A control method of a home service robot and a home service robot

Abstract

The application relates to a housekeeping robot control method and a housekeeping robot, and relates to the technical field of robots, which comprises the following steps: S1, in response to a start work instruction, obtaining a current position of a tidying robot and a position of an object to be tidied; S2, determining an absolute tidying range of the tidying robot based on the current position and a preset relative tidying range; S3, when the position of the object to be tidied falls in the absolute tidying range, controlling the tidying robot to tidy; S4, when the position of the object to be tidied does not fall in the absolute tidying range, determining a moving path based on the current position, the position of the object to be tidied and the relative tidying range; and S5, controlling the sweeping robot to move according to the moving path, and then controlling the tidying robot to tidy. The application has the effect of improving the work efficiency of the housekeeping robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a control method of a housekeeping robot and the housekeeping robot. BACKGROUND

[0002] The housekeeping robot belongs to the category of robots, which refers to using robots to replace ordinary manual labor to complete a series of housekeeping services.

[0003] In the related art, the housekeeping robot can be used to fold clothes and arrange the folded clothes; it can also be used to classify articles, such as toys for children and toys for pets.

[0004] In view of the above related art, the inventors believe that when arranging or classifying articles, the housekeeping robot cannot arrange or classify articles beyond its working range due to different positions of the articles, resulting in low work efficiency of the housekeeping robot, which still has room for improvement. SUMMARY

[0005] In order to improve the work efficiency of the housekeeping robot, the present application provides a control method of a housekeeping robot and the housekeeping robot.

[0006] In a first aspect, the present application provides a control method of a housekeeping robot, which adopts the following technical solution:

[0007] A control method of a housekeeping robot, comprising:

[0008] Step S1: in response to a start work instruction, obtaining a current position of an arrangement robot and a position of an article to be arranged;

[0009] Step S2: determining an absolute arrangement range of the arrangement robot based on the current position and a preset relative arrangement range;

[0010] Step S3: when the position of the article to be arranged falls within the absolute arrangement range, controlling the arrangement robot to arrange;

[0011] Step S4: when the position of the article to be arranged does not fall within the absolute arrangement range, determining a moving path based on the current position, the position of the article to be arranged and the relative arrangement range;

[0012] Step S5: controlling the sweeping robot to move according to the moving path, and then controlling the arrangement robot to arrange.

[0013] Wherein, before controlling the sweeping robot to move according to the moving path, the following steps are further included:

[0014] Step S50: obtaining a real-time position of the sweeping robot;

[0015] Step S51: when the real-time position is inconsistent with the current position, determining a preparation path based on the real-time position and the current position;

[0016] Step S52: controlling the sweeping robot to move according to the preparation path;

[0017] Step S53: when the real-time position is consistent with the current position, controlling the sweeping robot to lift the tidying robot based on a preset lifting instruction.

[0018] By using the above technical solution, the tidying robot is lifted and moved to the position of the object to be tidied by the sweeping robot, so that the tidying robot can work at different work sites to improve the working efficiency of the tidying robot.

[0019] When the real-time position of the sweeping robot is not at the current position of the tidying robot, the sweeping robot is moved to the current position of the tidying robot and lifted, so that the tidying robot can be moved to the work site together.

[0020] Optionally, the method for controlling the sweeping robot to move according to the preparation path comprises:

[0021] Step S521: obtaining a preparation moving speed during the process of controlling the sweeping robot to move according to the preparation path;

[0022] Step S522: determining a moving state based on the real-time position and the preparation path;

[0023] Step S523: when the preparation moving speed is 0 and the moving state is a preset forward state, defining the real-time position at this time as an obstacle position, and obtaining a front image;

[0024] Step S524: determining an obstacle range based on the front image and the obstacle position;

[0025] Step S525: forming an adjusted preparation path based on the obstacle position, the preparation path and the obstacle range;

[0026] Step S526: controlling the sweeping robot to move according to the adjusted preparation path.

[0027] By using the above technical solution, when the sweeping robot encounters an obstacle during moving along the preparation path, the obstacle can be quickly identified and a detour path can be planned, so that the moving is not interrupted due to the obstacle, and the sweeping robot can smoothly reach the current position of the tidying robot.

[0028] Optionally, it further comprises:

[0029] Step S527: obtaining the current orientation of the tidying robot when the current position is within the obstacle range;

[0030] Step S528: obtaining the table leg position based on the current position and the current orientation;

[0031] Step S529: forming a table pushing path based on the table leg position, the real-time position, and the obstacle range;

[0032] Step S530: controlling the sweeping robot to move according to the table pushing path;

[0033] Step S531: re-executing steps S50 to S53 after the sweeping robot moves according to the table pushing path.

[0034] By adopting the above technical solution, when the tidying robot itself is within the obstacle range, causing the sweeping robot to be unable to directly reach the position of the tidying robot, the sweeping robot is caused to push the tidying robot to make the tidying robot leave the obstacle area, so that the sweeping robot can smoothly move to the position of the tidying robot.

[0035] Optionally, the method for controlling the sweeping robot to move according to the table pushing path comprises:

[0036] Step S5300: obtaining the table pushing speed of the sweeping robot;

[0037] Step S5301: obtaining a table top image on the table top of the tidying robot when the table pushing speed is 0;

[0038] Step S5302: analyzing the object information based on the table top image;

[0039] Step S5303: reading the object state based on the object information;

[0040] Step S5304: obtaining a pushing and falling angle of the object information when the object state is a preset non-frangible state;

[0041] Step S5305: determining a pushing and falling instruction based on the pushing and falling angle;

[0042] Step S5306: controlling the tidying robot to push and fall the object to the ground based on the pushing and falling instruction.

[0043] By adopting the above technical solution, when the tidying robot has objects on the table and causes the sweeping robot to be unable to push the tidying robot, the tidying robot is controlled to push the identified non-frangible object off the table top, reducing the friction when pushing, ensuring that the table pushing action can continue, and avoiding damage to the fragile object.

[0044] Optionally, the method further comprises a method for controlling the sweeping robot to move according to the moving path, and the method comprises:

[0045] Step S54: Obtain the table leg numbers of the tidying robot and the pressure values and the moving speed of each table leg number;

[0046] Step S55: When the pressure value exceeds the preset pressure value threshold and the moving speed is 0, obtain the moving image on the moving path;

[0047] Step S56: Analyze the moving obstacle position and the moving obstacle range based on the moving image;

[0048] Step S57: Analyze the blocked table leg number and the blocked table leg position of the blocked table leg based on the moving image and the moving obstacle position;

[0049] Step S58: Determine the rotation angle range based on the blocked table leg number, the blocked table leg position, the moving obstacle position and the moving obstacle range;

[0050] Step S59: Arbitrarily select a rotation angle in the rotation angle range to determine the rotation method;

[0051] Step S60: Control the sweeping robot to rotate the table based on the rotation method, and then control the sweeping robot to move according to the moving path.

[0052] By adopting the above technical solution, when the table leg encounters an obstacle during the movement of the tidying robot driven by the sweeping robot, the table leg blocked by the obstacle is rotated by a certain angle to avoid the obstacle, so that the tidying robot can move smoothly along the moving path.

[0053] Optionally, the method of determining the rotation method further comprises:

[0054] Step S591: Define the rotation method determined by arbitrarily selecting a rotation angle in the rotation angle range as a preliminary rotation method;

[0055] Step S592: Determine the adjusted table leg positions of the four table legs based on the preliminary rotation method;

[0056] Step S593: Determine the table leg moving path based on the adjusted table leg positions and the moving path;

[0057] Step S594: When there is an intersection between the table leg moving path and the moving obstacle range, reselect a rotation angle and redetermine the preliminary rotation method;

[0058] Step S595: When there is no intersection between the table leg moving path and the moving obstacle range, define the rotation angle at this time as the preferred rotation angle, and output the preliminary rotation method at this time as the rotation method.

[0059] By adopting the technical scheme, the rotating angle range is searched to find a rotating angle that can make the four table legs not collide with the obstacle, and the arrangement robot is rotated at the rotating angle, so that the arrangement robot can quickly avoid the obstacle and move.

[0060] Optionally, the method for controlling the robot cleaner to continue moving when the rotating method cannot be determined after searching all the rotating angles in the rotating angle range comprises:

[0061] Step S596: analyzing obstacle height information based on the moving image;

[0062] Step S597: determining a lifting height based on the preset table leg height information and the obstacle height information;

[0063] Step S598: determining a lifting scheme based on the lifting height;

[0064] Step S599: lifting the robot cleaner based on the lifting scheme, and controlling the robot cleaner to continue moving along the moving path.

[0065] By adopting the technical scheme, when a suitable rotating angle cannot be found in the rotating angle range to make the arrangement robot avoid the obstacle, the arrangement robot can be lifted to cross over the obstacle to avoid the obstacle, so that the arrangement robot can normally move along the moving path.

[0066] Optionally, the method for controlling the robot cleaner to move along the moving path further comprises:

[0067] Step S61: acquiring a working image;

[0068] Step S62: acquiring a working orientation of the arrangement robot;

[0069] Step S63: determining a relative direction of the object to be arranged based on the working orientation and the working image;

[0070] Step S64: when the relative direction of the object to be arranged is in a preset arrangeable direction range, controlling the arrangement robot to arrange;

[0071] Step S65: when the relative direction of the object to be arranged is not in the preset arrangeable direction range, determining a working adjustment angle based on the working orientation and the working image;

[0072] Step S66: determining a working rotating method based on the working adjustment angle;

[0073] Step S67: controlling the robot cleaner to rotate the arrangement robot based on the working rotating method;

[0074] Step S68: control the tidying robot to tidy after the sweeping robot controls the tidying robot to rotate.

[0075] By adopting the above technical scheme, the tidying robot can be adjusted to a suitable working orientation after reaching the position of the article to be tidied, so that the article to be tidied can fall into the working range of the mechanical arm, thereby enabling the mechanical arm to smoothly tidy the article to be tidied.

[0076] In a second aspect, the present application provides a housekeeping robot, which adopts the following technical scheme:

[0077] A housekeeping robot comprises:

[0078] a tidying robot for tidying articles and a sweeping robot for lifting and moving the tidying robot;

[0079] The tidying robot comprises a mechanical arm for picking up articles and tidying them and a table for mounting and supporting the mechanical arm, and the sweeping robot is provided with a lifting device for lifting the table.

[0080] By adopting the above technical scheme, the mechanical arm of the tidying robot is responsible for specific article tidying work, the table provides mounting and support for the mechanical arm, and the sweeping robot lifts and moves the tidying robot through the lifting device, thereby realizing flexible movement of the tidying robot between different positions and improving the coverage range and work efficiency of housekeeping services.

[0081] In summary, the present application has at least one of the following beneficial technical effects:

[0082] Through the cooperative work of the sweeping robot and the tidying robot, flexible movement of the tidying robot is realized, the limitation of fixed working range is broken, and the efficiency of tidying articles is improved.

[0083] The sweeping robot has perfect obstacle recognition and coping functions, and can effectively avoid obstacles in different ways during its own movement or movement with the tidying robot, thereby ensuring smooth work. BRIEF DESCRIPTION OF DRAWINGS

[0084] Figure 1 is a flowchart of a control method of a housekeeping robot in the present application;

[0085] Figure 2 is a structural schematic diagram of a housekeeping robot in the present application.

[0086] The names of the parts referred to by the numbers in the above drawings are as follows: 1, tidying robot; 2, sweeping robot; 11, mechanical arm; 12, table; 21, lifting device. DETAILED DESCRIPTION

[0087] The application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0088] The application discloses a control method of a housekeeping robot.

[0089] Referring to Figure 1 A control method of a housekeeping robot, comprising:

[0090] Step S1: in response to a start work instruction, obtaining a current position of the tidying robot 1 and a position of an article to be tidied.

[0091] The start work instruction is a trigger signal for starting the housekeeping robot to tidy the article sent by the user. The housekeeping robot receives the instruction through a wireless communication module (such as Bluetooth). The current position is the position where the tidying robot 1 is currently located, and at the same time, it is also the position where the sweeping robot lifts the tidying robot 1, and the tidying robot 1 keeps balance when the sweeping robot 2 lifts the tidying robot 1. The obtaining method is to analyze the image through the camera shooting downward from the ceiling, analyze the actual position of the contour of the edge line of the table 12, and then determine the center point of the square surrounded by the edge line, which is the current position. The position of the article to be tidied (such as scattered toys and clothes) in the room is obtained by image recognition through the camera in the room. As shown in the figure, the housekeeping robot comprises the tidying robot 1, the sweeping robot 2 and the lifting device 21. The tidying robot 1 comprises the mechanical arm 11 and the table 12. The mechanical arm 11 is installed and fixed on the table 12 to tidy and place the article, the lifting device 21 is fixedly connected to the sweeping robot 2, and the lifting device 21 can be lifted to lift the table 12 to move the tidying robot 1 to the working position. Figure 2

[0092] Step S2: determining an absolute tidying range of the tidying robot 1 based on the current position and a preset relative tidying range.

[0093] The relative tidying range is the maximum working range that can be covered by the mechanical arm 11 of the tidying robot 1 in the working state of the maximum stretching of the mechanical arm 11, with the base of the mechanical arm 11 as the center. The relative tidying range is pre-input into the system by the staff according to the maximum working radius and other parameters of the mechanical arm. The absolute tidying range is the actual maximum working range of the tidying robot 1 obtained according to the current position of the tidying robot 1 and the relative tidying range, and the determination method is that the system takes the current position of the robot as the origin of the plane coordinate and adds the radius of the maximum working range of the mechanical arm 11 to form a certain angle sector range. ​

[0094] Step S3: when the position of the object to be arranged falls within the absolute arrangement range, controlling the arrangement robot 1 to arrange.

[0095] When the object to be arranged is within the working range of the arrangement robot 1, the arrangement robot 1 can arrange the object to be arranged without moving.

[0096] Step S4: when the position of the object to be arranged does not fall within the absolute arrangement range, determining a moving path based on the current position, the position of the object to be arranged, and the relative arrangement range.

[0097] The moving path refers to a planned route for the sweeping robot 2 to move the arrangement robot 1 from the current position to a target position where the position of the object to be arranged falls within a new absolute arrangement range of the arrangement robot 1. The implementation means is that the staff pre-enters the room structure map in the system, and there are a large number of paths in the system from one starting point to another ending point in the room. This path can be designed by the staff according to the room structure map combined with their experience and common sense. According to the direction of the position of the object to be arranged and the relative arrangement range, the position range that the arrangement robot 1 needs to reach to arrange the object to be arranged is determined, and any point in the position range is taken as the ending point, and the current position is taken as the starting point. The path that matches the existing path in the system is the moving path. When the position of the object to be arranged does not fall within the absolute arrangement range, it means that the arrangement robot 1 needs to move to arrange the object to be arranged, so the moving path needs to be determined.

[0098] Step S5: controlling the sweeping robot 2 to move according to the moving path, and then controlling the arrangement robot 1 to arrange.

[0099] It also includes a method of lifting the arrangement robot before the sweeping robot 2 moves according to the moving path, which includes:

[0100] Step S50: obtaining the real-time position of the sweeping robot 2.

[0101] The real-time position refers to the current position of the sweeping robot 2, which is obtained by image recognition of the camera in the room. The acquisition method is to analyze the image of the camera shooting downward from the ceiling, analyze the actual position of the edge line profile of the sweeping robot 2, and then determine the center point of the circle surrounded by the edge line. This point is the current position. If the sweeping robot 2 is blocked and the camera cannot recognize the sweeping robot 2, the system controls the sweeping robot 2 to move a preset unit distance in the X-axis direction or the Y-axis direction. The X-axis direction and the Y-axis direction are perpendicular to each other and are set with the room center point as the origin by image analysis of the camera shooting downward from the ceiling. The unit distance is a distance preset by the staff in the system, for example, 1 meter.

[0102] Step S51: When the real-time position is inconsistent with the current position, determining a preparation path based on the real-time position and the current position.

[0103] The preparation path refers to a planned route for the sweeping robot 2 to move from the real-time position of the sweeping robot 2 to the current position where the tidying robot 1 is located. The determination manner of the preparation path is similar to that of the moving path, except that the starting point here is the real-time position and the ending point is the current position, which will not be described in detail here. The current position here also represents the position of the sweeping robot 2 lifting the table 12.

[0104] Step S52: Controlling the sweeping robot 2 to move according to the preparation path.

[0105] Step S53: When the real-time position is consistent with the current position, controlling the sweeping robot 2 to lift the tidying robot 1 based on a preset lifting instruction.

[0106] The lifting instruction refers to an instruction for controlling the lifting device 21 on the sweeping robot 2 to lift the tidying robot 1 to a suspended state. The control manner is that after confirming that the real-time position is consistent with the current position, the system sends a start signal to the motor driver of the lifting device 21 to drive the lifting device 21 to lift to a preset height, so as to lift the table leg of the tidying robot 1 to a suspended state.

[0107] Also included is a method of controlling the sweeping robot 2 to move according to the preparation path, which comprises:

[0108] Step S521: During the process of controlling the sweeping robot 2 to move according to the preparation path, obtaining a preparation moving speed.

[0109] The preparation moving speed refers to the moving speed of the sweeping robot 2 when moving according to the preparation path. The obtaining manner is to read the instantaneous speed value from the speed sensor inside the sweeping robot 2.

[0110] Step S522: Determining a moving state based on the real-time position and the preparation path.

[0111] The moving state refers to a logical state used to describe the current motion behavior of the robot, such as a forward state, a turning state, and a stopping state, etc. The obtaining manner is to judge the real-time position and the preparation path by the system inside the sweeping robot 2, for example, when the real-time position of the sweeping robot 2 is located on a straight moving path on the preparation path, it is judged that the sweeping robot 2 is in a forward state, and when the real-time position of the sweeping robot 2 is located on a turning moving path (a point where the sweeping robot 2 needs to turn) on the preparation path, it is judged that the sweeping robot 2 is in a turning state.

[0112] Step S523: When the preparation moving speed is 0 and the moving state is the preset advancing state, define the real-time position at this time as the obstacle position, and obtain the front image.

[0113] The advancing state refers to the state in which the robot cleaner 2 moves in a straight line along the moving path from the starting point to the ending point. When the preparation moving speed is 0 and the moving state is the preset advancing state, it indicates that the robot cleaner 2 encounters an obstacle that cannot be pushed during the movement along the moving path. The obstacle position refers to the coordinate position of the obstacle that hinders the movement of the robot cleaner 2 and causes the robot cleaner 2 to stop. The obtaining method is obtained jointly by image recognition of the camera shooting downward from the ceiling and the camera on the robot cleaner 2. The front image refers to the image information of the front of the robot cleaner 2 when the robot cleaner 2 is in the advancing state. The obtaining method is obtained by image recognition by the camera on the robot cleaner 2.

[0114] Step S524: Determine the obstacle range based on the front image and the obstacle position.

[0115] The obstacle range refers to the spatial range occupied by the obstacle at the position of the obstacle, which hinders the movement of the robot cleaner 2. The obtaining method is to perform edge detection on the obstacle by the camera of the robot cleaner 2, identify the outline of the obstacle, and then obtain the obstacle range in combination with the known obstacle position.

[0116] Step S525: Form an adjusted preparation path based on the obstacle position, the preparation path, and the obstacle range.

[0117] The adjusted preparation path refers to a new path obtained by locally modifying the original preparation path in order to bypass the obstacle range. The forming method is obtained by the system according to the obstacle position, the preparation path, and the obstacle range. The robot cleaner 2 rotates clockwise by ninety degrees with the real-time position as the starting point, moves the maximum obstacle range in the rotated direction, then rotates counterclockwise by ninety degrees and continues to move the maximum obstacle range, then rotates counterclockwise by ninety degrees and moves the maximum obstacle range to return to the original preparation path, and finally rotates clockwise by ninety degrees and continues to move according to the original preparation path.

[0118] Step S526: Control the robot cleaner 2 to move according to the adjusted preparation path.

[0119] Further comprising:

[0120] Step S527: When the current position is within the obstacle range, obtain the current orientation of the robot cleaner 1.

[0121] The current orientation refers to the orientation of the tidying robot 1 at the current real-time position. The acquisition method is to obtain it through the angle sensor installed on the tidying robot 1. When the current position is within the obstacle range, it means that the obstacle is just located at the target point where the sweeping robot needs to move.

[0122] Step S528: Obtain the table leg position based on the current position and the current orientation.

[0123] The table leg position refers to the precise coordinate position of the four table legs of the table 12. The acquisition method is to combine the current position and the current orientation of the tidying robot 1 with the preset distance between the table leg and the center of the table 12, identify the X-axis coordinate and the Y-axis coordinate of the center point of the table 12 through the camera shooting downward from the ceiling, convert the distance between the table leg and the center of the table 12 preset by the staff into the X-axis coordinate and the Y-axis coordinate, and add them to the X-axis coordinate and the Y-axis coordinate of the center point of the table 12 respectively, thereby obtaining the coordinate position of the table leg.

[0124] Step S529: Form a table pushing path based on the table leg position, the real-time position, and the obstacle range.

[0125] The table pushing path refers to the short distance moving path of the sweeping robot 2 pushing the table 12 to move out of the obstacle range. The formation method is that the system analyzes the blocking coordinates of the obstacle on the X-axis and the Y-axis, thereby generating a path that makes the real-time position of the tidying robot 1 deviate from the blocking coordinates of the obstacle on the X-axis and the Y-axis.

[0126] Step S530: Control the sweeping robot 2 to move according to the table pushing path.

[0127] Step S531: After the sweeping robot 2 moves according to the table pushing path, re-execute steps S50 to S53.

[0128] When the sweeping robot 2 pushes the current position of the tidying robot 1 out of the obstacle range, the sweeping robot 2 can be moved to the current position of the tidying robot 1 and lifted again.

[0129] It also includes a method for controlling the sweeping robot 2 to move according to the table pushing path, which comprises:

[0130] Step S5300: Obtain the table pushing speed of the sweeping robot 2.

[0131] The table pushing speed refers to the real-time speed of the sweeping robot 2 when moving according to the table pushing path. The acquisition method is to read the instantaneous speed value from the speed sensor inside the sweeping robot 2.

[0132] Step S5301: When the table pushing speed is 0, obtain the table top image on the table top of the tidying robot 1.

[0133] The desktop image refers to information identified by image recognition on the desktop of the tidying robot 1. The acquisition method is to obtain by a camera shooting downward from the ceiling.

[0134] Step S5302: Analyzing the article information based on the desktop image.

[0135] The article information refers to the characteristics of the articles on the desktop, such as category, shape, and size. The analysis method is to compare the image information obtained by the camera shooting with the preset various article information to obtain the accurate article information of the articles on the desktop.

[0136] Step S5303: Reading the article state based on the article information.

[0137] The article state is a state quantity used to identify the physical properties of the article, such as the fragile state and the non-fragile state. The fragile state refers to the physical state of the article that is prone to damage such as breakage due to material and structural characteristics when subjected to external force. The non-fragile state refers to the physical state of the article that is not prone to damage such as breakage due to its strong material, stable structure, or strong impact resistance when subjected to regular external force. The system compares the article information with the preset article state database to map the common article categories to the corresponding article states. For example, a glass cup is mapped to the fragile state, and a book is mapped to the non-fragile state.

[0138] Step S5304: When the article state is the preset non-fragile state, obtaining the push-off angle of the article information.

[0139] The push-off angle refers to the included angle between the push-off movement direction of the mechanical arm 11 and the preset reference direction when the mechanical arm 11 performs the push-off action. The acquisition method is to calculate the push-off angle by the system through the coordinate values of the center point of the table 12 on the X-axis and Y-axis and the coordinate values of the non-fragile state article on the X-axis and Y-axis. When the article state is the preset non-fragile state, it means that the article can be pushed off to the table without being damaged.

[0140] Step S5305: Determining the push-off instruction based on the push-off angle.

[0141] The push-off instruction refers to the specific joint control instruction of the system to drive the mechanical arm 11 to complete the push-off action. The determination method is to plan the complete trajectory of the mechanical arm 11 from the preparation position to contact the article and then push it out of the desktop by the system according to the push-off angle and the article position.

[0142] Step S5306: Controlling the tidying robot 1 to push the article to the ground based on the push-off instruction.

[0143] The method also includes controlling the sweeping robot 2 to move along the movement path, which includes:

[0144] Step S54: Obtain the table leg number of the tidying robot 1 and the pressure value and the moving speed of each table leg number.

[0145] The table leg number refers to a unique identifier set to distinguish the four table legs, such as No. 1 table leg, No. 2 table leg, No. 3 table leg, and No. 4 table leg. The purpose of setting the number is to distinguish each table leg to facilitate the system to know the specific position of the table leg. The pressure value refers to the value of the pressure that the table leg is subjected to when encountering an obstacle. The acquisition method is to install a pressure sensor on each table leg to measure the pressure value of the corresponding table leg. The moving speed refers to the speed of the sweeping robot 2 lifting the tidying robot 1 when moving, and the acquisition method is to read the instantaneous speed value from the speed sensor inside the sweeping robot 2.

[0146] Step S55: When the pressure value exceeds the preset pressure value threshold and the moving speed is 0, obtain the moving image on the moving path.

[0147] The pressure value threshold refers to a preset pressure value input by the staff into the system, which is used to judge whether the table leg collides with the obstacle. The moving image refers to the environmental image towards the moving path, which is obtained by shooting through the camera of the sweeping robot 2.

[0148] Step S56: Analyze the moving obstacle position and the moving obstacle range based on the moving image.

[0149] The moving obstacle position refers to the coordinate position of the obstacle encountered by the sweeping robot 2 when moving with the tidying robot 1, which is obtained by the image recognized by the camera on the sweeping robot 2. The moving obstacle range refers to the space range occupied by the obstacle encountered by the sweeping robot 2 when moving with the tidying robot 1 at the position of the obstacle, which will hinder the movement of the sweeping robot 2, and the acquisition method is to perform edge detection on the moving obstacle through the camera of the sweeping robot 2, identify the outline of the moving obstacle, and then obtain the obstacle range in combination with the known moving obstacle position.

[0150] Step S57: Analyze the blocked table leg number and the blocked table leg position of the blocked table leg based on the moving image and the moving obstacle position.

[0151] The blocked table leg number refers to the table leg number corresponding to the table leg that collides with the moving obstacle. The blocked table leg position refers to the current coordinate position of the blocked table leg. The analysis method is that the system analyzes the image shot by the camera to determine the blocked table leg number and the blocked table leg position that contact the obstacle and are blocked by the obstacle.

[0152] Step S58: determining a rotation angle range based on the blocked leg number, the blocked leg position, the moving obstacle position, and the moving obstacle range.

[0153] The rotation angle range refers to an angle interval in which the arranging robot 1 can rotate around the center to enable the blocked leg to avoid the moving obstacle range. The determination method is that the system determines the range that will block the blocked leg according to the position of the moving obstacle and the range of the moving obstacle, and calculates the rotation angle range in which the blocked leg position on the X-axis and Y-axis coordinates will not intersect with the range of the moving obstacle range on the X-axis and Y-axis coordinates when the blocked leg is moved after being rotated according to the rotation angle range, according to the blocked leg position on the X-axis and Y-axis coordinates and the range of the moving obstacle range on the X-axis and Y-axis coordinates.

[0154] Step S59: determining a rotation method by randomly selecting a rotation angle in the rotation angle range.

[0155] The rotation method refers to a control method for enabling the table 12 to rotate according to the rotation angle. The determination method is that the system inputs the selected angle into the sweeping robot 2, and controls the sweeping robot 2 to rotate according to the rotation angle. Here, the rotation method is that the sweeping robot 2 first lowers the table 12, reverses the corresponding rotation angle, lifts the table 12, and rotates the table 12 according to the rotation angle, and at this time, the orientation of the sweeping robot 2 is consistent with the direction of the moving path.

[0156] Step S60: controlling the sweeping robot 2 to rotate the table 12 according to the rotation method, and then controlling the sweeping robot 2 to move according to the moving path.

[0157] The method further includes determining a rotation method, and the method further includes:

[0158] Step S591: defining the rotation method determined by randomly selecting a rotation angle in the rotation angle range as a preliminary rotation method.

[0159] Step S592: determining the adjusted leg positions of the four legs based on the preliminary rotation method.

[0160] The adjusted leg position refers to the position of the four legs after rotation according to the rotation angle in the preliminary rotation method. The determination method is that the system calculates the adjusted leg position according to the X-axis and Y-axis coordinates of the four legs and the rotation angle.

[0161] Step S593: determining the leg moving path based on the adjusted leg position and the moving path.

[0162] The table leg movement path refers to the trajectory of the four points for adjusting the position of the table leg that the arrangement robot 1 will pass through in the subsequent movement process when it continues to move along the original movement path after turning. The determination method is to make a parallel path for the movement path, and the parallel path contains the adjustment of the position of the table leg.

[0163] Step S594: When the table leg movement path and the movement obstacle range intersect, a turning angle is reselected and the preliminary turning method is re-determined.

[0164] The system performs a geometric intersection operation on the four calculated table leg movement paths and the movement obstacle range. If any path overlaps with the obstacle range, it is determined that the preliminary turning method is not feasible, and the system then selects another untried angle within the turning angle range to start the evaluation again.

[0165] Step S595: When the table leg movement path and the movement obstacle range do not intersect, the turning angle at this time is defined as the preferred turning angle, and the preliminary turning method at this time is output as the turning method.

[0166] When the table leg movement path and the movement obstacle range do not intersect, it means that when the sweeping robot 2 moves along the movement path with the table 12, the four table legs of the table 12 will not be blocked by the obstacle.

[0167] It also includes a method for controlling the sweeping robot 2 to continue moving when the turning method cannot be determined after traversing all the turning angles in the turning angle range. The method comprises:

[0168] Step S596: Analyze the obstacle height information based on the movement image.

[0169] The obstacle height information refers to the size data of the obstacle that causes the table leg to be blocked in the vertical direction. The implementation means is that the camera on the roof and the camera on the sweeping robot 2 jointly perform image recognition, and the system analyzes the image to obtain the characteristics of the obstacle, extracts the edge range of the obstacle position according to the characteristics of the obstacle, and calculates the height relative to the ground.

[0170] Step S597: Determine the lifting height based on the preset table leg height information and the obstacle height information.

[0171] The table leg height information refers to the initial height of the bottom of the table leg from the ground when the arrangement robot 1 is lifted, which is a fixed design parameter and is pre-stored in the system configuration. The lifting height refers to the height value that the lifting device 21 of the sweeping robot 2 needs to continue to lift the table 12 to ensure that the bottom of the table leg can completely pass over the top of the obstacle. The determination method is to subtract the obstacle height information from the table leg height information.

[0172] Step S598: determining a lifting scheme based on the lifting height.

[0173] The lifting scheme refers to specific control instructions formulated for achieving a specified lifting height, including the target lifting height of the lifting device 21, etc. The implementation means are that the system controls the lifting device 21 to lift according to the determined lifting height value.

[0174] Step S599: lifting the cleaning robot 2 based on the lifting scheme, and controlling the cleaning robot 2 to continue moving along the moving path.

[0175] The method also includes controlling the arrangement robot 1 to arrange, and the method includes:

[0176] Step S61: obtaining a working image.

[0177] The working image information refers to the surrounding environment image data containing the to-be-arranged object collected by the camera located on the ceiling and the camera of the cleaning robot 2 after the arrangement robot 1 reaches the target working position. The obtaining method is to obtain the image information photographed by the camera located on the ceiling and the camera of the cleaning robot 2.

[0178] Step S62: obtaining a working orientation of the arrangement robot 1.

[0179] The working orientation refers to the body direction of the arrangement robot 1 after reaching the target working position. The obtaining method is to obtain the angle sensor installed on the arrangement robot 1.

[0180] Step S63: determining a relative direction of the to-be-arranged object based on the working orientation and the working image information.

[0181] The relative direction of the to-be-arranged object refers to the included angle direction of the position of the to-be-arranged object relative to the front of the arrangement robot 1.

[0182] The implementation means are to recognize and locate the to-be-arranged object through the image information photographed by the camera located on the ceiling and the camera of the cleaning robot 2, obtain the coordinates of the object in the image pixel coordinate system, and calculate the azimuth angle of the object relative to the working orientation of the robot through the inverse tangent.

[0183] Step S64: when the relative direction of the to-be-arranged object is in a preset arrangeable direction range, controlling the arrangement robot 1 to arrange.

[0184] The arrangeable direction range refers to the working range that can be effectively covered by the mechanical arm 11 without moving the base, which is preset in the system by the worker. The control means are that when the camera recognizes that the relative direction of the to-be-arranged object is in the preset arrangeable direction range, the system controls the mechanical arm to perform the arrangement task.

[0185] When the relative orientation of the to-be-arranged object is in the preset arrangeable orientation range, it indicates that the to-be-arranged object is in the working range of the mechanical arm 11, and the mechanical arm 11 can arrange the to-be-arranged object.

[0186] Step S65: When the relative orientation of the to-be-arranged object is not in the preset arrangeable orientation range, the working adjustment angle is determined based on the working orientation and the working image information.

[0187] The working adjustment angle refers to the angle that the arrangement robot 1 needs to rotate under the driving of the sweeping robot 2 in order to make the relative orientation of the to-be-arranged object fall into the arrangeable orientation range. The implementation means is that the system finds out the boundary value closest to the current relative orientation of the to-be-arranged object in the arrangeable orientation range, and then calculates the difference between the current orientation and the boundary value. The difference is the working adjustment angle that needs to be adjusted.

[0188] Step S66: The working rotation method is determined based on the working adjustment angle.

[0189] The working rotation method refers to the specific method of controlling the sweeping robot 2 to rotate in order to realize the working adjustment angle. The determination method is that the system calculates the working rotation method according to the coordinates of the X axis and the Y axis of the four table legs and the working adjustment angle.

[0190] Step S67: The sweeping robot 2 is controlled to rotate the arrangement robot 1 based on the working rotation method.

[0191] The implementation means is that the system controls the sweeping robot 2 to execute the instructions of the working rotation method, and drives the sweeping robot 2 to rotate the arrangement robot 1 by the specified working adjustment angle.

[0192] Step S68: After the sweeping robot 2 is controlled to rotate the arrangement robot 1, the arrangement robot 1 is controlled to arrange.

[0193] The implementation means is that after the rotation action is completed, the system again confirms that the relative orientation of the to-be-arranged object has entered the arrangeable orientation range, and then controls the mechanical arm 11 to start executing the arrangement operation.

[0194] The above only describes the preferred embodiments of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical solution falling within the concept of the present application shall fall within the protection scope of the present application. It should be noted that, for ordinary skilled persons in the technical field, some improvements and refinements without departing from the principles of the present application shall also be considered as the protection scope of the present application.

Claims

1. A control method of a home service robot, characterized by, The method comprises the following steps: Step S1: in response to a start work instruction, obtaining a current position of a tidying robot (1) and a position of an object to be tidied, the tidying robot (1) comprising a mechanical arm (11) for picking up the object and tidying and a table (12) for mounting and supporting the mechanical arm; Step S2: determining an absolute tidying range of the tidying robot (1) based on the current position and a preset relative tidying range; Step S3: when the position of the object to be tidied falls within the absolute tidying range, controlling the tidying robot (1) to tidy; Step S4: when the position of the object to be tidied does not fall within the absolute tidying range, determining a moving path based on the current position, the position of the object to be tidied and the relative tidying range; Step S5: controlling a sweeping robot (2) to move according to the moving path, and then controlling the tidying robot (1) to tidy; Before the sweeping robot (2) moves according to the moving path, the method further comprises the following steps: Step S50: obtaining a real-time position of the sweeping robot (2); Step S51: when the real-time position is inconsistent with the current position, determining a preparation path based on the real-time position and the current position; Step S52: controlling the sweeping robot (2) to move according to the preparation path; Step S53: when the real-time position is consistent with the current position, controlling the sweeping robot (2) to lift the tidying robot (1) based on a preset lifting instruction; The method further comprises a method for controlling the sweeping robot (2) to move according to a table pushing path, the table pushing path being a short distance moving path in which the sweeping robot (2) pushes the table (12) to move out of an obstacle range, and the method comprises the following steps: Step S5300: obtaining a table pushing speed of the sweeping robot (2); Step S5301: when the table pushing speed is 0, obtaining a table top image on a table top of the tidying robot (1); Step S5302: analyzing object information based on the table top image; Step S5303: reading an object state based on the object information; Step S5304: when the object state is a preset non-frangible state, obtaining a pushing and falling angle of the object information; Step S5305: determining a pushing and falling instruction based on the pushing and falling angle; Step S5306: controlling the tidying robot (1) to push and fall the object onto the ground based on the pushing and falling instruction.

2. The control method of a home service robot according to claim 1, wherein The method for controlling the sweeping robot (2) to move according to the preparation path comprises the following steps: Step S521: during the process of controlling the sweeping robot (2) to move according to the preparation path, obtaining a preparation moving speed; Step S522: determining a moving state based on the real-time position and the preparation path; Step S523: when the preparation moving speed is 0 and the moving state is a preset advancing state, defining a real-time position at this time as an obstacle position, and obtaining a front image; Step S524: determining an obstacle range based on the front image and the obstacle position; Step S525: forming an adjusted preparation path based on the obstacle position, the preparation path and the obstacle range; Step S526: controlling the sweeping robot (2) to move according to the adjusted preparation path.

3. The control method of a home service robot according to claim 2, wherein The method further comprises the following steps: Step S527: when the current position is within the obstacle range, obtaining a current orientation of the tidying robot (1); Step S528: Obtain the table leg position based on the current position and the current orientation; Step S529: Form a table pushing path based on the table leg position, the real-time position, and the obstacle range; Step S530: Control the robot cleaner (2) to move according to the table pushing path; Step S531: Re-execute steps S50 to S53 after the robot cleaner (2) moves according to the table pushing path. 4.The control method of a home service robot according to claim 1, characterized in that, The method for controlling the robot cleaner (2) to move according to the moving path comprises: Step S54: Obtain the table leg number of the tidying robot (1) and the pressure value and the advancing moving speed of each table leg number; Step S55: When the pressure value exceeds the preset pressure value threshold and the advancing moving speed is 0, obtain the moving image on the moving path; Step S56: Analyze the moving obstacle position and the moving obstacle range based on the moving image; Step S57: Analyze the blocked table leg number and the blocked table leg position of the blocked table leg based on the moving image and the moving obstacle position; Step S58: Determine the rotation angle range based on the blocked table leg number, the blocked table leg position, the moving obstacle position, and the moving obstacle range; Step S59: Arbitrarily select a rotation angle in the rotation angle range to determine the rotation method; Step S60: Control the robot cleaner (2) to rotate the table (12) based on the rotation method, and then control the robot cleaner (2) to move according to the moving path.

5. The control method of a home service robot according to claim 4, wherein The method for determining the rotation method further comprises: Step S591: Define the rotation method determined by arbitrarily selecting a rotation angle in the rotation angle range as a preliminary rotation method; Step S592: Determine the adjusted table leg position of the four table legs based on the preliminary rotation method; Step S593: Determine the table leg moving path based on the adjusted table leg position and the moving path; Step S594: When the table leg moving path and the moving obstacle range have an intersection, re-select a rotation angle and re-determine the preliminary rotation method; Step S595: When the table leg moving path and the moving obstacle range do not have an intersection, define the rotation angle at this time as the preferred rotation angle, and output the preliminary rotation method at this time as the rotation method.

6. The control method of a home service robot according to claim 5, wherein When all the rotation angles in the rotation angle range are traversed and the rotation method still cannot be determined, the method for controlling the robot cleaner (2) to continue moving comprises: Step S596: Analyze the obstacle height information based on the moving image; Step S597: Determine the lifting height based on the preset table leg height information and the obstacle height information; Step S598: Determine the lifting scheme based on the lifting height; Step S599: Lift the robot cleaner (2) based on the lifting scheme, and control the robot cleaner (2) to continue moving according to the moving path.

7. The control method of a home service robot according to claim 6, wherein The method for controlling the tidying robot (1) to tidy further comprises: Step S61: Obtain the working image; Step S62: Obtain the working orientation of the tidying robot (1); Step S63: Determine the relative orientation of the to-be-tidied object based on the working orientation and the working image; Step S64: When the relative orientation of the to-be-tidied object is in the preset tidying orientation range, control the tidying robot (1) to tidy. Step S65: When the relative orientation of the object to be arranged is not in the preset arrangeable orientation range, determining a work adjustment angle based on the work orientation and the work image; Step S66: Determining a work rotation method based on the work adjustment angle; Step S67: Controlling the sweeping robot (2) to rotate the arrangement robot (1) based on the work rotation method; Step S68: After controlling the sweeping robot (2) to rotate the arrangement robot (1), controlling the arrangement robot (1) to arrange.

8. A home service robot, applied to the control method of a home service robot according to any one of claims 1 to 7, characterized in that, Comprise: An arrangement robot (1) for arranging objects and a sweeping robot (2) for lifting and moving the arrangement robot (1); The arrangement robot (1) comprises a mechanical arm (11) for clamping objects and arranging, and a table (12) for mounting and supporting the mechanical arm (11), and the sweeping robot (2) is provided with a lifting device (21) for lifting the table (12).

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