Robot control method, control terminal, storage medium, and robot

Abstract

The application provides a robot control method, a control terminal, a storage medium and a robot. The method comprises the following steps: in the process that the robot executes a first task, in response to receiving a second task to be executed, controlling a display device to display a task display interface, the task display interface comprising a task switching control; and in response to selecting the task switching control, controlling the robot to stop executing the first task and start executing the second task. The application clearly defines the execution logic when the robot encounters a task conflict, thereby improving the user experience of the user.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and in particular to a robot control method, control terminal, storage medium, and robot. Background Technology

[0002] Robots are widely used in various aspects of life, bringing great convenience to people's lives.

[0003] In related technologies, robots can perform specific actions by executing tasks issued by users, and it often takes a certain amount of time for a robot to execute a task. However, if another task is issued while the robot is currently executing one task, the robot may not understand the task execution logic, which can easily lead to conflicts. Summary of the Invention

[0004] This application provides a robot control method, control terminal, storage medium, and robot to solve the problem of unclear task execution logic in related technologies.

[0005] This application discloses a robot control method applied to a robot control terminal, the control terminal including a display device, the method comprising: During the execution of the first task by the robot, in response to receiving a second task to be executed, the display device is controlled to display a task display interface, which includes task switching controls; and In response to the selection of the task switching control, the robot is controlled to stop executing the first task and start executing the second task.

[0006] This application also discloses a robot control terminal, including: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the method.

[0007] This application also discloses a storage medium, characterized in that, when the instructions in the storage medium are executed by a processor of an electronic device, the processor is able to execute the method described thereon.

[0008] This application also discloses a robot, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to perform the following steps: Control the robot to perform the first task; During the execution of the first task by the robot, in response to receiving a switching command sent by the robot's control terminal, the robot is controlled to stop executing the first task and begin executing the second task; The second task is issued during the robot's execution of the first task. After receiving the second task, the robot's control terminal can display a task display interface on its display device. The task display interface includes a task switching control. The robot's control terminal can also send a switching command to the robot in response to the selection of the task switching control.

[0009] This application also discloses a computer program product, which includes instructions that, when run on a computer, cause the computer to perform the methods described above.

[0010] In this embodiment, when the control terminal receives a second task to be executed while the robot is performing the first task, the control display device displays a task display interface including a task switching control. This allows the user to respond to the selection of the task switching control, controlling the robot to stop executing the first task and start executing the second task. In this embodiment, the first task is an earlier task and the second task is a later task. This application allows the robot to interrupt the currently executing first task and start executing the newly issued second task. Therefore, in scenarios where the robot receives a new second task while performing the first task, the robot's task logic is clarified, avoiding execution stuttering caused by task conflicts and unclear task logic. Furthermore, this application also implements human-computer interaction in this scenario through the task switching control, allowing the user to confirm the task logic of interrupting the first task and starting the second task through human-computer interaction, further ensuring the correctness of the robot's task logic. Attached Figure Description

[0011] Figure 1 This is an architecture diagram of a robot control system provided in an embodiment of this application; Figure 2 This is a flowchart of a robot control method provided in an embodiment of this application; Figure 3 This is an interface diagram provided in an embodiment of this application; Figure 4 This is a block diagram of a robot control terminal provided in an embodiment of this application; Figure 5 This is a block diagram of a robot provided in an embodiment of this application. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of this application more apparent, exemplary embodiments according to this application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein. Based on the embodiments of this application described herein, all other embodiments obtained by those skilled in the art without inventive effort should fall within the protection scope of this application.

[0013] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0014] It should be understood that this application can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. Rather, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of this application to those skilled in the art.

[0015] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. When used herein, the singular forms “a,” “an,” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising” and / or “including,” when used in this specification, identify the presence of the stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups. When used herein, the term “and / or” includes any and all combinations of the associated listed items.

[0016] To fully understand this application, a detailed structure will be presented in the following description to illustrate the technical solution proposed in this application. Optional embodiments of this application are described in detail below; however, in addition to these detailed descriptions, this application may have other implementation methods.

[0017] The methods provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0018] Reference Figure 1The diagram illustrates the architecture of a robot control system, which includes a control terminal and at least one robot. The robot may include end effectors, such as robotic arms, wheels, or manipulators, capable of performing controlled actions such as movement or grasping. The control terminal may be a mobile device capable of controlling the robot, such as a mobile phone, wearable device, personal computer, tablet, or remote control; no limitation is made here. The control terminal may include a display device that can display relevant screen content to enable human-computer interaction.

[0019] The robot control method of this application embodiment is applied to scenarios where a robot's control terminal issues tasks to the robot for the robot to execute. It should be noted that during the execution of the first task, a second task is issued. In some embodiments, the second task is issued by the user in real time; in other embodiments, the second task may be generated autonomously by a task library. For example, the user may pre-set periodic tasks, and the system automatically issues the second task at the corresponding time. Corresponding to the above embodiments, in one scenario, the user can issue tasks to the robot using the control terminal according to their needs. After receiving the task, the robot executes it. It is understood that the tasks executed by the robot can include tasks executed through an end effector or tasks executed solely by the robot's body; no limitation is made here. For example, a user issues a task to the robot on their mobile phone to get a glass of water. After receiving the task, the robot can move to the water dispenser, use a robotic arm and hand to get a cup, fill it with water, and then move back to the user's location to hand the full cup to the user, thus completing the task. In another scenario, tasks can also be automatically issued to the robot by a task library. For example, the task library may issue an inspection task to the robot at 12:00 noon every day, so that the robot can go to the destination for inspection.

[0020] If a robot receives a second task while performing its first task, it will be unsure whether to continue with the first task, interrupt it to perform the second task, or wait for the first task to complete before starting the second. This results in unclear task execution logic for the robot.

[0021] To solve the above problems, refer to Figure 2 , Figure 2 A flowchart illustrating a robot control method according to an embodiment of this application is shown. This method can be applied to a robot's control terminal, which includes a display device. The method may include the following steps: Step 101: During the process of the robot performing the first task, in response to receiving the second task to be performed, the display device is controlled to display a task display interface, which includes a task switching control.

[0022] Step 102: In response to the selection of the task switching control, control the robot to stop executing the first task and start executing the second task.

[0023] In this embodiment, the robot can receive tasks sent from outside. In one scenario, the task can be created by the user on the control terminal and then sent to the robot. For example, if the robot is currently performing the first task of sweeping, and the user wants to do laundry during the sweeping process, the user can send a second task of doing laundry to the robot on the control terminal.

[0024] In another scenario, the task can also be issued to the robot by the task library. For example, if a user sets a periodic task on the control terminal: to start washing clothes at 3 pm every day, and the robot is performing the first task of sweeping at 3 pm that day, the task library on the control terminal can automatically issue the second task of washing clothes while the robot is sweeping.

[0025] Specifically, in this embodiment of the application, during the robot's execution of the first task, in response to receiving a second task to be executed, the display device can be controlled to display a task display interface, which may include a task switching control. The task display interface can display the robot's task information, and the task switching control is a visual interface control that can display relevant information and receive external human-machine interaction operations to trigger the robot to execute corresponding actions.

[0026] Therefore, the control terminal controls the display device to display the task switching control. Its function is firstly to inform the user that the robot has received a new second task while performing the first task, and that it has the ability to interrupt the first task to start the second task, so that the user can be aware of the current situation. In addition, the task switching control encapsulates a method to control the robot to stop performing the first task and start performing the second task. After the user triggers the task switching control, the control terminal can control the robot to stop performing the first task and start performing the second task.

[0027] For example, refer to Figure 3The task display interface shows the robot's task information. For example, the robot is currently performing the first task of collecting trash in the living room and has received a second task to pour a glass of water for an elderly person in the kitchen. The task switching control 10 can be an operable button in the task display interface that displays the message "End and execute new task". After the user triggers the task switching control 10, the control terminal can control the robot to stop performing the first task of collecting trash in the living room and start performing the second task of pouring a glass of water for an elderly person in the kitchen. It is understandable that the selection of the task switching control 10 can be triggered by the user's selection or by the system default selection. For example, if the user does not select any control in the task display interface within a preset time, the default selection of the task switching control 10 can be triggered.

[0028] In summary, in this embodiment, when the control terminal receives a second task to be executed while the robot is performing the first task, the control display device displays a task display interface including a task switching control. This allows the user to respond to the selection of the task switching control, controlling the robot to stop executing the first task and start executing the second task. In this embodiment, the first task is an earlier task and the second task is a later task. This application allows the robot to interrupt the currently executing first task and start executing the newly issued second task. Therefore, in scenarios where the robot receives a new second task while performing the first task, the robot's task logic is clarified, avoiding execution stuttering caused by task conflicts and unclear task logic. Furthermore, this application also implements human-computer interaction in this scenario through the task switching control, allowing the user to confirm the task logic of interrupting the first task and starting the second task through human-computer interaction, further ensuring the correctness of the robot's task logic.

[0029] Optionally, the task display interface may also include a task continuation control, and the method may further include: Step 103: In response to the selection of the task continuation control, control the robot to continue performing the first task.

[0030] In this embodiment of the application, the task display interface may further include a task continuation control. The task continuation control is also a visual interface control that can display relevant information and receive external human-computer interaction operations to trigger the robot to perform corresponding actions.

[0031] Specifically, the control terminal controls the display device to display the task continuation control. Its function is firstly to display information through the task continuation control and the task display interface, prompting the user that the robot has received a new second task while performing the first task, and that it has the ability to ignore the second task and continue performing the first task. In addition, the task continuation control encapsulates a method to control the robot to ignore the second task and continue performing the first task. After the user triggers the task continuation control, the control terminal can control the robot to continue performing the first task.

[0032] For example, refer to Figure 3 The task display interface shows the robot's task information. For example, the robot is currently performing the first task of taking out the trash in the living room and has received the second task of pouring a glass of water for the elderly in the kitchen. The task continuation control 20 can be an operable button in the task display interface. This button displays the message "Continue to perform the current task". After the user triggers the task continuation control 20, the control terminal can control the robot to continue performing the first task of taking out the trash in the living room and ignore the second task of pouring a glass of water for the elderly in the kitchen.

[0033] In this embodiment, the first task is the earlier released task, and the second task is the later released task. In the above embodiment, this application provides the task logic of interrupting the currently executing first task and starting the newly released second task. However, in some cases, this task logic may not meet the user's actual needs, i.e., the user expects the robot to continue executing the first task, while there is another task logic where the robot ignores the second task and continues executing the first task. Therefore, this application also implements human-computer interaction in this scenario through a task continuation control, so that the user can confirm the task logic of the robot ignoring the second task and continuing to execute the first task through human-computer interaction, further ensuring that the robot's task logic meets the user's needs. Of course, when confirming the task logic of the robot ignoring the second task and continuing to execute the first task through the task continuation control, the task logic that the robot will execute next is also clarified, thus improving the smoothness of the robot's task execution and avoiding execution stuttering caused by task conflicts and unclear task logic.

[0034] Optionally, step 101 may specifically include: Sub-step 1011: During the process of the robot currently performing the first task, in response to receiving the second task to be executed, when the priority of the second task is greater than or equal to the priority of the first task, the display device is controlled to display the task display interface, wherein the priority is determined based on the task information of the first task and the second task.

[0035] In this embodiment, the robot's tasks are prioritized, and the priority is determined based on the task information. Priorities are distinguished by magnitude, and the magnitude of the priority affects the execution order of the corresponding tasks; for example, tasks with higher priority are executed first, while tasks with lower priority are executed later.

[0036] Specifically, when the robot is currently executing its first task, and in response to receiving a second task to be executed, and the priority of the second task is greater than that of the first task, it can be determined that the robot's task logic is that the second task can interrupt the first task. Therefore, the control terminal can control the display device to display a task display interface including a task switching control and a task continuation control, so that the user can confirm the task logic of interrupting the first task and starting to execute the second task by triggering the task switching control, or the user can adjust the task logic to ignore the second task and continue executing the first task by triggering the task continuation control.

[0037] In this embodiment, by dividing the execution order of tasks according to their priority, the robot's task logic can be clearly defined, reducing the probability of task conflicts and execution lag. Furthermore, if a second task is received while the robot is executing its first task, and the priority of the second task is greater than or equal to the priority of the first task, a task display interface can be shown. This allows the user to further confirm the robot's subsequent task logic by triggering task switching and task continuation controls, improving the robot's operational smoothness.

[0038] Optionally, step 101 may further include: Sub-step 1012: During the process of the robot currently performing the first task, in response to receiving a second task to be executed, when the priority of the second task is lower than the priority of the first task, the display device is controlled to display a prompt message, the prompt message being used to indicate that the first task cannot be interrupted.

[0039] In addition, when the priority of the second task is lower than that of the first task, it can be determined that the robot's task logic is to ignore the second task and continue to execute the first task. The control terminal can control the display device to display a prompt message. The prompt message is used to indicate that the first task cannot be interrupted, so that the user can perceive the situation. At this time, the robot can directly ignore the second task and continue to execute the first task without waiting for the user's human-computer interaction confirmation.

[0040] In this embodiment, when the robot receives a second task to be executed while it is currently performing a first task, and the priority of the second task is lower than that of the first task, a prompt message is displayed so that the user can perceive that the first task cannot be interrupted. At this time, the robot can ignore the second task and continue to execute the first task without waiting for the user's human-computer interaction confirmation. This avoids the need for the user to confirm whether the first task can be interrupted for all second tasks, thereby improving the smoothness of the robot's operation.

[0041] Optionally, task information includes the type of account that posted the task.

[0042] In this embodiment, users can register an account and log in to that account via a control terminal to manage robot tasks, such as publishing tasks to the robot under that account. Tasks published under the logged-in account are bound to that account. Different accounts can have different account types, and the type of account that publishes a task can be used to reflect the task information and thus determine the priority of the task.

[0043] For example, an account can have important and secondary account types. In this case, the priority of a task posted by an important account type is higher than the priority of a task posted by a secondary account type.

[0044] Determining the priority of a task by the type of account that posts it can improve the accuracy of prioritization, making the task priority more consistent with the actual situation. This, in turn, makes the robot's task logic clearer and the robot's task execution smoother.

[0045] Optionally, the account type for publishing tasks includes primary account type and subordinate account type. The account publishing the first task is either a primary account type or a subordinate account type; the account publishing the second task is either a primary account type or a subordinate account type. The primary account type account has greater permissions than the subordinate account type account. The priority of tasks published by the primary account type account is greater than the priority of tasks published by the subordinate account type account. Tasks published by accounts with the same account type have the same priority.

[0046] In this embodiment, the account that publishes a task can have both a primary account type and a secondary account type. The primary account can manage secondary accounts, meaning that the primary account type has greater permissions than the secondary account type. Specifically, the primary account can restrict the secondary account's permission to publish tasks; after restriction, the secondary account will not be able to publish tasks. The primary account can also remove the restriction on the secondary account's task publishing permission, allowing the secondary account to continue publishing tasks. Conversely, a secondary account cannot restrict the primary account's management permissions for tasks. It is understood that besides restricting the secondary account's permission to publish tasks, the primary account can also have other permissions, such as modifying or canceling tasks published by the secondary account, or restricting the login time of the secondary account, etc., which are not limited here.

[0047] Based on the division of master account type and subordinate account type, this application embodiment defines the task logic that the priority of tasks published by accounts of master account type is higher than the priority of tasks published by accounts of subordinate account type. Based on this, the priority of a task can be determined according to whether the account that publishes the task is a master account type or a subordinate account type. This can improve the accuracy of the priority and make the task priority more in line with the master-slave division characteristics of account type, thereby making the robot's task logic clearer and the robot's task execution smoother.

[0048] Optionally, task information includes the type of task.

[0049] In the embodiments of this application, the task itself has characteristic descriptions, which are reflected in the task's execution flow, the objects involved in the task, the task's duration, etc. These characteristics can be summarized as the task type. Different tasks can have different task types. In some cases, the task type can be used to reflect the importance of the task, thereby determining the priority of the task.

[0050] Determining the priority of a task by its type can improve the accuracy of prioritization, making the priority more consistent with the actual execution of the task, and thus making the robot's task logic clearer.

[0051] Optionally, the task types include non-user participation type and user participation type. The first task is one of the non-user participation type and user participation type; the second task is one of the non-user participation type and user participation type. The non-user participation type is used to indicate that the robot does not need user participation in the process of performing the task, while the user participation type is used to indicate that the robot needs user participation in the process of performing the task. The priority of the user participation type task is higher than the priority of the non-user participation type task.

[0052] In this embodiment, the task type can include non-user-participation type and user-participation type. Non-user-participation type indicates that the robot does not require user participation during task execution, while user-participation type indicates that the robot requires user participation during task execution. Based on the importance of the robot serving the user, tasks requiring user participation are more important than tasks without user participation, thus allowing for a higher priority for user-participation type tasks than non-user-participation type tasks.

[0053] For example, tasks such as controlling robots to lull babies to sleep and care for the elderly are user-participatory tasks because users are involved; tasks such as controlling robots to collect garbage and wash dishes are non-user-participatory tasks because no users are involved and the robots perform these tasks autonomously. Based on the importance of robots serving users, the priority of tasks such as controlling robots to lull babies to sleep and care for the elderly is higher than the priority of tasks such as controlling robots to collect garbage and wash dishes.

[0054] Furthermore, when both the first and second tasks are user-participation types, their priorities can be determined by the status of the users served by each task. This makes the task logic clearer and reduces the probability of unclear task logic affecting the smoothness of the robot's operation. Specifically, the priority of the second task is higher than that of the first task when the status of the users served by each task meets any of the following conditions: The age of the user serving the second task is greater than the age of the user serving the first task, and the age of the user serving the first task is greater than the first threshold. The age of the user serving the second task is less than the age of the user serving the first task, and the age of the user serving the first task is less than the second threshold. The second task service user is in a sick state; The second task is to serve a user who is disabled.

[0055] In some embodiments, the first threshold can be any age between 60 and 75 years old, without limitation; in other embodiments, the second threshold can be any age between 3 and 14 years old, without limitation. Therefore, tasks involving elderly people, children, sick users, or disabled users have a higher priority than tasks involving healthy, non-disabled young people.

[0056] Based on the distinction between non-user participation types and user participation types, this application defines a task logic where the priority of user participation types is higher than that of non-user participation types. Based on this, the priority of a task can be determined according to whether or not a user participates in it, which can improve the accuracy of the priority and make the priority of the task more consistent with the characteristic of whether or not a user participates in the task. This makes the robot's task logic clearer and the robot's task execution smoother.

[0057] Optionally, when both the first task and the second task are non-user-involved types, the priority of the first task and the second task is determined by the duration type of the first task and the duration type of the second task, and the duration type is determined by the estimated time to complete the task.

[0058] In this embodiment, if both the first task and the second task are non-user-involved types, the priority of the first and second tasks can be determined by the duration of the first task and the duration of the second task. The duration is determined by the estimated time to complete the task, typically divided into short-time task types and long-time task types. The estimated time to complete a short-time task is less than a preset duration threshold, while the estimated time to complete a long-time task is greater than the preset duration threshold. In some embodiments, short-time task types may include one-time task types, which refer to tasks where the robot performs an operation once, such as picking up a water cup or taking a photo. Continuous task types may include tasks where the robot performs multiple operations consecutively, such as cooking or folding clothes.

[0059] During robot operation, short-duration tasks have shorter estimated times, allowing the robot to complete them quickly and reduce user waiting time. Long-duration tasks, on the other hand, have longer estimated times, requiring more time for the robot to execute. These tasks can be executed after short-duration tasks. Therefore, we can conclude that short-duration tasks have higher priority than long-duration tasks, meaning tasks with shorter estimated times have higher priority than those with longer estimated times.

[0060] For example, the task of controlling a robot to turn on the lights is a one-time task, and its priority is higher than that of the task of controlling a robot to clean the bedroom, which is a continuous task.

[0061] Based on this, when both the first and second tasks are non-user-involved types, the priority of the first and second tasks is determined by the duration of the first and second tasks, making the task priority division more humane, reducing users' anxiety about waiting for short-term tasks, and thus making the robot's task logic clearer.

[0062] Optionally, at least one of the first task and the second task includes a task performed by the robot's end effector.

[0063] In the embodiments of this application, the robot's end effector includes, but is not limited to, the robot's motion mechanism (such as mechanical legs, wheels), mechanical arm, and mechanical hand.

[0064] Figure 4 This is a schematic diagram of a robot control terminal according to an embodiment of this application. An embodiment of this application also provides a robot control terminal, including: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the methods described in the above embodiments.

[0065] This application also provides a storage medium that, when the instructions in the storage medium are executed by a processor of an electronic device, enables the processor to perform the methods described in the above embodiments.

[0066] Figure 5 This is a schematic diagram of a robot according to an embodiment of this application. The robot includes: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to perform the following steps: Control the robot to perform the first task; During the execution of the first task by the robot, in response to receiving a switching command sent by the robot's control terminal, the robot is controlled to stop executing the first task and begin executing the second task; The second task is issued during the robot's execution of the first task. After receiving the second task, the robot's control terminal can display a task display interface on its display device. The task display interface includes a task switching control. The robot's control terminal can also send a switching command to the robot in response to the selection of the task switching control.

[0067] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0068] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, embodiments of this application can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of this application can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0069] This application describes embodiments with reference to flowchart illustrations and / or block diagrams of methods, apparatuses, devices, and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0070] These computer program instructions may also be stored in a computer-readable storage medium capable of directing a computer or other programmable data processing terminal device to operate in a predictive manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0071] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0072] Although preferred embodiments of the present application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.

[0073] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0074] The above provides a detailed description of the robot control method, control terminal, storage medium, and robot provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A robot control method, applied to the control terminal of the robot, characterized in that, The control terminal includes a display device, and the method includes: During the execution of the first task by the robot, in response to receiving a second task to be executed, the display device is controlled to display a task display interface, which includes task switching controls; and In response to the selection of the task switching control, the robot is controlled to stop executing the first task and start executing the second task.

2. The method according to claim 1, characterized in that, The task display interface also includes a task continuation control, and the method further includes: In response to the selection of the task continuation control, the robot is controlled to continue performing the first task.

3. The method according to claim 1 or 2, characterized in that, During the process of the robot performing the first task, in response to receiving a second task to be performed, the system controls the display device to display a task display interface, including: During the current execution of the first task by the robot, in response to receiving a second task to be executed, if the priority of the second task is greater than or equal to the priority of the first task, the display device is controlled to display the task display interface, wherein the priority is determined based on the task information of the first task and the second task.

4. The method according to claim 3, characterized in that, The method further includes: While the robot is currently performing a first task, in response to receiving a second task to be performed, if the priority of the second task is lower than the priority of the first task, the robot is controlled to continue performing the first task.

5. The method according to claim 4, characterized in that, The method further includes: During the current execution of the first task by the robot, in response to receiving a second task to be executed, if the priority of the second task is lower than the priority of the first task, the display device is controlled to display a prompt message, which indicates that the first task cannot be interrupted.

6. The method according to claim 3, characterized in that, The task information includes the type of account that posted the task.

7. The method according to claim 6, characterized in that, The account types for publishing tasks include primary account types and subordinate account types. The account publishing the first task is one of the primary account types and the subordinate account types. The account publishing the second task is one of the primary account types and the subordinate account types. The primary account type account has greater permissions than the subordinate account type account. The priority of tasks published by the primary account type account is greater than the priority of tasks published by the subordinate account type account. Tasks published by accounts with the same account type have the same priority.

8. The method according to claim 3, characterized in that, The task information includes the type of task.

9. The method according to claim 8, characterized in that, The task types include non-user participation type and user participation type. The first task is one of the non-user participation type and the user participation type. The second task is one of the non-user participation type and the user participation type. The non-user participation type is used to indicate that the robot does not need user participation in the process of performing the task. The user participation type is used to indicate that the robot needs user participation in the process of performing the task. The priority of the user participation type task is higher than the priority of the non-user participation type task.

10. The method according to claim 9, characterized in that, When both the first task and the second task are of the non-user-participation type, the priority of the first task and the second task is determined by the duration type of the first task and the duration type of the second task, wherein the duration type is determined by the estimated time to complete the task.

11. The method according to claim 1, characterized in that, At least one of the first task and the second task includes a task performed by the robot's end effector.

12. A control terminal for a robot, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the method as described in any one of claims 1 to 11.

13. A storage medium, characterized in that, When the instructions in the storage medium are executed by the processor of the electronic device, the processor is enabled to perform the method as described in any one of claims 1 to 11.

14. A robot, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to perform the following steps: Control the robot to perform the first task; During the execution of the first task by the robot, in response to receiving a switching command sent by the robot's control terminal, the robot is controlled to stop executing the first task and begin executing the second task; The second task is issued during the robot's execution of the first task. After receiving the second task, the robot's control terminal can display a task display interface on its display device. The task display interface includes a task switching control. The robot's control terminal can also send a switching command to the robot in response to the selection of the task switching control.

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