the following: the category of the first object, the original position of the first object, the shape of the first object, and environmental information of the original position of the first object.

2. The method according to claim 1, characterized in that The step of controlling the first mechanism to place the acquired first object according to the information of the first object includes: When the first object and the second object are of the same category and the shapes of the first object or the second object do not need to distinguish the orientation, the first mechanism is controlled to stack the first object on the second object.

3. The method according to claim 2, characterized in that The controlling the first mechanism to stack the first object on the second object comprises: Controlling the first mechanism to move toward a first target placement point; wherein the second object is placed at the first target placement point, and a distance between the first target placement point and the first target position is less than or equal to a maximum extension length of the first mechanism; After the first mechanism faces the first target placement point, the first mechanism is controlled to stack the first object on the second object.

4. The method according to claim 3, characterized in that The controlling the first mechanism to stack the first object on the second object comprises: Controlling the environment perception sensor of the robot to collect environment information of the first target placement point, and determining the size of the space above the second object based on the collected environment information; When the space above the second object is large enough to accommodate the first object, the first mechanism is controlled to stack the first object on the second object.

5. The method according to claim 4, characterized in that The method further comprises: When the space above the second object is too large to accommodate the first object, the second mechanism is controlled to drive the robot to move a first distance away from the first target placement point to place the first object.

6. The method according to claim 1, characterized in that The step of controlling the first mechanism to place the acquired first object according to the information of the first object includes: In the case that the first object and the second object are of the same category and the first object needs to be oriented differently, the first mechanism is controlled to place the first object adjacent to the second object.

7. The method according to claim 6, characterized in that The controlling the first mechanism to place the first object adjacent to the second object comprises: When the first target placement point is not occupied by an obstacle, control the first mechanism to place the first object at the first target placement point; wherein the first target placement point is adjacent to the second object, and the distance between the first target placement point and the first target position is less than or equal to the maximum extension length of the first mechanism.

8. The method according to claim 6, characterized in that The controlling the first mechanism to place the first object adjacent to the second object comprises: In the case where the first target placement point is occupied by an obstacle, determining a second target placement point; wherein the distance between the second target placement point and the second object is equal to a second distance; determining a second target position according to the second target placement point and the maximum extension length of the first mechanism; Controlling the second mechanism to drive so that the robot moves toward the second target position; After the robot moves to the second target position, the first mechanism is controlled to place the first object at the second target placement point, so as to be placed adjacent to the second object.

9. The method according to claim 8, characterized in that The second target position is in the first direction and the distance from the second target placement point is less than or equal to the maximum extension length of the first mechanism; wherein the first direction is opposite to the direction of the first part of the first object, and the first part is toward the edge of the field of the second target placement point.

10. The method according to claim 7 or 8, characterized in that: Controlling the first mechanism to place the first object at a target placement point includes: Controlling the first mechanism to move toward the target placement point; wherein the target placement point is the first target placement point or the second target placement point; After the first mechanism faces the target placement point, the first mechanism is controlled to place the first object at the target placement point.

11. The method according to claim 7, 8 or 10, characterized in that Controlling the first mechanism to place the first object at a target placement point includes: Controlling the environment perception sensor of the robot to collect environmental information of the target placement point, and identifying the spatial size of the target placement point based on the collected environmental information; wherein the target placement point is the first target placement point or the second target placement point; When the space size of the target placement point is able to accommodate the first object, the first mechanism is controlled to place the first object at the target placement point.

12. The method according to claim 11, characterized in that The method further comprises: When the space size of the target placement point cannot accommodate the first object, the second mechanism is controlled to drive so that the robot moves a third distance away from the target placement point and then places the first object.

13. The method according to any one of claims 6 to 12, characterized in that: When the first object is placed, the first portion of the first object faces an edge of the venue.

14. The method according to any one of claims 1 to 13, characterized in that The method further comprises: Determining, based on the environmental information of the original position of the first object and the original position of the first object, that a third object exists near the original position of the first object; wherein the original position of the third object is less than or equal to a fourth distance from the original position of the first object; After the first mechanism completes placement of the first object, the first mechanism is controlled to preferentially acquire and place the third object.

15. The method according to claim 14, characterized in that The controlling the first mechanism to preferentially acquire and place the third object comprises: The first mechanism is controlled to preferentially place the third object near the first object; wherein the distance between the placement position of the third object and the placement position of the first object is less than or equal to the distance between the original position of the third object and the original position of the first object.

16. The method according to any one of claims 1 to 13, characterized in that The method further comprises: Determining, based on the environmental information of the original position of the first object and the original position of the first object, that a fourth object exists far from the original position of the first object; wherein the distance between the fourth object and the original position of the first object is greater than a fourth distance; determining, based on the environmental information of the original position of the first object and the category of the first object, that the category of the fourth object is the same as the category of the first object; After the first mechanism completes placement of the first object, the first mechanism is controlled to place the fourth object overlapping or adjacent to the first object.

17. The method according to any one of claims 1 to 16, characterized in that The target placement point where the robot places the current object avoids one or more of the following areas: an area in which the action of the first mechanism is interfered with; Restricted areas defined by users; A specific edge region; a space exists between the edge of the specific edge region and the area below; An area that affects the robot's passage; Threshold area; Long-haired areas of carpet; The area in front of the charging station that affects the robot's return to the charging station; Areas that are not currently cleaned but are expected to be cleaned; Affects cleaning of the area of ​​the original location of the current object; Designated placement areas for other categories of objects.

18. The method according to any one of claims 1 to 17, characterized in that The robot is controlled to place the target placement point of the current object within a target area; wherein the target area is a placement area specified by a user, or at least one side of the target area is a field edge and the target area does not interfere with the action of the first mechanism.

19. A robot control device, characterized in that: The device comprises: a first control unit configured to control a first mechanism of the robot to acquire a first object; a second control unit configured to control the mechanism driving of the robot to move the robot toward a first target position according to the information of the first object; a third control unit, configured to control the first mechanism to place the acquired first object according to information of the first object after the robot moves to the first target position; The information of the first object includes at least one of the following: the category of the first object, the original position of the first object, the shape of the first object, and environmental information of the original position of the first object.

20. The device according to claim 19, characterized in that The step of controlling the first mechanism to place the acquired first object according to the information of the first object includes: When the first object and the second object are of the same category and the shapes of the first object or the second object do not need to distinguish the orientation, the first mechanism is controlled to stack the first object on the second object.

21. The device according to claim 20, characterized in that The controlling the first mechanism to stack the first object on the second object comprises: Controlling the first mechanism to move toward a first target placement point; wherein the second object is placed at the first target placement point, and a distance between the first target placement point and the first target position is less than or equal to a maximum extension length of the first mechanism; After the first mechanism faces the first target placement point, the first mechanism is controlled to stack the first object on the second object.

22. The device according to claim 21, characterized in that The controlling the first mechanism to stack the first object on the second object comprises: Controlling the environment perception sensor of the robot to collect environment information of the first target placement point, and determining the size of the space above the second object based on the collected environment information; When the space above the second object is large enough to accommodate the first object, the first mechanism is controlled to stack the first object on the second object.

23. The device according to claim 22, characterized in that The third control unit is further configured as: When the space above the second object is too large to accommodate the first object, the second mechanism of the robot is controlled to be driven so that the robot moves a first distance away from the first target placement point to place the first object.

24. The device according to claim 19, characterized in that The step of controlling the first mechanism to place the acquired first object according to the information of the first object includes: In the case that the first object and the second object are of the same category and the first object needs to be oriented differently, the first mechanism is controlled to place the first object adjacent to the second object.

25. The device according to claim 24, characterized in that The controlling the first mechanism to place the first object adjacent to the second object comprises: When the first target placement point is not occupied by an obstacle, control the first mechanism to place the first object at the first target placement point; wherein the first target placement point is adjacent to the second object, and the distance between the first target placement point and the first target position is less than or equal to the maximum extension length of the first mechanism.

26. The device according to claim 24, characterized in that The controlling the first mechanism to place the first object adjacent to the second object comprises: In the case where the first target placement point is occupied by an obstacle, determining a second target placement point; wherein the distance between the second target placement point and the second object is equal to a second distance; determining a second target position according to the second target placement point and the maximum extension length of the first mechanism; controlling the second mechanism of the robot to drive so that the robot moves toward the second target position; After the robot moves to the second target position, the first mechanism is controlled to place the first object at the second target placement point, so as to be placed adjacent to the second object.

27. The device according to claim 26, characterized in that The second target position is in the first direction and the distance from the second target placement point is less than or equal to the maximum extension length of the first mechanism; wherein the first direction is opposite to the direction of the first part of the first object, and the first part is toward the edge of the field of the second target placement point.

28. The device according to claim 25 or 26, characterized in that Controlling the first mechanism to place the first object at a target placement point includes: Controlling the first mechanism to move toward the target placement point; wherein the target placement point is the first target placement point or the second target placement point; After the first mechanism faces the target placement point, the first mechanism is controlled to place the first object at the target placement point.

29. The device according to claim 25, 26 or 28, characterized in that Controlling the first mechanism to place the first object at a target placement point includes: Controlling the environment perception sensor of the robot to collect environmental information of the target placement point, and identifying the spatial size of the target placement point based on the collected environmental information; wherein the target placement point is the first target placement point or the second target placement point; When the space size of the target placement point is able to accommodate the first object, the first mechanism is controlled to place the first object at the target placement point.

30. The device according to claim 29, characterized in that The third control unit is further configured as: When the space size of the target placement point cannot accommodate the first object, the second mechanism of the robot is controlled to be driven so that the robot moves a third distance away from the target placement point and then places the first object.

31. The device according to any one of claims 24 to 30, characterized in that When the first object is placed, the first portion of the first object faces an edge of the venue.

32. The device according to any one of claims 19 to 31, characterized in that The first control unit is further configured as: Determining, based on the environmental information of the original position of the first object and the original position of the first object, that a third object exists near the original position of the first object; wherein the original position of the third object is less than or equal to a fourth distance from the original position of the first object; After the first mechanism completes placement of the first object, the first mechanism is controlled to preferentially acquire the third object.

33. The device according to claim 32, characterized in that The third control unit is further configured as: The first mechanism is controlled to preferentially place the third object near the first object; wherein the distance between the placement position of the third object and the placement position of the first object is less than or equal to the distance between the original position of the third object and the original position of the first object.

34. The device according to any one of claims 19 to 31, characterized in that The third control unit is further configured as: Determining, based on the environmental information of the original position of the first object and the original position of the first object, that a fourth object exists far from the original position of the first object; wherein the distance between the fourth object and the original position of the first object is greater than a fourth distance; determining, based on the environmental information of the original position of the first object and the category of the first object, that the category of the fourth object is the same as the category of the first object; After the first mechanism completes placement of the first object, the first mechanism is controlled to place the fourth object overlapping or adjacent to the first object.

35. The device according to any one of claims 19 to 34, characterized in that The target placement point where the robot places the current object avoids one or more of the following areas: an area in which the action of the first mechanism is interfered with; Restricted areas defined by users; A specific edge region; a space exists between the edge of the specific edge region and the area below; An area that affects the robot's passage; Threshold area; Long-haired areas of carpet; The area in front of the charging station that affects the robot's return to the charging station; Areas that are not currently cleaned but are expected to be cleaned; Affects cleaning of the area of ​​the original location of the current object; Designated placement areas for other categories of objects.

36. The device according to any one of claims 19 to 35, characterized in that The robot is controlled to place the target placement point of the current object within a target area; wherein the target area is a placement area specified by a user, or at least one side of the target area is a field edge and the target area does not interfere with the action of the first mechanism.

37. A robot comprising a memory and a processor, characterized in that: The memory stores a computer program that can be run on the processor, and when the processor executes the program, the steps in the method according to any one of claims 1 to 18 are implemented.

38. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed by a processor or a robot, the steps of the method according to any one of claims 1 to 18 are implemented.

39. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor or a robot, the steps of the method according to any one of claims 1 to 18 are implemented.

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