Operation control method of robot and chip
By updating the work route based on the current room after the robot completes one room, the problem of redundancy of work routes in the existing technology is solved, and more efficient work route planning and execution is achieved.
Patent Information
- Application Number
- CN202311790519.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-25
- Publication Date
- 2025-06-27
AI Technical Summary
The robots in the prior art have redundancy in the operation route planning, resulting in long operation time and unsatisfactory results.
After the robot completes the work in one room at a time, filters the next target work room with the current room that completes the work as a benchmark, updates the work routes based on the actual environment, and optimizes the room work priority to reduce route redundancy.
It realizes dynamic update of the job route during the operation process, reduces the redundancy rate of the job route, and improves the robot's working efficiency.
Smart Images
Figure CN120215313A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of path planning, and specifically relates to an operation control method and a chip for a robot. Background Art
[0002] With the development of robot technology, robots are widely used in the field of intelligent operations. The operation behaviors include, but are not limited to, sweeping the floor, mopping the floor, floor waxing, disinfection, etc., to enable the robot to execute the target operation behavior according to the operation route intelligently planned by it. The robots in the prior art have redundant operation routes for the operation route planning, resulting in long operation time and unsatisfactory operation effects. Summary of the Invention
[0003] This application provides an operation control method and a chip for a robot. The specific technical solutions are as follows: An operation control method for a robot specifically includes: when the robot completes the operation in the current room, screening out the unoperated rooms adjacent to the current room from all the unoperated rooms; obtaining the number of doors respectively possessed by all the unoperated rooms adjacent to the current room, and judging whether there is an unoperated room adjacent to the current room whose number of doors is equal to 1; if there is an unoperated room adjacent to the current room whose number of doors is equal to 1, then taking the unoperated room adjacent to the current room with the number of doors equal to 1 as the target operation room, and controlling the robot to move to the target operation room to execute the target operation behavior.
[0004] Further, the operation control method for the robot further includes: if there is no unoperated room adjacent to the current room whose number of doors is equal to 1, then traversing and calculating the navigation path lengths between the robot and all the unoperated rooms adjacent to the current room; screening out an unoperated room adjacent to the current room with the shortest navigation path length between the robot and all the unoperated rooms adjacent to the current room as the target operation room, and controlling the robot to move to the target operation room to execute the target operation behavior.
[0005] Further, the operation control method for the robot further includes: if there is no unoperated room adjacent to the current room among all the unoperated rooms, then traversing and calculating the navigation path lengths between the robot and all the unoperated rooms; screening out an unoperated room with the shortest navigation path length between the robot and all the unoperated rooms as the target operation room, and controlling the robot to move to the target operation room to execute the target operation behavior.
[0006] Further, the operation control method of the robot further includes: if there are more than two unoperated rooms adjacent to the current room and the number of doorways is equal to 1, traverse and calculate the navigation path lengths between the robot and all unoperated rooms adjacent to the current room and with the number of doorways equal to 1; screen out, from all unoperated rooms adjacent to the current room and with the number of doorways equal to 1, an unoperated room adjacent to the current room with the shortest navigation path length between the robot and the current room as the target operation room, and control the robot to move to the target operation room to perform the target operation behavior.
[0007] Further, the method for screening out unoperated rooms adjacent to the current room from all unoperated rooms specifically includes: obtaining the information at both ends of all doorways included in the current room; obtaining the information at both ends of all doorways included in each unoperated room; traversing and determining whether there is at least one set of doorway end information in the information at both ends of all doorways included in each unoperated room that is the same as one set of doorway end information included in the current room; if there is at least one set of doorway end information in the information at both ends of all doorways included in the unoperated room that is the same as one set of doorway end information included in the current room, determine that the unoperated room is adjacent to the current room; if there is no set of doorway end information in the information at both ends of all doorways included in the unoperated room that is the same as any set of doorway end information included in the current room, determine that the unoperated room is not adjacent to the current room.
[0008] Further, the operation control method of the robot further includes: before the robot performs the target operation behavior, controlling the robot to construct an environmental map, divide the environmental map into room areas, and at the same time controlling the robot to execute a doorway traversal and recognition process to obtain the information at both ends of all doorways in each room, and generate a list of doorway end information for each room.
[0009] Further, the control robot executes a door traversal recognition process to obtain information on both ends of all doors in each room and generate a list of door end information for the room, specifically including: during the process of the control robot moving along the edge, real-time acquisition of environmental visual images; obtaining point features and line features in a frame of environmental visual image currently acquired; performing point feature matching between the point features in a frame of environmental visual image currently acquired and the point features in a preset door visual image to obtain the point feature matching degree of the current frame of environmental visual image; performing line feature matching between the line features in a frame of environmental visual image currently acquired and the line features in a preset door visual image to obtain the line feature matching degree of the current frame of environmental visual image; calculating the presence of a door in the current frame of environmental visual image based on the point feature matching degree of the current frame of environmental visual image and the line feature matching degree of the current frame of environmental visual image; recognizing and recording the door endpoint coordinates based on the environmental visual image with a door present; generating a list of door end information for the room based on all recorded door endpoint coordinates.
[0010] Further, the generating a list of door end information for the room based on all recorded door endpoint coordinates specifically includes: traversing each recorded door endpoint coordinate to identify the door area to which each door endpoint coordinate belongs in the environmental map, classifying the door endpoint coordinates into rooms based on the room area to which they belong, and generating a corresponding list of door endpoints for each room classification; grouping the information on both ends of the doors for each list of door endpoints corresponding to each room classification, such that the door endpoint coordinates included in the list of door endpoints are combined in pairs to form a group of information on both ends of the door; merging the information on both ends of the doors included in all lists of door endpoints to generate a list of door end information for the room.
[0011] Further, the grouping the information on both ends of the doors for each list of door endpoints corresponding to each room classification, such that the door endpoint coordinates included in the list of door endpoints are combined in pairs to form a group of information on both ends of the door, specifically includes: traversing and determining whether all door endpoint coordinates in a list of door endpoints meet the passing condition pairwise; if two door endpoint coordinates meet the passing condition, then combining the two door endpoint coordinates into a group of information on both ends of the door; if two door endpoint coordinates do not meet the passing condition, then the two door endpoint coordinates cannot be combined into a group of information on both ends of the door; wherein, the passing condition means that the robot can pass between the two door endpoint coordinates.
[0012] This application also discloses a chip with a computer program stored therein. When the computer program stored in the chip is run by a processor, it executes the operation control method of the robot as described in any one of the foregoing items.
[0013] The operation control method and chip of the robot described in this application, after the robot completes the operation of each room, uses the currently completed room as a reference to screen the next target operation room, so as to update the operation route according to the actual environment during the operation process. Compared with the technical solution of completing the global map operation route planning before the operation starts, it can combine the actual robot operation situation, and based on the adjacent relationship between rooms and the number of doors in the environment, update and plan a more efficient operation route after completing the operation of each room, reduce the redundancy rate of the operation route, and improve the operation efficiency of the robot. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 It is a schematic flow chart of the operation control method of the robot according to an embodiment of the present application. EMBODIMENTS
[0015] Hereinafter, embodiments of the present application will be described in detail with reference to the drawings. It should be understood that the specific embodiments described below are only used to explain the present application and are not used to limit the present application.
[0016] With the development of robot technology, robots are widely used in the field of intelligent operations to enable robots to execute target operation behaviors according to their intelligently planned operation routes. The robot described in this application refers to a movable robot with operation functions, and the operation functions can be, but are not limited to, functions such as sweeping the floor, mopping the floor, vacuuming, washing the floor, disinfecting, and waxing. There are problems of redundant operation routes in the operation route planning of robots in the prior art, resulting in long operation time and unsatisfactory operation effects. To solve the problems of redundant operation route planning and unsatisfactory operation effects of robots in the prior art, this application proposes an operation control method for robots, aiming to optimize the room operation priority of robots based on the adjacent relationship between rooms and the number of doors in the environment, so as to optimize the operation route and improve the operation efficiency of robots.
[0017] Specifically, the operation control method of the robot, as Figure 1 shown, includes the following steps: When the robot completes the operation of the current room, screen out the unoperated rooms adjacent to the current room from all unoperated rooms; Obtain the number of doors respectively possessed by all unoperated rooms adjacent to the current room, and judge whether there is an unoperated room adjacent to the current room whose number of doors is equal to 1; If there is an unoperated room adjacent to the current room whose number of doors is equal to 1, use the unoperated room adjacent to the current room with the number of doors equal to 1 as the target operation room, and control the robot to move to the target operation room to execute the target operation behavior.
[0018] Specifically, when the robot finishes the operation of a room, the room is marked as an operated room on the map, and all the rooms on the map that are not marked as operated rooms are regarded as unoperated rooms. Therefore, based on the operated rooms marked on the map, the robot can screen out all the unoperated rooms. Among them, the number of doors in each room is actually equivalent to the number of entrances and exits of each room, and the size of the entrance and exit needs to meet the preset door size, and only the entrance and exit that meets the preset door size can be regarded as a door.
[0019] Specifically, in this embodiment, the operation execution priority of the unoperated room adjacent to the current room and having one door is configured to be the highest, so that after the robot finishes the operation of the current room, it preferentially performs the target operation behavior on the adjacent room with only one door. The number of doors represents the connectivity between the room and other rooms. If the current room where the operation is completed is regarded as the first room, the unoperated room adjacent to the current room and having one door is regarded as the second room, and the unoperated room adjacent to the current room and having more than one door is regarded as the third room. Since the number of doors in the third room is more than one, the number of rooms adjacent to the third room is more than one, while the number of doors in the second room is equal to one, that is, the second room is only adjacent to the first room. It can be understood that the only way for the robot to move to the second room is through the first room. Therefore, in this embodiment, by controlling the robot to preferentially perform the target operation behavior on the second room, it is avoided that the robot starts from the first room, preferentially performs the target operation behavior on the third room, and then detours back to the first room and moves to the second room to perform the target operation behavior, thus avoiding the situation of redundant routes.
[0020] In this embodiment, after the robot finishes the operation of a room each time, with the current room where the operation is completed as the benchmark, the next target operation room is screened, so as to realize the update of the operation route according to the actual environment during the operation process. Compared with the technical solution of completing the global map operation route planning before the operation starts, this technical solution can combine the actual robot movement operation situation, regularly plan a more efficient operation route, reduce the redundancy rate of the operation route, and improve the operation efficiency of the robot.
[0021] As a preferred embodiment of the present application, the operation control method of the robot further includes: before the robot executes the target operation behavior, controlling the robot to construct an environmental map, dividing the environmental map into room areas, and at the same time controlling the robot to execute a door traversal and recognition process to obtain the information at both ends of all doors in each room, and generating a list of door end information in the rooms. Specifically, the map construction method used by the robot to construct the environmental map may be, but is not limited to, the Simultaneous Localization and Mapping (SLAM) technology implemented based on a vision sensor; the method of dividing the environmental map into room areas may be, but is not limited to, dividing the room areas according to the line features in the environmental map. In this embodiment, by completing the construction of the environmental map and the division of the room areas before the robot officially executes the target operation behavior, the robot can understand the division of each room area before planning the operation route, and at the same time execute the door traversal and recognition process according to the division of the room areas, so that the robot can obtain the connectivity between each room before planning the target operation behavior route, thereby being able to more reasonably plan the operation route based on the connectivity between the rooms, reduce redundant operation routes, and improve the operation efficiency.
[0022] As a preferred embodiment of the present application, the operation control method of the robot further includes: if the number of doors of the unoperated rooms adjacent to the current room is equal to 1, traversing and calculating the navigation path lengths between the robot and all unoperated rooms adjacent to the current room; screening out, from all unoperated rooms adjacent to the current room, an unoperated room adjacent to the current room with the shortest navigation path length between the robot and the current room as the target operation room, and controlling the robot to move to the target operation room to execute the target operation behavior.
[0023] Among them, the calculation method of the navigation path length for the robot to move to an unoperated room adjacent to the current room and with the number of doors not equal to 1 may be, but is not limited to, the shortest passable path length for the robot to move to any door position of the unoperated room adjacent to the current room, or the shortest passable path length for the robot to move to a specified position of the unoperated room adjacent to the current room and with the number of doors not equal to 1; the specified position may be, but is not limited to, the center point of the room, a specified door end point position of the room, a position point in the room, etc.
[0024] Specifically, when the number of doors of the unassigned rooms adjacent to the current room is not equal to 1, since the unassigned rooms are adjacent to the current room, that is, there is at least one connected entrance and exit between the unassigned rooms and the current room, it means that the number of doors of the unassigned rooms adjacent to the current room is greater than 1, that is, each unassigned room adjacent to the current room has multiple ways to enter the room. When the unassigned rooms adjacent to the current room have multiple ways to enter the room, it means that it is not necessary for the robot to enter the unassigned room through the current room. Therefore, in this embodiment, the operation priority of this type of unassigned room is configured after the unassigned room with only one door.
[0025] When there is no unassigned room adjacent to the current room with the number of doors equal to 1, but there are multiple unassigned rooms adjacent to the current room with the number of doors not equal to 1, by traversing and calculating the navigation path lengths for the robot to move to each unassigned room adjacent to the current room with the number of doors not equal to 1, and screening out the shortest one among them as the operation route, the robot preferentially performs the target operation behavior on the adjacent and relatively close unassigned rooms, reducing the unnecessary movement path of the robot, thereby optimizing the operation efficiency of the robot.
[0026] As a preferred embodiment of the present application, the operation control method of the robot further includes: if there is no unassigned room adjacent to the current room among all the unassigned rooms, then traverse and calculate the navigation path lengths between the robot and all the unassigned rooms; select an unassigned room with the shortest navigation path length between the robot and all the unassigned rooms as the target operation room, and control the robot to move to the target operation room to perform the target operation behavior. Specifically, if all the adjacent rooms of the current room have completed the operation, then control the robot to move to the unassigned room with the shortest navigation path length to perform the target operation behavior, so that the robot can reach the target operation room through the shortest movement path and enter the operation state more efficiently. Among them, the calculation method of the navigation path length for the robot to move to the unassigned room can be, but is not limited to, the shortest passable path length for the robot to move to any door position of the unassigned room, or the shortest passable path length for the robot to move to the specified position of the unassigned room; the specified position can be, but is not limited to, the center point of the room, a specified door end point position of the room, a position point in the room, etc.
[0027] As a preferred embodiment of the present application, the operation control method of the robot further includes: if there are two or more unoperated rooms adjacent to the current room and the number of doorways is equal to 1, traverse and calculate the navigation path lengths between the robot and all unoperated rooms adjacent to the current room and with the number of doorways equal to 1; select, from all unoperated rooms adjacent to the current room and with the number of doorways equal to 1, an unoperated room adjacent to the current room with the shortest navigation path length between the robot and it as the target operation room, and control the robot to move to the target operation room to perform the target operation behavior.
[0028] Among them, the calculation method of the navigation path length for the robot to move to an unoperated room adjacent to the current room and with the number of doorways equal to 1 can be, but is not limited to, the shortest passable path length for the robot to move to the doorway position of the unoperated room adjacent to the current room, or the shortest passable path length for the robot to move to a specified position in the unoperated room adjacent to the current room and with the number of doorways equal to 1; the specified position can be, but is not limited to, the center point of the room, the doorway end point position of the room, a position point in the room, etc.
[0029] Specifically, when there are two or more unoperated rooms adjacent to the current room and the number of doorways is equal to 1 in the environment, control the robot to preferentially operate on an unoperated room with a shorter navigation path length. It can be understood that in this embodiment, the highest priority for the operation route planning is that the room is adjacent to the current room and the number of doorways is equal to 1, and the second priority is the shortest navigation path length. Based on this priority of the operation route planning, the robot can use the current room where the operation is completed as a reference point, and update the operation route in real time after each room operation is completed, making the planned operation route more reasonable, the planning real-time performance better, and the operation efficiency higher.
[0030] As a preferred embodiment of the present application, the method for screening out unoperated rooms adjacent to the current room from all unoperated rooms specifically includes: obtaining information on both ends of all doorways included in the current room; obtaining information on both ends of all doorways included in each unoperated room; traversing and determining whether there is at least one set of doorway end information in the information on both ends of all doorways included in each unoperated room that is the same as one set of doorway end information included in the current room; if there is at least one set of doorway end information in the information on both ends of all doorways included in the unoperated room that is the same as one set of doorway end information included in the current room, determine that the unoperated room is adjacent to the current room; if there is no set of doorway end information in the information on both ends of all doorways included in the unoperated room that is the same as any set of doorway end information included in the current room, determine that the unoperated room is not adjacent to the current room.
[0031] Specifically, the information at both ends of the room door refers to the information that can reflect the positions of both ends of the door frame of the room door. It should be noted that each room includes at least one set of information at both ends of the door, and the same set of information at both ends of the door can be included between different rooms. Since two adjacent rooms can be connected based on at least one door, and the door connecting the two rooms has the same set of door frames, that is, when the same set of information at both ends of the door is included between two rooms, it is confirmed that the two rooms are connected by a door and the two rooms are adjacent.
[0032] Currently, in the prior art, it is usually determined whether rooms are adjacent by judging whether there is a shared wall between the rooms. However, in fact, if two rooms share the same wall, it can be determined that they are adjacent, but it does not mean that the robot can realize the interconnection between the two rooms without passing through other room areas. Therefore, this determination method cannot help the robot reasonably plan the operation route. In this embodiment, by matching whether there is a set of the same information at both ends of the door between different rooms, the determination of whether the rooms are adjacent is realized, and based on this determination method, the rooms not only have an adjacent relationship, but also have a relationship that the two rooms can be connected and passed through, so that the operation route planned by the robot based on this determination method has the advantages of low redundancy rate, short navigation path and high operation efficiency.
[0033] As a preferred embodiment of the present application, controlling the robot to execute the door traversal recognition process to obtain all the information at both ends of the door of each room and generate a list of the information at both ends of the room door specifically includes: During the process of controlling the robot to move along the edge, the environmental visual image is collected in real time; the point features and line features in a frame of the currently collected environmental visual image are obtained; the point features in a frame of the currently collected environmental visual image are matched with the point features in the preset door visual image to obtain the point feature matching degree of the current frame of environmental visual image; the line features in a frame of the currently collected environmental visual image are matched with the line features in the preset door visual image to obtain the line feature matching degree of the current frame of environmental visual image; specifically, since the extraction of point features, the extraction of line features, the matching of point features, and the matching of line features based on the visual image can all be realized by conventional image feature extraction and matching algorithms, this embodiment will not elaborate on this.
[0034] Calculate the presence of a door in the current frame of environmental visual image based on the point feature matching degree and the line feature matching degree of the current frame of environmental visual image; the calculation of the presence of a door in the current frame of environmental visual image based on the point feature matching degree and the line feature matching degree of the current frame of environmental visual image means that the product of the point feature matching degree and the preset point feature matching index and the product of the line feature matching degree and the preset line feature matching index are added, and the addition operation result is used as the possibility of the presence of a door; when the possibility of the presence of a door is greater than or equal to the preset door presence possibility threshold, the presence of a door is determined to exist, and conversely, when the possibility of the presence of a door is less than the preset door presence possibility threshold, the presence of a door is determined to be uncertain. Among them, the preset point feature matching index and the preset line feature matching index are index values used to adjust the influence factors of point features and line features in the possibility of the presence of a door. For example, if the door is more represented by line features in the environmental visual image, then in the calculation of the possibility of the presence of a door, the preset line feature matching index is configured to be greater than the preset point feature matching index value. It can be, but is not limited to, configuring the preset line feature matching index to be twice the preset point feature matching index. The preset door presence possibility threshold is set based on the preset line feature matching index and the preset point feature matching index, and is used to determine the probability of the presence of a door in the environmental visual image.
[0035] Identify and record the door endpoint coordinates based on the environmental visual image with a door present; generate a list of information about both ends of the room door based on all the recorded door endpoint coordinates. Specifically, the method of identifying and recording the door endpoint coordinates based on the environmental visual image with a door present can be, but is not limited to, determining the door endpoint coordinates by identifying the door frame position through the environmental visual image, or, based on the characteristic that the robot will turn at the door endpoint position during the edge movement, identifying the inflection point and combining the door recognition of the environmental visual image to determine the door endpoint coordinates, etc. In this embodiment, the presence of a door in the environmental visual image is initially determined based on the matching of point features and line features, and the identification and recording of the door endpoint coordinates are performed when it is determined that there is a door in the environmental visual image, improving the success rate and accuracy of the door endpoint coordinate identification.
[0036] As a preferred embodiment of the present application, generating a list of information at both ends of the room door based on the coordinates of all recorded door endpoints of the room specifically includes: traversing each recorded door endpoint coordinate to identify the room area to which each door endpoint coordinate belongs in the environmental map, classifying the door endpoints based on the room area to which they belong, and generating a corresponding list of door endpoints for each room classification; wherein, the method of generating a corresponding list of door endpoints for each room classification is: obtaining all room classifications; traversing and determining the belonging of each door endpoint coordinate in all room classifications, and recording the door endpoint coordinate in a list of door endpoints corresponding to the room classification to which it belongs.
[0037] Group the information at both ends of the door for each list of door endpoints corresponding to each room classification, so that the door endpoint coordinates included in the list of door endpoints are combined in pairs to form a group of information at both ends of the door; merge the information at both ends of the door included in all lists of door endpoints to generate a list of information at both ends of the room door. It should be noted that since there may be a situation where two room areas are connected by a door, therefore, a door endpoint coordinate can belong to two room areas at the same time. For example, if Room 1 and Room 2 are connected by this door, then the two door endpoint coordinates at both ends of this door belong to both Room 1 area and Room 2 area.
[0038] As a preferred embodiment of the present application, when grouping the information at both ends of the door for each corresponding list of door endpoints of each room, so that the door endpoint coordinates included in the list of door endpoints are combined in pairs to form a set of information at both ends of the door, it specifically includes: traversing and determining whether all the door endpoint coordinates in a list of door endpoints meet the passage condition when paired; if the passage condition is met between two door endpoint coordinates, then combine these two door endpoint coordinates into a set of information at both ends of the door; if the passage condition is not met between two door endpoint coordinates, then these two door endpoint coordinates cannot be combined into a set of information at both ends of the door; wherein, the passage condition means that the robot can pass between two door endpoint coordinates. Preferably, the determination method for the robot to be able to pass between two door endpoint coordinates can be but is not limited to: whether the shortest straight-line distance between two door endpoints is greater than or equal to a preset door size. The preset door size refers to the size preset for determining whether an entrance and exit can be regarded as a door, and the preset door size is set with reference to the body diameter size of the robot. Based on the passability of the robot, this embodiment determines the two door endpoint coordinates included in a set of information at both ends of the door. When the robot cannot pass between two door endpoint coordinates, it is determined that there is no door between these two door endpoint coordinates, and these two door endpoint coordinates cannot be combined into a set of information at both ends of the door. On the contrary, when the robot can pass between two door endpoint coordinates, it is determined that there is a door between these two door endpoint coordinates, and these two door endpoint coordinates can be combined into a set of information at both ends of the door.
[0039] As a preferred embodiment of the present application, a chip is provided, and a computer program is stored inside the chip. Specifically, the computer program stored inside the chip, when executed by a processor, implements the operation control method of the robot as described in any of the previous embodiments. Those skilled in the art can understand that all or part of the steps in implementing the methods of the above embodiments can be completed by instructing relevant hardware through a program. This program is stored in a storage medium, including several instructions for causing a single-chip microcomputer, a chip, or a processor to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.
[0040] As a preferred embodiment of the present application, a robot is provided. Specifically, the robot includes: an operation component for performing a target operation behavior in a room; a chip as described above, which internally stores a computer program; and a processor for running the chip, such that when the computer program stored internally in the chip runs, it controls the robot to implement the operation control method as described in any of the previous embodiments based on the operation component. Among them, the operation component may be, but is not limited to, a cleaning brush, a mopping component, a dust suction fan component, a cleaning liquid spraying component, a disinfection component, a waxing component, etc., which can implement the target operation behavior.
[0041] It should be noted that any process or method description in the flowchart or described in other ways herein can be understood as: representing executable instruction code including one or more modules, segments, or portions of steps for implementing a specific logical function or process, and the scope of the preferred embodiments of the present application includes additional implementations, where the functions may be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed, and this should be understood by those skilled in the technical field to which the embodiments of the present application belong.
[0042] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.
Claims
1. A method for controlling the operation of a robot, characterized in that, The operation control method of the robot specifically includes: When the robot completes the operation in the current room, screen out the unoperated rooms adjacent to the current room from all the unoperated rooms; Obtain the number of doors of all the unoperated rooms adjacent to the current room respectively, and determine whether there is an unoperated room adjacent to the current room with the number of doors equal to 1; If there is an unoperated room adjacent to the current room with the number of doors equal to 1, then use the unoperated room adjacent to the current room with the number of doors equal to 1 as the target operation room; Control the robot to move to the target operation room to perform the target operation behavior.
2. The operation control method of the robot according to claim 1, characterized in that, The operation control method of the robot further includes: If there is no unoperated room adjacent to the current room with the number of doors equal to 1, then traverse and calculate the navigation path lengths of the robot and all the unoperated rooms adjacent to the current room; Screen out an unoperated room adjacent to the current room with the shortest navigation path length between the robot and all the unoperated rooms adjacent to the current room as the target operation room, and control the robot to move to the target operation room to perform the target operation behavior.
3. The operation control method of the robot according to claim 2, characterized in that, The operation control method of the robot further includes: If there is no unoperated room adjacent to the current room among all the unoperated rooms, then traverse and calculate the navigation path lengths of the robot and all the unoperated rooms; Screen out an unoperated room with the shortest navigation path length between the robot and all the unoperated rooms as the target operation room, and control the robot to move to the target operation room to perform the target operation behavior.
4. The operation control method of the robot according to claim 3, wherein, The operation control method of the robot further includes: If there are two or more unoperated rooms adjacent to the current room and the number of doors is equal to 1, then traverse and calculate the navigation path lengths of the robot and all the unoperated rooms adjacent to the current room and with the number of doors equal to 1; Screen out an unoperated room adjacent to the current room and with the shortest navigation path length between the robot and all the unoperated rooms adjacent to the current room and with the number of doors equal to 1 as the target operation room, and control the robot to move to the target operation room to perform the target operation behavior.
5. The operation control method of the robot according to claim 1, wherein, The method of screening out the unoperated rooms adjacent to the current room from all the unoperated rooms specifically includes: Obtain the information of both ends of all the doors included in the current room; Obtain the information of both ends of all the doors included in all the unoperated rooms respectively; Traverse and judge whether there is at least one set of door end information in the information of both ends of all the doors included in each unoperated room that is the same as one set of door end information included in the current room; If there is at least one set of door end information in the information of both ends of all the doors included in the unoperated room that is the same as one set of door end information included in the current room, then determine that this unoperated room is adjacent to the current room; If there is no set of door end information in the information of both ends of all the doors included in the unoperated room that is the same as any set of door end information included in the current room, then determine that this unoperated room is not adjacent to the current room.
6. The operation control method of the robot according to claim 5, wherein, The operation control method of the robot further includes: Before the robot executes the target operation behavior, control the robot to construct an environmental map, divide the environmental map into room areas, and at the same time control the robot to execute the door traversal recognition process to obtain the information of both ends of all doors in each room, and generate a list of door end information for each room.
7. The operation control method of the robot according to claim 6, characterized in that, The control of the robot to execute the door traversal recognition process to obtain the information of both ends of all doors in each room and generate a list of door end information for each room specifically includes: During the process of controlling the robot to move along the edge, collect environmental visual images in real time; Obtain the point features and line features in a frame of environmental visual image collected currently; Perform point feature matching between the point features in a frame of environmental visual image collected currently and the point features in the preset door visual image to obtain the point feature matching degree of the current frame of environmental visual image; Perform line feature matching between the line features in a frame of environmental visual image collected currently and the line features in the preset door visual image to obtain the line feature matching degree of the current frame of environmental visual image; Calculate the existence of doors in the current frame of environmental visual image based on the point feature matching degree of the current frame of environmental visual image and the line feature matching degree of the current frame of environmental visual image; Based on the environmental visual image with the existence of doors, identify and record the door endpoint coordinates; Generate a list of door end information for each room based on all the recorded door endpoint coordinates.
8. The operation control method of the robot according to claim 7, characterized in that, The generation of the list of door end information for each room based on all the recorded door endpoint coordinates specifically includes: Traverse each recorded door endpoint coordinate to identify the room area to which each door endpoint coordinate belongs in the environmental map, classify the door endpoint coordinates based on the room area to which they belong, and generate a corresponding list of door endpoints for each room classification; Group the information of both ends of the doors for each list of door endpoints corresponding to each room classification, so that the door endpoint coordinates included in the list of door endpoints are combined in pairs into a group of door end information; Merge the door end information included in all the lists of door endpoints to generate a list of door end information for each room.
9. The operation control method of the robot according to claim 8, wherein The grouping of the information of both ends of the doors for each list of door endpoints corresponding to each room classification, so that the door endpoint coordinates included in the list of door endpoints are combined in pairs into a group of door end information, specifically includes: Traverse and judge whether all the door endpoint coordinates in a list of door endpoints meet the passing condition pairwise; If the passing condition is met between two door endpoint coordinates, combine the two door endpoint coordinates into a group of door end information; If the passing condition is not met between two door endpoint coordinates, the two door endpoint coordinates cannot be combined into a group of door end information; Among them, the passing condition means that the robot can pass between two door endpoint coordinates.
10. A chip with a computer program stored internally, characterized in that, When the computer program stored inside the chip is run by the processor, it executes the operation control method of the robot as described in any one of claims 1 to 9.