Robot control method and device and robot

Abstract

The invention provides a robot control method and device and a robot. The method comprises the steps that in the process of executing a first cleaning task, if it is detected that the remaining electric quantity is smaller than an electric quantity threshold value, execution of the first cleaning task is interrupted, and recharging operation is executed; in the charging process, the task priority mode and the electric quantity after charging of the cleaning robot are detected; when the task priority mode is continuous scanning task priority and the electric quantity after charging is greater than or equal to an electric quantity threshold value, executing a continuous scanning task; the continuous scanning task is an unfinished task when the first cleaning task is interrupted; and when the task priority mode is scheduling task priority, the electric quantity after charging is greater than or equal to an electric quantity threshold value and the continuous scanning time is greater than or equal to the interval time, executing the next cleaning task at the starting time of the next cleaning task. According to the method, the continuous scanning task and the next cleaning task can be balanced, and the optimal task execution scheme is obtained, so that the robot can better execute the tasks, and the influence on each task is reduced.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a robot control method, device and robot. Background Technology

[0002] Currently, the types of robots are increasing, and the application scenarios are expanding, such as the gradual introduction of commercial cleaning robots. In this context, the number of scenarios where robots encounter task interruptions during operation is also increasing, and there are various reasons for these interruptions.

[0003] When robots frequently encounter task interruptions, it not only affects the task being performed, but also triggers a series of chain reactions, affecting subsequent tasks or the tasks of other devices. Summary of the Invention

[0004] This application provides a robot control method, device, and robot that can solve the problem of task interruption affecting subsequent tasks or tasks of other equipment.

[0005] In a first aspect, embodiments of this application provide a robot control method applied to a cleaning robot, the method comprising: If the remaining battery power is detected to be less than the battery power threshold during the execution of the first cleaning task, the execution of the first cleaning task will be interrupted and a recharge operation will be performed. The task priority mode and the battery level of the cleaning robot are detected during the charging process. When the task priority mode is resume cleaning task priority, if the battery level after charging is greater than or equal to the battery threshold, the resume cleaning task will be executed; the resume cleaning task is the unfinished task when the first cleaning task was interrupted. When the task priority mode is scheduled task priority, if the battery level after charging is greater than or equal to the battery threshold and the cleaning time is greater than or equal to the interval time, the next cleaning task will be executed at the start time of the next cleaning task. The continuous scanning time is the time required to complete the continuous scanning task, and the interval time is the time difference between the time when the battery level equals the battery threshold after charging and the start time.

[0006] In one embodiment, the method further includes: When the task priority mode is resumed cleaning priority, if the start time of the next cleaning task is triggered during the charging process when the battery level is detected to be less than the battery threshold after charging, the resumed cleaning will be abandoned and the next cleaning task will be executed. When the task priority mode is shift task priority, if the battery level after charging is greater than or equal to the battery threshold and the continued scanning time is less than the interval time, the continued scanning task is executed.

[0007] In one embodiment, when the task priority mode is resume scanning priority, and the battery level after charging is greater than or equal to the battery threshold, after executing the resume scanning task, the method further includes: When the task priority mode is set to continue cleaning task priority, if the end time of the continued cleaning task is earlier than the start time of the next cleaning task, the next cleaning task will be executed at the start time of the next cleaning task.

[0008] In one embodiment, when the task priority mode is resume scanning priority, and the battery level after charging is greater than or equal to the battery threshold, after executing the resume scanning task, the method further includes: When the task priority mode is set to continue cleaning task priority, if the end time of the continued cleaning task is later than the start time of the next cleaning task, and the delay time of the next cleaning task is less than a preset duration, then the next cleaning task is executed. The delay time is determined based on the end time of the continued cleaning task and the start time of the next cleaning task.

[0009] In one embodiment, when the task priority mode is shift-based task priority, and the battery level after charging is greater than or equal to the battery threshold and the cleaning time is greater than or equal to the interval time, executing the next cleaning task at the start time of the next cleaning task includes: When the task priority mode is scheduled task priority, if the battery level after charging is greater than or equal to the battery threshold and the cleaning time is greater than or equal to the interval time, the cleaning will be abandoned and charging will continue until the current time of the cleaning robot is the start time of the next cleaning task, and the next cleaning task will be executed at the start time of the next cleaning task.

[0010] In one embodiment, the power threshold is determined based on the power required for the unfinished portion of the first cleaning task and the power required for low power protection.

[0011] In one embodiment, after performing the recharge operation, the method further includes: If a second cleaning task is received during the charging process, the continued cleaning task is interrupted and the second cleaning task is executed.

[0012] In one embodiment, after executing the continued scanning task, the method further includes: The robot shall report a continued cleaning record, which shall include at least one or any combination of the following: the robot's serial number, the identification information of the continued cleaning task, the continued cleaning scenario, the time when the continued cleaning was triggered, the start time of the continued cleaning, the end time of the continued cleaning, the continued cleaning status, the result of the first cleaning task, and the reason for the failure of the first cleaning task.

[0013] Secondly, embodiments of this application provide a robot control device, including: The recharge module is used to interrupt the execution of the first cleaning task and perform a recharge operation if the remaining power is detected to be less than the power threshold during the execution of the first cleaning task. It is also used to detect the task priority mode of the cleaning robot during charging and the battery level after charging; The task processing module is used to execute a follow-up cleaning task when the task priority mode is follow-up cleaning task priority and the battery level after charging is greater than or equal to the battery threshold; the follow-up cleaning task is an unfinished task when the first cleaning task is interrupted. It is also used to execute the next cleaning task at the start time of the next cleaning task when the task priority mode is scheduled task priority, the charged power is greater than or equal to the power threshold and the continuous cleaning time is greater than or equal to the interval time. The continuous scanning time is the time required to complete the continuous scanning task, and the interval time is the time difference between the time when the battery level equals the battery threshold after charging and the start time.

[0014] Thirdly, embodiments of this application provide a robot including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method as described in any one of the first aspects above.

[0015] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method as described in any one of the first aspects above.

[0016] Fifthly, embodiments of this application provide a computer program product that, when run on a robot, causes the robot to perform the method described in any one of the first aspects above.

[0017] The beneficial effects of the embodiments in this application compared with the prior art are: This application embodiment achieves a balance between continuing sweeping tasks and the next cleaning task when the current task is interrupted. This is achieved by prioritizing continuing sweeping tasks based on the remaining battery level after charging and the selected priority mode for continuing sweeping tasks, and prioritizing scheduling tasks based on the remaining battery level after charging and the selected priority mode for scheduling tasks, since the time required for continuing sweeping tasks is greater than the interval time of the next cleaning task. This results in an optimal task execution plan, enabling the robot to perform tasks better and reducing the impact on each task.

[0018] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic flowchart of a first embodiment of the robot control method provided in this application; Figure 2 This is a second flowchart illustrating a robot control method provided in an embodiment of this application; Figure 3 This is a schematic diagram of the third process of the robot control method provided in one embodiment of this application; Figure 4 This is a schematic diagram of the structure of a robot control device provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a robot provided in one embodiment of this application. Detailed Implementation

[0021] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0022] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0023] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0024] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0025] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0027] This application provides a robot control method, device, and robot that can solve the problem of task interruption affecting subsequent tasks or tasks of other equipment.

[0028] In application, this method can be executed by a control device, which can be implemented in software and / or hardware. When applied to a cleaning robot, a "resume cleaning" switch can be pre-configured. Once the resume cleaning switch is activated, it displays options for prioritizing scheduled tasks and resuming cleaning tasks, allowing the user to select one. The cleaning robot then balances the resuming cleaning task with the next cleaning task based on the selected priority mode.

[0029] In one embodiment, Figure 1 This is a schematic flowchart of a first embodiment of the robot control method provided in this application. Figure 1 As shown, the method specifically includes the following steps: S11: If the remaining battery power is detected to be less than the battery power threshold during the execution of the first cleaning task, the execution of the first cleaning task will be interrupted and a recharge operation will be performed.

[0030] In the application, if the cleaning robot detects that its remaining battery level is below a threshold during the first cleaning task, it indicates that the robot's battery is insufficient to complete the task. The robot then needs to be recharged, the first cleaning task is interrupted, and the robot returns to its charging station. The charging location supports landmark positioning.

[0031] It is understandable that the cleaning robot will not resume cleaning when it is malfunctioning and its charging is abnormal.

[0032] In one possible implementation, to prevent the cleaning robot from failing to start due to insufficient power, a low power protection strategy is set. Correspondingly, the power threshold is determined based on the power required for the unfinished part of the first cleaning task and the power required for low power protection.

[0033] For example, the power consumption required for the unfinished portion of the first cleaning task is summed with the power consumption required for low power protection to obtain the power threshold. The cleaning robot requires 20% power to work for 1 hour in vacuum mode and 20% power to work for 2 hours in dust mopping mode for the unfinished portion. The power consumption of each model's cleaning mode can be determined through testing.

[0034] Robots that support low-battery protection strategies are those that can be configured. Typically, low-battery protection strategies cover charging scenarios such as automatically returning to the charging position after a task is completed, automatically returning to the charging position when a task abnormally ends, and automatically returning to the charging position when low battery is triggered during a task. Specifically, low-battery triggering scenarios during a task include scenarios where automatic charging is performed and scenarios where automatic charging is not performed. Automatic charging scenarios include tasks performed automatically by the robot, robot idle standby, and robot docking at designated locations. Scenarios where automatic charging is not performed include manual cleaning, manual operation of the machine, drainage, water replenishment, emergency stop, and manual charging.

[0035] It should be noted that if low power protection is triggered simultaneously with water operation or the cleaning robot going to replenish or drain water, the low power protection will be processed according to the priority of water replenishment and drainage over charging.

[0036] The power threshold is determined by the power required for the unfinished part of the first cleaning task and the power required for low power protection. This allows the cleaning robot to return to its charging station in time when it learns that the remaining power is insufficient to complete the first cleaning task, and also prevents the cleaning robot from shutting down due to insufficient power after startup.

[0037] In one possible implementation, since the first cleaning task is a cleaning task for multiple areas or one area, when the task is interrupted, there may still be multiple areas or one area that have not been completed, so it is necessary to take into account the supplementary cleaning between areas.

[0038] When the first cleaning task is a cleaning task for at least two areas, the follow-up cleaning task is an unfinished task for the remaining areas when the first cleaning task is interrupted. The remaining areas include at least one area, and the floors where the areas are located are different.

[0039] In the application, when at least one different area on a floor remains uncleaned, the follow-up cleaning task is to clean the remaining areas. When the cleaning robot performs the follow-up cleaning task, it follows a cross-area cleaning strategy.

[0040] When the first cleaning task is for cleaning one area, the follow-up cleaning task is for cleaning the remaining unfinished parts of one area when the first cleaning task is interrupted.

[0041] In the application, when a portion of an area remains uncleaned, the follow-up cleaning task is performed on that remaining area. When the cleaning robot executes the follow-up cleaning task, it follows the cleaning strategy for each individual area.

[0042] S12: Detects the task priority mode and battery level of the cleaning robot during charging.

[0043] In the application, the task priority mode and the battery level are detected during the charging process so that the cleaning robot can know the battery status in a timely manner and know how to balance the continued cleaning task and the next cleaning task according to the task priority mode after the battery is fully charged.

[0044] S13: When the task priority mode is set to continue scanning priority, if the battery level is greater than or equal to the battery threshold after charging, the continue scanning task will be executed.

[0045] Among them, the follow-up cleaning task is the unfinished task when the first cleaning task is interrupted.

[0046] In the application, since the current task priority mode is to prioritize the next cleaning task, the next cleaning task will be executed when the battery is fully charged.

[0047] In one possible implementation, after step S13, the following is also included: When the task priority mode is set to continue cleaning tasks first, if the end time of the continued cleaning task is earlier than the start time of the next cleaning task, then the next cleaning task will be executed at the start time of the next cleaning task.

[0048] In the application, since the current task priority mode is to prioritize the next cleaning task, when there is a next cleaning task in the cleaning robot's task list, after the cleaning robot completes the next cleaning task, it waits for the next cleaning task to start. That is, the end time of the next cleaning task is earlier than the start time of the next cleaning task, and the robot waits for the start time of the next cleaning task to execute the next cleaning task.

[0049] In some cases, if the cleaning robot's remaining battery power is insufficient to complete the next cleaning task, it will also execute the next cleaning task at the start time of the next cleaning task.

[0050] In one possible implementation, after step S13, the following is also included: When the task priority mode is set to continue cleaning tasks first, if the end time of the continued cleaning task is later than the start time of the next cleaning task, and the delay time of the next cleaning task is less than the preset duration, then the next cleaning task will be executed. The delay time is determined based on the end time of the continued cleaning task and the start time of the next cleaning task.

[0051] In this application, because the current task priority mode prioritizes continuing cleaning tasks, if there is another cleaning task in the cleaning robot's task list, the cleaning robot may time out while completing the continuing cleaning task, thus delaying the execution of the next cleaning task. If the delay time is short and has little impact on the next cleaning task, the next cleaning task can be executed directly if the delay time is less than the preset duration.

[0052] The preset duration can be set according to the impact of timeout on the next cleaning task in the actual scenario. For example, the preset duration can be 0.5 hours.

[0053] In one possible implementation, due to the addition of the breakpoint resume scanning function, resume scanning records need to be reported so that users or technicians can better understand the resume scanning status, providing a basis for subsequent adjustments to the breakpoint resume scanning function. The corresponding follow-up scanning task also includes: Report the continued cleaning record. The continued cleaning record shall include at least one or any combination of the following: robot serial number, identification information of continued cleaning task, continued cleaning scenario, time to trigger continued cleaning, start time of continued cleaning, end time of continued cleaning, continued cleaning status, result of the first cleaning task, and reason for failure of the first cleaning task.

[0054] In the application, the cleaning robot records the cleaning status whenever it performs a follow-up cleaning task. When one, several, or all of the following are collected: serial number, follow-up cleaning task identification information, follow-up cleaning scenario, trigger time, start time, end time, status, result of the first cleaning task, and reason for failure of the first cleaning task, the follow-up cleaning record will contain one, several, or all of this information.

[0055] The identification information for the resumed cleaning task is displayed in the form of a task ID. The resumed cleaning scenario is when the battery is too low to complete the first cleaning task, and the resumed cleaning status is either completed or incomplete. The result of the first cleaning task is successful if the resumed cleaning is executed from a breakpoint and the task is completed. The result of the first cleaning task is unsuccessful if the resumed cleaning is executed from a breakpoint and fails, or if the resumed cleaning is not executed from a breakpoint and the first cleaning task is not completed.

[0056] S14: When the task priority mode is scheduled task priority, if the battery level is greater than or equal to the battery threshold after charging and the cleaning time is greater than or equal to the interval time, the next cleaning task will be executed at the start time of the next cleaning task.

[0057] Among them, the continuous scanning time is the time required to complete the continuous scanning task, and the interval time is the time difference between the time when the battery level equals the battery threshold after charging and the start time.

[0058] Specifically, the cleaning time can be obtained by dividing the area of ​​unfinished cleaning by the efficiency of the cleaning robot. The efficiency of the cleaning robot varies depending on the model. The required power consumption can also be calculated by dividing the area of ​​unfinished cleaning by the robot's efficiency.

[0059] In one possible implementation, step S14 includes: When the task priority mode is set to prioritize scheduled tasks, if the battery level is greater than or equal to the battery threshold after charging and the cleaning time is greater than or equal to the interval time, the cleaning will be abandoned and the robot will continue charging until the current time of the cleaning robot is the start time of the next cleaning task, and the next cleaning task will be executed at the start time of the next cleaning task.

[0060] In the application, since the current task priority mode prioritizes scheduled tasks, if completing a follow-up cleaning task delays the next cleaning task (i.e., the follow-up cleaning time is greater than or equal to the interval time), the follow-up cleaning task will not be executed, and the next cleaning task will take priority. Under the next cleaning task priority condition, after charging, the robot will continue charging until the current time of the cleaning robot is the start time of the next cleaning task.

[0061] This embodiment achieves a balance between continuing cleaning tasks and the next cleaning task when the current task is interrupted. This is based on the remaining battery level after charging and the selected priority mode for continuing cleaning tasks, and also based on the remaining battery level after charging and the selected priority mode for scheduling tasks, prioritizing scheduling tasks if the time required for continuing cleaning tasks is greater than the interval of the next cleaning task. This results in a better task execution plan, enabling the robot to perform tasks better and reducing the impact on each task.

[0062] In one embodiment, Figure 2 This is a schematic diagram of a second flowchart of a robot control method provided in an embodiment of this application. For example... Figure 2 As shown, the method further includes: S15: When the task priority mode is set to continue cleaning priority, if the charging process is triggered when the battery level is less than the battery threshold after charging, the next cleaning task will be abandoned and the next cleaning task will be executed.

[0063] In the application, when the current task priority mode is set to prioritize continuing cleaning tasks, the next cleaning task is triggered when the battery level falls below a certain threshold after charging. If continuing cleaning at this point were to proceed, it would affect both the continuing cleaning task and the next cleaning task. Therefore, the next cleaning task is executed directly at its designated start time to minimize the impact on other tasks.

[0064] S16: When the task priority mode is scheduled task priority, if the battery level is greater than or equal to the battery threshold after charging and the scan time is less than the interval time, the scan task will be executed.

[0065] In the application, under the current task priority mode of scheduling priority, if the interval between the next cleaning task and the next cleaning task is detected to be longer than the resume cleaning time after the battery level is greater than or equal to the battery threshold after charging, it indicates that executing the resume cleaning task within the interval does not affect the next cleaning task. Therefore, the resume cleaning task is executed directly after the battery level is greater than or equal to the battery threshold after charging.

[0066] This embodiment prioritizes task scheduling by triggering the start time of the next cleaning task when the battery level is less than a preset threshold after charging; and prioritizes the continued cleaning task when the time required for the continued cleaning task is greater than the interval of the next cleaning task, thereby further balancing the continued cleaning task and the next cleaning task to obtain an optimal task execution scheme, enabling the robot to perform tasks better and improve the completion rate of each task.

[0067] In one embodiment, Figure 3 This is a schematic diagram of the third process of a robot control method provided in one embodiment of this application. For example... Figure 3 As shown, after performing the recharge operation, the following steps are also included: S17: If a second cleaning task is received during charging, the resume cleaning task will be interrupted and the second cleaning task will be executed.

[0068] In the application, if the cleaning robot receives a second cleaning task, i.e. a temporary task, while it is charging, it indicates that the second cleaning task is more urgent. The robot will interrupt the continued cleaning task and execute the second cleaning task instead.

[0069] Upon receiving a second cleaning task, this embodiment interrupts the continued cleaning task and executes the second cleaning task, responding promptly to execute temporary tasks. This balances the continued cleaning task and temporary tasks, enabling the robot to perform tasks better and reducing the impact on each task.

[0070] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. Furthermore, the data collection in the above embodiments is compliant, and its use or implementation does not involve any infringement upon public interests.

[0071] For ease of explanation, only the parts related to the embodiments of this application are shown in the methods described in the above embodiments.

[0072] In one embodiment, Figure 4 This is a schematic diagram of the structure of a robot control device provided in one embodiment of this application. Figure 4 As shown, the device includes: The recharge module 10 is used to interrupt the execution of the first cleaning task and perform a recharge operation if the remaining power is detected to be less than the power threshold during the execution of the first cleaning task. It is also used to detect the task priority mode of the cleaning robot during charging and the battery level after charging; Task processing module 11 is used to execute the follow-up cleaning task when the task priority mode is the follow-up cleaning task priority and the battery level is greater than or equal to the battery threshold after charging; the follow-up cleaning task is the unfinished task when the first cleaning task is interrupted. It is also used when the task priority mode is scheduled task priority, the battery level after charging is greater than or equal to the battery threshold and the cleaning time is greater than or equal to the interval time, and the next cleaning task is executed at the start time of the next cleaning task. Among them, the continuous scanning time is the time required to complete the continuous scanning task, and the interval time is the time difference between the time when the battery level equals the battery threshold after charging and the start time.

[0073] In one embodiment, the task processing module is further configured to, when the task priority mode is continued cleaning task priority, if the start time of the next cleaning task is triggered during the charging process after the detection that the battery level is less than the battery threshold, abandon continued cleaning and execute the next cleaning task.

[0074] It is also used when the task priority mode is scheduled task priority, and the battery level is greater than or equal to the battery threshold after charging and the scanning time is less than the interval time, to execute the scanning task.

[0075] In one embodiment, the task processing module is further configured to, when the task priority mode is continued cleaning task priority, execute the next cleaning task at the start time of the next cleaning task if the end time of the continued cleaning task is earlier than the start time of the next cleaning task.

[0076] In one embodiment, the task processing module is further configured to, when the task priority mode is continued cleaning task priority, execute the next cleaning task if the completion time of the continued cleaning task is later than the start time of the next cleaning task, and the delay time of the next cleaning task is less than a preset duration. The delay time is determined based on the completion time of the continued cleaning task and the start time of the next cleaning task.

[0077] In one embodiment, the task processing module is specifically used to, when the task priority mode is scheduled task priority, if the battery level after charging is greater than or equal to the battery threshold and the cleaning time is greater than or equal to the interval time, abandon the cleaning and continue charging until the current time of the cleaning robot is the start time of the next cleaning task, and execute the next cleaning task at the start time of the next cleaning task.

[0078] Figure 5 This is a schematic diagram of the structure of a cleaning robot provided in one embodiment of this application. Figure 5 As shown, the cleaning robot 2 in this embodiment includes: at least one processor 20 ( Figure 5 (Only one is shown in the diagram), memory 21, and computer program 22 stored in said memory 21 and executable on said at least one processor 20, wherein said processor 20 executes said computer program 22 to implement the steps in any of the above method embodiments.

[0079] The cleaning robot 2 may include, but is not limited to, a processor 20 and a memory 21. Those skilled in the art will understand that... Figure 5 This is merely an example of cleaning robot 2 and does not constitute a limitation on cleaning robot 2. It may include more or fewer parts than shown in the figure, or combine certain parts, or different parts, such as input / output devices, network access devices, etc.

[0080] The processor 20 can be a Central Processing Unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0081] In some embodiments, the memory 21 may be an internal storage unit of the cleaning robot 2, such as a hard drive or memory of the cleaning robot 2. In other embodiments, the memory 21 may be an external storage device of the cleaning robot 2, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the cleaning robot 2. Furthermore, the memory 21 may include both internal storage units and external storage devices of the cleaning robot 2. The memory 21 is used to store operating systems, applications, bootloaders, data, and other programs, such as the program code of computer programs. The memory 21 can also be used to temporarily store data that has been output or will be output.

[0082] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0083] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0084] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps in the above-described method embodiments.

[0085] This application provides a computer program product that, when run on a robot, enables the robot to perform the steps described in the various method embodiments above.

[0086] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to a photographing device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some cases, the computer-readable medium cannot be an electrical carrier signal or a telecommunication signal.

[0087] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0088] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0089] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0090] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0091] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A robot control method characterized by, The method is applied to a cleaning robot, and the method comprises: During execution of a first cleaning task, if it is detected that the remaining power is less than a power threshold, interrupting execution of the first cleaning task and executing a recharging operation; During the charging process, detecting a task priority mode of the cleaning robot and a post-charging power; When the task priority mode is a continuation task priority, and the post-charging power is greater than or equal to the power threshold, executing a continuation task; the continuation task is an unfinished task at the time of interrupting the first cleaning task; When the task priority mode is a schedule task priority, the post-charging power is greater than or equal to the power threshold, and a continuation time is greater than or equal to an interval time, executing a next cleaning task at a start time of the next cleaning task; The continuation time is a time required for completing the continuation task, and the interval time is a time difference between a time when the post-charging power is equal to the power threshold and the start time.

2. The method of claim 1, wherein, Further comprising: When the task priority mode is the continuation task priority, if a start time of the next cleaning task is triggered during the charging process in which it is detected that the post-charging power is less than the power threshold, abandoning the continuation and executing the next cleaning task; When the task priority mode is the schedule task priority, the post-charging power is greater than or equal to the power threshold, and the continuation time is less than the interval time, executing the continuation task.

3. The method of claim 1, wherein, When the task priority mode is the continuation task priority, and the post-charging power is greater than or equal to the power threshold, after executing the continuation task, further comprising: When the task priority mode is the continuation task priority, if a continuation end time of the continuation task is earlier than the start time of the next cleaning task, executing the next cleaning task at the start time of the next cleaning task.

4. The method of claim 1, wherein, When the task priority mode is the continuation task priority, and the post-charging power is greater than or equal to the power threshold, after executing the continuation task, further comprising: When the task priority mode is the continuation task priority, if the continuation end time of the continuation task is later than the start time of the next cleaning task, and a delay time of the next cleaning task is less than a preset time length, executing the next cleaning task; the delay time is determined according to the continuation end time of the continuation task and the start time of the next cleaning task.

5. The method of claim 1, wherein, The when the task priority mode is the schedule task priority, the post-charging power is greater than or equal to the power threshold, and the continuation time is greater than or equal to the interval time, executing the next cleaning task at the start time of the next cleaning task, comprises: When the task priority mode is the schedule task priority, the post-charging power is greater than or equal to the power threshold, and the continuation time is greater than or equal to the interval time, abandoning the continuation and continuing to charge until a current time of the cleaning robot is the start time of the next cleaning task, and executing the next cleaning task at the start time of the next cleaning task.

6. The method according to any one of claims 1 to 5, characterized in that, The power threshold is determined according to a required power of an unfinished part in the first cleaning task and a required power of a low-power protection.

7. The method of claim 6, wherein, After the executing the recharging operation, further comprising: If a second cleaning task is received during the charging process, the continuous sweeping task is interrupted, and the second cleaning task is executed.

8. The method of claim 7, wherein, The method further includes: reporting a continuous sweeping record, the continuous sweeping record including at least one or any combination of a serial number of the robot, identification information of the continuous sweeping task, a continuous sweeping scene, a continuous sweeping triggering time, a continuous sweeping start time, a continuous sweeping end time, a continuous sweeping state, a result of the first cleaning task, and a failure cause of the first cleaning task.

9. A robot control device characterized by comprising: The method further includes: a charging module configured to, during execution of the first cleaning task, interrupt the execution of the first cleaning task and execute a charging operation if it is detected that the remaining power is less than a power threshold; the method is further configured to detect a task priority mode of the cleaning robot and a post-charging power during the charging process; a task processing module configured to, when the task priority mode is a continuous sweeping task priority and the post-charging power is greater than or equal to the power threshold, execute a continuous sweeping task; the continuous sweeping task is an unfinished task when the first cleaning task is interrupted; the method is further configured to, when the task priority mode is a scheduling task priority, the post-charging power is greater than or equal to the power threshold, and a continuous sweeping time is greater than or equal to an interval time, execute a next cleaning task at a start time of the next cleaning task; wherein the continuous sweeping time is a time required to complete the continuous sweeping task, and the interval time is a time difference between a time when the post-charging power is equal to the power threshold and the start time.

10. A robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the method of any one of claims 1 to 8.

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