Robot working operation method and apparatus, device, and storage medium

Abstract

A robot working operation method, comprising: based on a land clearing mode command, performing working environment detection on an area to be worked, and outputting a working environment detection result (S10); when the working environment detection result is normal, operating a land clearing mode program to perform land clearing work in the area to be worked (S20); when the working environment detection result is abnormal, issuing an alert, and displaying the abnormal result on an operation terminal (S30). Detecting the area to be worked, and determining whether land clearing work conditions are met, provides assurance for a lawnmower robot to run a land clearing mode, improving the working efficiency of the lawnmower robot in a land clearing scenario. Also disclosed are a robot working operation apparatus, a device, and a storage medium.

Description

A robot operation method, device, equipment and storage medium Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a robot operation method, device, equipment and storage medium. Background Art

[0002] A lawn mower robot is a mechanical tool used to mow lawns, vegetation, etc. With the development of lawn mower robot technology, lawn mower robots that can mow the lawn autonomously have become popular. Autonomous lawn mower robots are usually equipped with obstacle detection devices. When an obstacle is detected, the lawn mower robot is controlled to stop or avoid the obstacle.

[0003] However, in lawn mowers, there are often scattered patches of tall grass that are significantly taller than the surrounding grass. Furthermore, when LiDAR is used in robotic lawn mowers, it cannot distinguish between obstacle types and will identify grass above a certain height as an obstacle, causing the robot to bypass it and miss the grass.

[0004] In view of this, there is an urgent need for a lawn mowing robot operation method that can improve the effect of land reclamation and mowing.

[0005] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art.

[0006] Summary of the Invention

[0007] The main purpose of the present invention is to provide a robot working method, device, equipment and storage medium, aiming to solve the technical problem of how to determine whether a lawn mowing robot can perform land reclamation work in the prior art.

[0008] To achieve the above object, the present invention provides a robot operation method, the method comprising the following steps:

[0009] According to the instructions of the development mode, the working environment of the work area is tested and the working environment test results are output;

[0010] When the working environment detection result is normal, running the land reclamation mode program to perform land reclamation work in the area to be worked;

[0011] When the working environment detection result is abnormal, an alarm is issued and the abnormal result is displayed on the operation terminal.

[0012] Optionally, according to the pioneering mode instruction, a working environment test is performed on the work area, and the working environment test result is output. The specific steps include:

[0013] receiving the land reclamation mode instruction, scanning the area to be worked using a laser radar, and obtaining environmental data of the area to be worked;

[0014] The environmental data of the area to be worked is filtered and identified using a pioneering mode algorithm, and the working environment detection result is output.

[0015] Optionally, a pioneering mode algorithm is used to filter and identify the environmental data of the area to be worked on, and the working environment detection result is output. The specific process includes:

[0016] Using the wasteland development mode algorithm to filter and screen the environmental data of the area to be worked on to obtain an environmental data filtering set;

[0017] When the number of data in the environmental data filter set exceeds a preset obstacle number, the working environment detection result is output as abnormal;

[0018] When the number of data in the environmental data filtering set does not exceed the preset obstacle number, the working environment detection result is output as normal.

[0019] Optionally, when the working environment detection result is normal, a land reclamation mode program is run to perform land reclamation work in the area to be worked, and the specific steps include:

[0020] When the working environment detection result is normal, the robot adjusts its operating state and filters the preset travel area through the pioneering mode algorithm to obtain an actual travel area map;

[0021] The land reclamation work is performed by performing route planning according to the actual travel area map.

[0022] Optionally, when the working environment detection result is normal, the robot adjusts its operating state and filters the preset travel area through the pioneering mode algorithm to obtain an actual travel area map. The specific steps include:

[0023] Scan the preset travel area through the laser radar to obtain the environmental data of the area to be traveled;

[0024] Performing statistical comparison on the environmental data of the area to be traveled using a filtering algorithm to obtain a first obstacle distribution result;

[0025] Using a visual algorithm to identify foreign objects and obstacles in the environmental data of the area to be traveled, to obtain a second obstacle distribution result;

[0026] The first obstacle distribution result and the second obstacle distribution result are integrated based on the preset traveling area to obtain the actual traveling area map.

[0027] Optionally, a filtering algorithm is used to statistically compare the environmental data of the area to be traveled to obtain a first obstacle distribution result. The specific process includes:

[0028] Performing data point selection on each data point in the environmental data of the area to be traveled according to a preset selection radius to obtain multiple data selection results;

[0029] The multiple data frame selection results are compared one by one with a preset number of data points to obtain the first obstacle distribution result.

[0030] Optionally, when the working environment detection result is abnormal, after issuing an alarm and displaying the abnormal result on the operation terminal, the method further includes:

[0031] Receive and analyze abnormal work instructions and output corresponding instruction analysis results;

[0032] When the command parsing result is the land reclamation mode command, the robot restarts the land reclamation mode and performs subsequent work;

[0033] When the instruction parsing result is a multi-obstacle clearing instruction, the robot continues to start the current clearing mode and performs subsequent work.

[0034] In addition, to achieve the above-mentioned purpose, the present invention further proposes a robot working operation device, the robot working operation device comprising:

[0035] Instruction receiving module: according to the instructions of the land reclamation mode, it performs working environment detection on the working area and outputs the working environment detection results;

[0036] Instruction execution module: when the working environment detection result is normal, running the land reclamation mode program to perform land reclamation work in the area to be worked;

[0037] Abnormal alarm module: When the working environment detection result is abnormal, an alarm is issued and the abnormal result is displayed on the operation terminal.

[0038] In addition, to achieve the above-mentioned purpose, the present invention also proposes a robot working operation device, which includes: a memory, a processor, and a robot working operation program stored in the memory and executable on the processor, and the robot working operation program is configured to implement the steps of the robot working operation method described above.

[0039] In addition, to achieve the above-mentioned purpose, the present invention also proposes a computer-readable storage medium storing a computer program, wherein the storage medium stores a robot work operation program, and when the robot work operation program is executed by the processor, the steps of the robot work operation method described above are implemented.

[0040] The present invention performs a working environment test on the work area to be worked on, based on a land reclamation mode instruction, and outputs the working environment test results. When the working environment test results are normal, the land reclamation mode program is executed to perform land reclamation work in the work area to be worked on. When the working environment test results are abnormal, an alarm is issued and the abnormal result is displayed on the operation terminal. After receiving the land reclamation mode instruction, the present invention determines whether the land reclamation working conditions are met by testing the work area, thereby providing guarantees for the operation of the land reclamation mode of the lawn mower robot and improving the working efficiency of the lawn mower robot in land reclamation scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] FIG1 is a schematic diagram of the structure of a robot operating device in a hardware operating environment according to an embodiment of the present invention;

[0042] FIG2 is a schematic flow chart of a first embodiment of a robot operation method according to the present invention;

[0043] FIG3 is a schematic flow chart of a second embodiment of a robot operation method according to the present invention;

[0044] FIG4 is a schematic flow chart of a third embodiment of a robot operation method according to the present invention;

[0045] FIG5 is a schematic flow chart of a third embodiment of a robot operation method according to the present invention;

[0046] FIG6 is a structural block diagram of the first embodiment of the robot working operation device of the present invention.

[0047] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0049] 1 , which is a schematic diagram of a robot operating device structure in a hardware operating environment according to an embodiment of the present invention.

[0050] As shown in Figure 1, the robot working and operating device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a wireless fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk storage device. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0051] Those skilled in the art will understand that the structure shown in FIG1 does not constitute a limitation on the robot working operation equipment, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0052] As shown in FIG1 , the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a robot operation program.

[0053] In the robot working operation device shown in Figure 1, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the robot working operation device of the present invention can be set in the robot working operation device, and the robot working operation device calls the robot working operation program stored in the memory 1005 through the processor 1001, and executes the robot working operation method provided by the embodiment of the present invention.

[0054] An embodiment of the present invention provides a robot working method. Referring to FIG. 2 , FIG. 2 is a flow chart of a first embodiment of a robot working method of the present invention.

[0055] In this embodiment, the robot operation method includes the following steps:

[0056] Step S10: According to the instructions of the land reclamation mode, the working environment of the work area is detected and the working environment detection results are output;

[0057] It should be noted that the clearing mode instruction is specifically a mode conversion instruction of the lawn mowing robot. The lawn mowing robot in the clearing mode will adjust its own operating power, mowing spacing, operating speed, etc.

[0058] Step S20: When the working environment detection result is normal, run the land reclamation mode program to perform land reclamation work in the area to be worked;

[0059] It should be noted that the working environment detection result specifically refers to the obstacle detection in the working area when the lawn mower robot starts the clearing mode, including the detection of movable obstacles and fixed obstacles in the working area. Among them, movable obstacles include pedestrians, tables and chairs, etc., and fixed obstacles include rocks, trees, etc.

[0060] It should also be noted that when the working environment detection result is normal, it specifically means that the number of obstacles detected in the working area is less than the preset number of obstacles, and the distribution of obstacles does not hinder the movement of the lawn mowing robot. The preset number of obstacles can be set according to the user's wishes.

[0061] Step S30: When the working environment detection result is abnormal, an alarm is issued and the abnormal result is displayed on the operation terminal.

[0062] It is understandable that when the working environment detection result is abnormal, it specifically means that the number of obstacles detected in the working area is not less than the preset number of obstacles, or the distribution of obstacles hinders the movement of the lawn mowing robot.

[0063] This embodiment performs a working environment test on the work area to be worked on according to the clearing mode instruction and outputs the working environment test results. When the working environment test results are normal, the clearing mode program is executed to perform clearing work on the work area to be worked on. When the working environment test results are abnormal, an alarm is issued and the abnormal result is displayed on the operation terminal. After receiving the clearing mode instruction, this embodiment determines whether the clearing work conditions are met by testing the work area, thereby providing guarantees for the operation of the clearing mode of the lawn mower robot and improving the working efficiency of the lawn mower robot in clearing scenarios.

[0064] Refer to FIG3 , which is a flow chart of a second embodiment of a robot operation method according to the present invention.

[0065] Based on the first embodiment above, in this embodiment, the specific steps of step S10 include:

[0066] Step S11: receiving a command for a land reclamation mode, scanning the area to be worked with a laser radar, and obtaining environmental data of the area to be worked;

[0067] It is understandable that the environmental data of the area to be worked on specifically includes information on the distribution positions and number of obstacles in the area to be worked on.

[0068] Step S12: Use the pioneering mode algorithm to filter and identify the environmental data of the work area, and output the work environment detection results.

[0069] It should be noted that the main purpose of filtering and identifying the environmental data of the working area is to filter out the "non-obstacles" in the land reclamation mode, so as to obtain only the "obstacles" that will affect the lawn mowing robot, and finally output the working environment detection results.

[0070] This embodiment receives a pioneering mode command and uses a laser radar to scan the work area to obtain environmental data for the work area. It then uses a pioneering mode algorithm to filter and identify the environmental data for the work area, and outputs a work environment detection result. This embodiment obtains the corresponding work environment detection result by filtering and identifying the environmental data for the work area, providing a basis for subsequent judgment of the robot's operating conditions.

[0071] Furthermore, the environmental data of the area to be worked is filtered and identified using a pioneering mode algorithm, and the working environment detection result is output. The specific process includes: using a pioneering mode algorithm to filter and screen the environmental data of the area to be worked to obtain an environmental data filter set; when the number of data in the environmental data filter set exceeds the preset number of obstacles, the working environment detection result is output as abnormal; when the number of data in the environmental data filter set does not exceed the preset number of obstacles, the working environment detection result is output as normal.

[0072] It is understandable that, in a specific implementation, the preset number of obstacles can be set according to the user's own wishes.

[0073] Refer to FIG4 , which is a flow chart of a third embodiment of a robot operation method according to the present invention.

[0074] Based on the above first embodiment, in this embodiment, the specific steps of step S20 include:

[0075] Step S21: When the working environment detection result is normal, the robot adjusts the operating state and filters the preset travel area through the pioneering mode algorithm to obtain an actual travel area map;

[0076] It should be noted that the actual traveling area map specifically refers to a map of a non-obstacle area to be cleared in a preset working area of ​​the mowing robot.

[0077] Step S22: performing route planning and land reclamation work according to the actual travel area map.

[0078] It should also be noted that, in the specific implementation, route planning based on the actual travel area map is achieved by the control terminal of the mowing robot through a specific navigation algorithm. Its main function is to complete all the land reclamation work in the work area without touching any obstacles.

[0079] This embodiment first adjusts the robot's operating state, then filters and screens the preset travel area to obtain an actual travel area map, and finally assists the robot in performing land reclamation work based on the actual travel area map, thereby improving the robot's land reclamation efficiency.

[0080] Refer to FIG5 , which is a flow chart of a fourth embodiment of a robot operation method according to the present invention.

[0081] Based on the third embodiment above, in this embodiment, the specific steps of step S21 include:

[0082] Step S211: Scanning the preset travel area by laser radar to obtain environmental data of the area to be traveled;

[0083] It should be noted that the preset travel area specifically refers to the area for subsequent operation and advancement that is pre-planned based on the current working posture and position of the lawn mowing robot, and it will change accordingly as the lawn mowing robot's land reclamation operation progresses.

[0084] Step S212: using a filtering algorithm to perform statistical comparison on the environmental data of the travel area to obtain a first obstacle distribution result;

[0085] It can be understood that the first obstacle specifically refers to an obstacle obtained by filtering the environmental data of the travel area through a filtering algorithm, which specifically includes stones and trees exceeding a certain radius.

[0086] Step S213: Using a visual algorithm to identify foreign objects and obstacles on the environmental data of the travel area to obtain a second obstacle distribution result;

[0087] It should be noted that the visual algorithm is used to identify foreign objects and obstacles in the environmental data of the travel area. In specific implementation, the specific algorithm methods can be: image processing algorithm, target detection algorithm and three-dimensional reconstruction algorithm, etc.

[0088] It should also be noted that foreign object obstacle recognition mainly refers to the identification and judgment of obstacles whose radius is smaller than the preset frame radius but are not actually weeds, such as tent fixing ropes, grounding cables, etc.

[0089] Step S214: Integrate the first obstacle distribution result and the second obstacle distribution result based on the preset traveling area to obtain an actual traveling area map.

[0090] It is understandable that the actual travel area map includes the first obstacle distribution information and the second obstacle distribution information. When the lawn mowing robot performs land reclamation work, it will plan the route based on this information to avoid obstacles.

[0091] This embodiment first filters and identifies the environmental data of the traveling area through a filtering algorithm, and then identifies foreign objects in the environmental data of the traveling area through a visual algorithm, and finally filters out all obstacles that hinder the robot's land reclamation work, providing a safe operation route for subsequent robot land reclamation work.

[0092] Furthermore, a filtering algorithm is used to perform statistical comparison on the environmental data of the area to be traveled to obtain a first obstacle distribution result. The specific process includes: performing data point selection on each data point in the environmental data of the area to be traveled according to a preset selection radius to obtain multiple data selection results; and comparing the multiple data selection results one by one with the preset number of data points to obtain a first obstacle distribution result.

[0093] It should be noted that the preset frame selection radius is a standard radius for obstacle judgment, that is, when the obstacle radius width exceeds the preset frame selection radius, it will be identified as the first obstacle.

[0094] It should also be noted that in the specific implementation, the filtering algorithm can be specifically a point cloud radius filtering algorithm, and its specific filtering process is: statistics are performed on all points obtained by the lidar scan. If the sum of the number of other points within the preset selection radius of a certain point is less than the preset number of data points, the point is regarded as a discrete point and eliminated, that is, the object represented by the point is not an obstacle.

[0095] It is understandable that the number of preset data points is related to the amount of data scanned by the lidar, and the amount of scanned data corresponding to different lidar models needs to be obtained through statistical testing separately.

[0096] Furthermore, when the working environment detection result is abnormal, after issuing an alarm and displaying the abnormal result on the operating end, it also includes: receiving and parsing abnormal work instructions, and outputting corresponding instruction parsing results; when the instruction parsing result is the pioneering mode instruction, the robot restarts the pioneering mode and performs subsequent work; when the instruction parsing result is a multi-obstacle pioneering instruction, the robot continues to start the current pioneering mode and performs subsequent work.

[0097] It should be noted that, in the specific implementation, when the lawn mower robot issues an alarm and displays the abnormal result on the operating end, the user can choose to remove obstacles in the working area according to the abnormal result, including persuading pedestrians in the working area to leave, moving movable obstacles in the working area, etc.; the user can also issue multi-obstacle clearing instructions to the lawn mower robot according to needs. At this time, the lawn mower robot will operate in clearing mode based on all obstacle information in the working area, that is, when the lawn mower robot performs clearing work, it will bypass all obstacles.

[0098] In addition, an embodiment of the present invention also proposes a computer-readable storage medium storing a computer program, wherein the storage medium stores a robot work operation program, and when the robot work operation program is executed by a processor, the steps of the robot work operation method described above are implemented.

[0099] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described one by one here.

[0100] 6 , which is a structural block diagram of a first embodiment of a robot working operation device according to the present invention.

[0101] As shown in FIG6 , the robot working operation device proposed in an embodiment of the present invention includes:

[0102] Instruction receiving module 10: performs working environment detection on the work area according to the instructions of the land reclamation mode and outputs the working environment detection results;

[0103] Instruction execution module 20: When the working environment detection result is normal, run the land reclamation mode program to perform land reclamation work in the waiting work area;

[0104] Abnormal alarm module 30: When the working environment detection result is abnormal, an alarm is issued and the abnormal result is displayed on the operation terminal.

[0105] This embodiment performs a working environment test on the work area to be worked on according to the clearing mode instruction and outputs the working environment test results. When the working environment test results are normal, the clearing mode program is executed to perform clearing work on the work area to be worked on. When the working environment test results are abnormal, an alarm is issued and the abnormal result is displayed on the operation terminal. After receiving the clearing mode instruction, this embodiment determines whether the clearing work conditions are met by testing the work area, thereby providing guarantees for the operation of the clearing mode of the lawn mower robot and improving the working efficiency of the lawn mower robot in clearing scenarios.

[0106] It should be understood that the above is only an example and does not constitute any limitation to the technical solution of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any limitation on this.

[0107] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of it according to actual needs to achieve the purpose of the embodiment scheme, and no limitation is made here.

[0108] In addition, for technical details not fully described in this embodiment, please refer to the robot working method provided in any embodiment of the present invention, and will not be repeated here.

[0109] In addition, it should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0110] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0111] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, or of course by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0112] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for a robot to work and run, characterized in that, Including: According to the reclamation mode instruction, conduct a working environment detection on the area to be worked, and output the working environment detection result; When the working environment detection result is normal, run the reclamation mode program to conduct reclamation work in the area to be worked; When the working environment detection result is abnormal, issue an alarm and display the abnormal result at the operation terminal.

2. The method for the robot to work and run according to claim 1, characterized in that, According to the reclamation mode instruction, conduct a working environment detection on the area to be worked, and output the working environment detection result. The specific steps include: Receive the reclamation mode instruction, use a lidar to scan the area to be worked, and obtain the environmental data of the area to be worked; Use the reclamation mode algorithm to filter and identify the environmental data of the area to be worked, and output the working environment detection result.

3. The robot working operation method according to claim 2, characterized in that, Use the reclamation mode algorithm to filter and identify the environmental data of the area to be worked, and output the working environment detection result. The specific process includes: Use the reclamation mode algorithm to filter and screen the environmental data of the area to be worked, and obtain an environmental data filtering set; When the number of data in the environmental data filtering set exceeds the preset number of obstacles, the working environment detection result is output as abnormal; When the number of data in the environmental data filtering set does not exceed the preset number of obstacles, the working environment detection result is output as normal.

4. The method for the working operation of a robot according to claim 1, wherein When the working environment detection result is normal, run the reclamation mode program to conduct reclamation work in the area to be worked. The specific steps include: When the working environment detection result is normal, the robot adjusts its running state and uses the reclamation mode algorithm to filter and screen the preset traveling area, and obtain the actual traveling area map; Perform route planning according to the actual traveling area map to execute the reclamation work.

5. The method for the robot to work and run according to claim 4, wherein When the working environment detection result is normal, the robot adjusts its running state and uses the reclamation mode algorithm to filter and screen the preset traveling area, and obtain the actual traveling area map. The specific steps include: Use a lidar to scan the preset traveling area, and obtain the environmental data of the area to be traveled; Use a filtering algorithm to conduct statistical comparison on the environmental data of the area to be traveled, and obtain the first obstacle distribution result; Use a vision algorithm to identify foreign object obstacles in the environmental data of the area to be traveled, and obtain the second obstacle distribution result; Based on the preset traveling area, integrate the first obstacle distribution result and the second obstacle distribution result to obtain the actual traveling area map.

6. The method for the robot to work and run according to claim 5, wherein Use a filtering algorithm to conduct statistical comparison on the environmental data of the area to be traveled, and obtain the first obstacle distribution result. The specific process includes: Perform data point selection on each data point in the environmental data of the area to be traveled according to the preset selection radius, and obtain a plurality of data selection results; Compare each of the plurality of data selection results with the preset number of data points one by one to obtain the first obstacle distribution result.

7. The method for the working operation of a robot according to any one of claims 1-6, characterized in that, When the working environment detection result is abnormal, after issuing an alarm and displaying the abnormal result at the operation terminal, it further includes: Receive and parse the abnormal work instruction, and output the corresponding instruction parsing result; When the instruction parsing result is the land reclamation mode instruction, the robot restarts the land reclamation mode and performs subsequent work; When the instruction parsing result is the multi-obstacle land reclamation instruction, the robot continues to start the current land reclamation mode and performs subsequent work.

8. A robot working and operating device, characterized in that, The robot working and running device includes: An instruction receiving module: According to the land reclamation mode instruction, it detects the working environment of the area to be worked and outputs the working environment detection result; An instruction execution module: When the working environment detection result is normal, it runs the land reclamation mode program to perform land reclamation work in the area to be worked; An abnormal alarm module: When the working environment detection result is abnormal, it issues an alarm and displays the abnormal result at the operation end.

9. A robot working and operating device, characterized in that, The robot working and running equipment includes: a memory, a processor, and a robot working and running program stored on the memory and executable on the processor. The robot working and running program is configured to implement the robot working and running method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When executed by a processor, the computer program can implement the steps in the robot working and running method according to any one of claims 1 to 7.

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