CN114603556A - Robot control method, control system, electronic device and readable storage device - Google Patents

Abstract

The application discloses a cleaning robot control method. The method comprises the steps of obtaining a cleaning instruction; responding to a cleaning instruction, starting a first navigation module, and guiding the robot to leave the warehouse by using the first navigation module so as to control the robot to complete a cleaning task according to the cleaning instruction; responding to the completion of the cleaning task, starting a second navigation module, and guiding the robot to enter a warehouse by using the first navigation module and the second navigation module; the second navigation module is a magnetic stripe navigation module. The application also discloses a cleaning robot control system, electronic equipment and a computer readable storage device. By means of the mode, the cleaning robot can accurately finish warehouse entry and exit operations to carry out cruising and task execution.

Description

Robot control method, control system, electronic device and readable storage device

technical field

The present application relates to the field of machine control, and in particular, to a cleaning robot control method, a cleaning robot control system, electronic equipment and a computer storage device.

Background technique

With the rapid development of new energy technology, solar photovoltaic power generation has been widely used, and various photovoltaic power plants matching local environmental conditions have been produced, such as large-scale ground photovoltaic power plants, rooftop distributed photovoltaic power plants and so on. Since the photovoltaic power station panel needs to receive sunlight, it is necessary to keep the photovoltaic panel clean and tidy to avoid the obstruction of foreign objects, which will affect the power generation efficiency of the photovoltaic panel. For the cleaning of photovoltaic panels, manual cleaning and operation and maintenance are currently mainly used, but this cleaning method is inefficient and difficult to work. Another way of operation and maintenance is to use a cleaning robot for cleaning operation and maintenance. The battery capacity of the cleaning robot is limited. When the battery capacity is exhausted, it needs to be charged for battery life. How to automatically control the cleaning robot so that it can accurately complete the in and out operations, so as to continue to complete multiple cleaning tasks or a long time. The cleaning task is a technical problem that those skilled in the art need to solve urgently.

SUMMARY OF THE INVENTION

The main purpose of this application is to provide a cleaning robot control method, a cleaning robot control system, electronic equipment and a computer storage device, which can solve the technical problem of how to automatically control the cleaning robot.

In order to solve the above technical problems, the first technical solution adopted in the present application is to provide a control method for a cleaning robot. The method includes acquiring a cleaning instruction; in response to the cleaning instruction, turning on a first navigation module, and using the first navigation module to guide a robot out of the warehouse, so as to control the robot to complete the cleaning task according to the cleaning command; in response to the completion of the cleaning task, turning on the second navigation module , and use the first navigation module and the second navigation module to guide the robot into storage; wherein, the second navigation module is a magnetic stripe navigation module.

In order to solve the above technical problem, the second technical solution adopted in this application is to provide an electronic device. The electronic device includes a memory and a processor, the memory is used for storing program data, and the program data can be executed by the processor to implement the method as described in the first technical solution.

In order to solve the above technical problem, the third technical solution adopted in the present application is to provide a computer-readable storage device. The computer-readable storage device stores program data and can be executed by a processor to implement the method described in the first technical solution.

In order to solve the above technical problems, the fourth technical solution adopted in this application is to provide a cleaning robot control system. The system includes at least one robot; the electronic device as described in the second technical solution is connected in communication with the robot, and can implement the method described in the first technical solution; the robot warehouse is provided with a warehouse entry line, and the warehouse exits Line and inbound and outbound positioning device; the inbound line is longer than the outbound line, and the inbound line, the outbound line and the inbound and outbound positioning device are used to guide the robot to complete the inbound and outbound.

The beneficial effects of the present application are: different from the situation in the prior art, the present application guides the cleaning robot by using two kinds of navigation modules. The first navigation mode guides the cleaning robot out of the warehouse and helps the cleaning robot to locate it so that it can complete the cleaning task in the corresponding cleaning area, while the second navigation mode cooperates with the first navigation mode to guide the cleaning robot into the warehouse. The second navigation mode is the magnetic strip navigation mode, which is a control mode for navigation based on the magnetic strips preset in the field. Since the navigation is based on the objects set in the field, the magnetic strip navigation can accurately guide the cleaning robot to the entrance. The specified location when the library is used. The cooperation of the two navigation modes enables the cleaning robot to complete the operation of entering and leaving the warehouse by itself, and reaches the designated position when entering the warehouse, so that it can start the battery life operation such as charging, and then continue to perform the next cleaning task, so that the cleaning robot can complete it by itself Multiple cleaning tasks or long cleaning tasks without manual operation.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

1 is a schematic flowchart of the first embodiment of the cleaning robot control method of the present application;

Fig. 2 is a schematic diagram of the structure of the robot library of the present application;

3 is a schematic flowchart of a second embodiment of the cleaning robot control method of the present application;

4 is a schematic flowchart of a third embodiment of the cleaning robot control method of the present application;

5 is a schematic flowchart of a fourth embodiment of the cleaning robot control method of the present application;

6 is a schematic flowchart of a fifth embodiment of the cleaning robot control method of the present application;

FIG. 7 is a schematic flowchart of the sixth embodiment of the cleaning robot control method of the present application;

8 is a schematic flowchart of a seventh embodiment of the cleaning robot control method of the present application;

9 is a schematic flowchart of an eighth embodiment of the cleaning robot control method of the present application;

10 is a schematic flowchart of a ninth embodiment of a cleaning robot control method of the present application;

11 is a schematic flowchart of a tenth embodiment of a cleaning robot control method of the present application;

FIG. 12 is a schematic flowchart of the eleventh embodiment of the cleaning robot control method of the present application;

13 is a schematic flowchart of the twelfth embodiment of the cleaning robot control method of the present application;

14 is a schematic flowchart of the thirteenth embodiment of the cleaning robot control method of the present application;

FIG. 15 is a schematic flowchart of the fourteenth embodiment of the cleaning robot control method of the present application;

16 is a schematic structural diagram of an embodiment of an electronic device of the present application;

17 is a schematic structural diagram of an embodiment of a computer-readable storage device of the present application;

FIG. 18 is a schematic structural diagram of an embodiment of a robot control system of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The terms "first", "second", etc. in this application are used to distinguish different objects, rather than to describe a specific order. Furthermore, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally also includes For other steps or units inherent to these processes, methods, products or devices.

Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor a separate or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

As shown in FIG. 1 , FIG. 1 is a schematic flowchart of a first embodiment of a cleaning robot control method of the present application. It includes the following steps:

S11: Obtain a cleaning instruction.

Get the cleaning instruction issued, and based on the cleaning instruction, the robot starts to perform the cleaning task. The issuing of the cleaning instruction may be determined according to the preset working operation period of the cleaning robot and the weather information obtained from the bound weather station. When the cleaning robot is in the working period and the weather conditions are good, a cleaning instruction can be sent to the cleaning robot.

If the cleaning robot is still in the charging state at this time, it will prompt the user terminal or the upper-level control terminal to remind whether to stop the charging state and start to execute the cleaning command.

S12: In response to the cleaning instruction, turn on the first navigation module, and use the first navigation module to guide the robot out of the warehouse, so as to control the robot to complete the cleaning task according to the cleaning instruction.

When starting the cleaning task, firstly enable the first navigation mode to guide the cleaning robot to drive out of the robot library. The robot library is provided with parking spaces, charging devices, etc., which are used for parking and battery charging of cleaning robots. The first navigation module is an RTK navigation module. RTK (Real-time kinematic, real-time dynamic) carrier phase differential technology is a differential method for real-time processing of the carrier phase observations of two measuring stations. The carrier phase collected by the base station is sent to the user receiver for differential calculation of coordinates. This is a satellite positioning measurement method, which can obtain measurement results with centimeter-level accuracy in real time, which greatly improves the efficiency and accuracy of work. During the process of outbound and character execution, RTK navigation can make the work of the cleaning robot more accurate, reducing repeated cleaning caused by insufficient positioning accuracy and exceeding the cleaning area.

S13: In response to the completion of the cleaning task, the second navigation module is turned on, and the first navigation module and the second navigation module are used to guide the robot into storage.

When the cleaning robot completes the cleaning task or needs to interrupt the current cleaning task forcibly to complete the warehousing based on emergencies, the second navigation module will be turned on. The second navigation module is a magnetic stripe navigation module. The second navigation module positions and guides the cleaning robot based on the magnetic strips preset in the field, so as to help the cleaning robot reach the designated location, and then complete the subsequent parking and endurance operations of the cleaning robot.

In one embodiment, the robot library is shown in FIG. 2 .

The robot library is provided with an outbound line and an inbound line, and the determination of the outbound line and the inbound line can be determined by RTK navigation to realize the inbound and outbound control of the cleaning robot. The inbound line is generally longer, the outbound line is generally shorter, and the inbound line is longer than the outbound line. This is to enable the cleaning robot to start cleaning in a timely manner after it finishes leaving the warehouse. The longer entry line allows the robot to have enough space to adjust its position and perform operations such as turning and reversing during the process of entering the warehouse. Thereby, it is parked in a predetermined position to start charging. The length of the outbound line in the working area is generally set to 0.5-2 times the length of the robot body, while the length of the inbound line in the work area is generally set to 2-3 times the length of the robot body. The magnetic strip used for magnetic strip navigation is set on the storage line, which overlaps with the storage line, and can be selected to overlap with the storage line by 10%-100%. When the magnetic strip sensor detects the magnetic strip during storage, the magnetic strip navigation module is turned on. At this time, the cleaning robot only relies on the magnetic strip navigation module for storage operations until it enters the parking space for charging.

As shown in FIG. 3 , FIG. 3 is a schematic flowchart of the second embodiment of the cleaning robot control method of the present application. This embodiment is a further extension of step S12. It includes the following steps:

S21: Detect whether there is an in-out storage positioning device.

When guiding the cleaning robot out of the warehouse to perform the cleaning task, it is necessary to detect whether the in-out device exists. The access device is a metal piece set at the rear of the parking space of the robot garage. The rear of the cleaning robot is provided with a Hall sensor, which can detect the metal piece. When the Hall sensor detects the metal sheet, it means that the cleaning robot is parked in the correct position and the charging is completed, and it can leave the warehouse to complete the cleaning task. Step S22 is performed.

S22: Turn on the first navigation module to guide the robot out of the warehouse.

If not, it indicates that the parking position of the cleaning robot is incorrect, and the charging operation may not be completed, and step S23 is executed.

S23: Execute an alarm prompt.

Send an alarm to the user terminal or the upper-level control terminal to remind the user to check the cleaning robot.

The Hall sensor and the metal sheet used in this embodiment can be replaced with other devices capable of performing corresponding detection steps, which are not limited herein.

As shown in FIG. 4 , FIG. 4 is a schematic flowchart of the third embodiment of the cleaning robot control method of the present application. This embodiment is a further extension of step S13. It includes the following steps:

S31: Detect whether there is a magnetic stripe.

In the process of warehousing, first use the RTK navigation mode to guide the cleaning robot to the end point of the warehousing line in the working area, then move forward to the robot warehouse, and then use the magnetic stripe navigation to achieve accurate warehousing. In the process of storage, it is necessary to switch the RTK navigation mode and the magnetic strip navigation mode. To use the magnetic strip navigation, it is necessary to enable the cleaning robot to detect the magnetic strip. If the magnetic stripe sensor can detect the magnetic stripe, step S32 is executed.

S32: Only use the second navigation module to guide the robot into the warehouse.

Turn off the RTK navigation mode, and only use the magnetic strip to navigate to use the pre-set magnetic strip to accurately store the cleaning robot.

As shown in FIG. 5 , FIG. 5 is a schematic flowchart of the fourth embodiment of the cleaning robot control method of the present application. This embodiment is a further extension of the above-mentioned embodiment. It includes the following steps:

S41: Preset a timer with a first time threshold and a second time threshold.

In the process of warehousing, although RTK navigation has reached centimeter-level positioning accuracy, there may still be errors in the travel path that make the magnetic stripe sensor unable to detect the magnetic stripe. Therefore, a first time threshold is set for the magnetic stripe detection. to handle the case where the magnetic stripe is not detected. Even if the magnetic stripe navigation is correct, the detection of the inbound and outbound positioning device may fail, so that the cleaning robot cannot recognize that the inbound and outbound positioning device has been moving forward and cannot stop at the designated position. Therefore, a second time is set according to factors such as the length of the inbound and outbound lines. Threshold to ensure that the cleaning robot can park correctly. The timer can start when the cleaning robot reaches the end of the inbound line at the work area.

S42: Determine whether the magnetic stripe is detected within the first time threshold.

If the magnetic stripe is not detected within the first time threshold, an alarm prompt is executed.

S43: Determine whether the warehouse-in/outbound positioning device is detected within the second time threshold.

If the inbound and outbound positioning device is not detected within the second time threshold, an alarm will be prompted.

S44: Execute an alarm prompt.

In one embodiment, a timer can also be set with a third time threshold, for example, 5 seconds. When the navigation module of the cleaning robot does not detect the storage line during the storage process, or the magnetic strip detection module of the magnetic strip navigation module is partially defective and the magnetic strip detection module fails, the countdown to the third time threshold starts. If it is within the time range When the incoming line or magnetic strip is detected again, the timer for the third time threshold is reset.

As shown in FIG. 6 , FIG. 6 is a schematic flowchart of the fifth embodiment of the cleaning robot control method of the present application. This embodiment is a further extension of step S12. It includes the following steps:

S51: Detect whether there is a task interruption point.

After the cleaning robot is out of the warehouse, when the cleaning task is about to be performed, it is first detected whether there is a task interruption point. The task interruption point is the place where the cleaning robot must stop the cleaning task for storage due to emergencies or insufficient power of the cleaning robot. If the task interruption point is detected, step S52 is executed.

S52: Start the cleaning task from the task interruption point.

Complete the last unfinished cleaning task from the point where the task was interrupted. After completion, perform this cleaning task or complete all cleaning tasks and put them into storage to stop working.

As shown in FIG. 7 , FIG. 7 is a schematic flowchart of the sixth embodiment of the cleaning robot control method of the present application. This embodiment is a further extension of step S52. It includes the following steps:

S61: Calculate the shortest distance from the current position to the task interruption point.

After the mission interruption point is detected, the surrounding environment can be analyzed according to the map information stored in advance, and the shortest distance that can reach the mission interruption point can be obtained.

S62: Control the robot to reach the task interruption point according to the shortest distance.

According to the shortest distance calculated, the task interruption point can be reached, and the unfinished cleaning task can be executed as soon as possible, saving the power resources of the cleaning robot.

As shown in FIG. 8 , FIG. 8 is a schematic flowchart of a seventh embodiment of a cleaning robot control method of the present application. This embodiment is a further extension of the above-mentioned embodiment. It includes the following steps:

S71: Detect whether the power of the robot is lower than the first threshold.

During the working process of the cleaning robot, the power of the robot needs to be detected to ensure that the cleaning robot has enough power to complete the storage operation and will not stop working in the middle of power failure. The first threshold may be set to 20%.

S72: Mark the current position as the task interruption point and control the robot to put it into storage.

When it is detected that the remaining power of the cleaning robot reaches the first threshold, the current position information is recorded, and the position is marked as the task interruption point, which is used to prompt the cleaning robot to continue to perform the cleaning task from here after charging is completed. After the marking is completed, the cleaning robot is guided through RTK navigation for storage.

As shown in FIG. 9 , FIG. 9 is a schematic flowchart of an eighth embodiment of a cleaning robot control method of the present application. This embodiment is a further extension of the above-mentioned embodiment. It includes the following steps:

S81: Detect whether the current weather condition satisfies the safe operation condition.

During the working process of the cleaning robot, it is necessary to detect whether the current weather conditions support the cleaning robot to continue the cleaning work.

S82: Mark the current position as the task interruption point and control the robot to put it into storage.

If it is obtained from the relevant weather station that the current weather conditions cannot meet the safe operation conditions, the current location information is recorded, and the location is marked as the task interruption point, which is used to prompt the cleaning robot to continue the cleaning task from here after charging is completed. After the marking is completed, the cleaning robot is guided through RTK navigation for storage.

As shown in FIG. 10 , FIG. 10 is a schematic flowchart of the ninth embodiment of the cleaning robot control method of the present application. This embodiment is a further extension of the above-mentioned embodiment. It includes the following steps:

S91: Detect whether the current time is within a preset working time period.

The work of the cleaning robot can be preset for a working time period. When it is in the working time period, the cleaning robot goes out of the warehouse to complete the cleaning task, and when it is in the non-working time period, the cleaning robot enters the warehouse for parking or charging.

S92: Mark the current position as the task interruption point and control the robot to put it into storage.

If the cleaning robot is in the non-working time period in the middle of the cleaning task, the current position information is recorded, and the position is marked as the task interruption point, which is used to prompt the cleaning robot to continue the cleaning task from here after charging is completed. After the marking is completed, the cleaning robot is guided through RTK navigation for storage.

In the above embodiment, after the task interruption point is marked, the cleaning robot calculates the shortest return route from the current position to the storage line according to the pre-stored map information, and reaches the storage line according to the return route for storage.

As shown in FIG. 11 , FIG. 11 is a schematic flowchart of the tenth embodiment of the cleaning robot control method of the present application. This embodiment is a further extension of the above-mentioned embodiment. It includes the following steps:

S101: Detect whether there is a deviation between the motion state of the robot body and the motion state of the chassis of the robot.

During the cleaning process of the cleaning robot, the motion state of the robot body is compared with the motion state calculated by the chassis control of the robot to determine whether the cleaning robot has problems such as slippage. For example, the positioning module collects that the robot body has moved 5 meters, and the chassis control device calculates the distance from the robot to the movement of 10 meters according to the pulley. Combined with a pre-set deviation threshold, such as 1 meter, the calculation result of the positioning module is the same as that of the chassis. The difference between the calculated results of the control is greater than the deviation threshold, indicating that the cleaning robot has a slipping phenomenon in this road section, which makes the actual moving distance small. During the turning process, the positioning module collects the heading angle information of the robot body. The robot body is offset by 20 degrees, while the deflection angle calculated by the chassis control device is 100 degrees. Combined with a preset deviation threshold, such as 30 degrees, positioning The difference between the calculation result of the module and the calculation result of the chassis control is greater than the deviation threshold, indicating that the cleaning robot has a slipping phenomenon in the process of turning.

S102: Execute an alarm prompt.

When it is detected that the difference between the detection result of the motion state of the cleaning robot body and the calculation result of the chassis control device exceeds the set deviation threshold, it is deemed that there is a deviation. The cleaning robot may slip on this road section. Alert the user to check the road section or the cleaning robot.

As shown in FIG. 12 , FIG. 12 is a schematic flowchart of the eleventh embodiment of the cleaning robot control method of the present application. This embodiment is a further extension of the above-mentioned embodiment. It includes the following steps:

S111: Detect whether the value of the working current is greater than the second threshold and the duration is greater than the third threshold.

During the working process of the cleaning robot, it is necessary to continuously detect the working current. If the working current of the cleaning robot is at a large value and lasts for a long time, it may affect the related modules or circuit structure of the cleaning robot, causing damage to the cleaning robot. For example, if the working current of the cleaning robot is in the range of more than 15000 mA for 100 milliseconds, it indicates that the working current of the cleaning robot is in a dangerous state at this time.

S112: Control the robot to stop working and give an alarm.

When it is detected that the working current of the cleaning robot is abnormal, the related work of the cleaning robot will be stopped in time, the power off of the cleaning robot will be processed, and an alarm will be sent to the user terminal to check and repair the robot.

As shown in FIG. 13 , FIG. 13 is a schematic flowchart of a twelfth embodiment of a cleaning robot control method of the present application. This embodiment is a further extension of the above-mentioned embodiment. It includes the following steps:

S121: Detect whether there is an obstacle on the cleaning area.

During the cleaning process, the cleaning robot can detect whether there are obstacles such as potholes and cliffs in the traveling direction through the perception module. The sensing module may be a capacitive sensor. Four capacitive sensors are respectively arranged on the left front, right front, left rear and right rear of the cleaning robot to detect the surrounding environment.

S122: Determine whether the obstacle can be bypassed within the cleaning area.

When it is detected that there is an obstacle in the cleaning area, it is determined whether the obstacle can be bypassed within the scope of the cleaning area and the cleaning task can be continued. If not, go to step S123.

S123: Execute an alarm prompt.

When it is judged that the obstacle cannot be bypassed within the scope of the cleaning area, an alarm prompt is sent to the user terminal or the upper-level control terminal to remind the personnel to check and clean the area where the obstacle exists.

This embodiment is a processing step when the cleaning robot encounters an obstacle under automatic control.

In another embodiment, the cleaning robot can also switch to manual control when encountering obstacles. When the robot detects that there is an obstacle in the cleaning area, it will stop working and give an alarm to the user terminal or the upper-level control terminal. When the cleaning robot receives an instruction to move forward in other directions in the non-obstacle area, it will cancel the alarm and continue to perform the cleaning task.

As shown in FIG. 14 , FIG. 14 is a schematic flowchart of the thirteenth embodiment of the cleaning robot control method of the present application. This embodiment is a further extension of step S13. It includes the following steps:

S131: Detecting whether there is a warehouse-in-out positioning device.

When the cleaning robot is put into the warehouse, in order to make the robot stop at the preset parking position accurately, a warehouse-in-out positioning device is provided at the parking position of the robot library. The device can be a metal piece located at the tail of the parking position, which can be detected by a Hall sensor at the tail of the cleaning robot to prompt the cleaning robot to reach the designated position.

S132: Turn on the charging switch to charge the robot.

When detecting the in-out and out-of-warehouse positioning device, the cleaning robot stops moving and parks at the designated position. At this time, turn on the charging switch to charge the cleaning robot.

In one embodiment, after a storage-in/out device is detected and the cleaning robot stops, the charging switch is turned on to charge the robot after a delay, so as to ensure the safety of the operation.

As shown in FIG. 15 , FIG. 15 is a schematic flowchart of a fourteenth embodiment of a cleaning robot control method of the present application. This embodiment is a further extension of the thirteenth embodiment. It includes the following steps:

S141: Detect whether the charging current is valid.

During the charging process of the cleaning robot, the charging current is detected to determine whether the charging current is valid. Only when the charging current is greater than a certain preset value can it be determined that the charging is valid.

Further, when the charging current is greater than a certain preset value and lasts for a certain period of time, it can be determined that the charging is valid.

S142: Execute an alarm prompt.

If the charging current is not detected, or the charging current is less than the preset value, or greater than the preset value but does not last for a certain period of time, it is determined that the charging is invalid, and an alarm prompt is sent to the user terminal or the upper-level control terminal.

As shown in FIG. 16 , FIG. 16 is a schematic structural diagram of an embodiment of an electronic device of the present application.

The electronic device includes a processor 110 and a memory 120 .

The processor 110 controls the operation of the electronic device, and the processor 110 may also be referred to as a CPU (Central Processing Unit, central processing unit). The processor 110 may be an integrated circuit chip with processing capability of signal sequences. The processor 110 may also be a general purpose processor, digital signal sequence processor (DSP), application specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 120 stores instructions and program data required for the operation of the processor 110 .

The processor 110 is configured to execute instructions to implement the methods provided by any of the embodiments and possible combinations of the foregoing cleaning robot control methods in the present application.

As shown in FIG. 17 , FIG. 17 is a schematic structural diagram of an embodiment of a computer-readable storage device of the present application.

An embodiment of the readable storage device of the present application includes a memory 210, and the memory 210 stores program data. When the program data is executed, the method provided by any embodiment and possible combination of the cleaning robot control method of the present application is implemented.

The memory 210 may include a U disk, a removable hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk and other media that can store program instructions, or may also be a medium that can store program instructions. A server that stores the program instructions, the server can send the stored program instructions to other devices to run, or can also run the stored program instructions by itself.

As shown in FIG. 18 , FIG. 18 is a schematic structural diagram of an embodiment of the robot control system of the present application.

The robot control system includes at least one robot 310 , such as the electronic device 320 described in the electronic device embodiment, and a robot library 330 .

The robot 310 may include various modules. For example, the positioning module is used to update the position information of the robot in real time; the sensor module is used to receive the perception data of the corresponding sensor; the map module is used to store the map information of the surrounding geographical environment, set the cleaning area and plan the route; It is used to assist in more accurate positioning; the host computer module is used to record operation-related data, obtain corresponding instructions, and so on.

The perception module may include capacitive sensors, which are respectively installed on the left front, right front, left rear, and right rear of the cleaning robot to detect whether there are obstacles around the driving area; magnetic strip sensors are installed under the cleaning robot for storage. The magnetic strip is detected for magnetic strip navigation; the Hall sensor is installed at the tail of the cleaning robot and is used to detect the metal sheet as the positioning device for in and out of the warehouse, so as to ensure the accurate parking position of the cleaning robot.

Robot 310 is communicatively connected to electronic device 320, which includes a processor and memory.

The processor controls the operation of the electronic device, and the processor may also be called a CPU (Central Processing Unit, central processing unit). A processor may be an integrated circuit chip that has the ability to process signal sequences. The processor may also be a general purpose processor, digital signal sequence processor (DSP), application specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component . A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory stores the instructions and program data required for the operation of the processor.

The processor is configured to execute the instructions to implement the method provided by any one of the embodiments and possible combinations of the foregoing cleaning robot control methods of the present application.

The robot library 330 is provided with a warehouse entry line, a warehouse exit line and a warehouse entry and exit positioning device.

The inbound line is longer than the outbound line, and the inbound line, the outbound line and the inbound and outbound positioning device are used to guide the robot 310 to complete the inbound and outbound.

The robot control system may further include a base station to achieve more precise positioning of the cleaning robot.

To sum up, the present application guides the cleaning robot by using two kinds of navigation modules. The first navigation mode guides the cleaning robot out of the warehouse and helps the cleaning robot to locate it so that it can complete the cleaning task in the corresponding cleaning area, while the second navigation mode cooperates with the first navigation mode to guide the cleaning robot into the warehouse. The second navigation mode is the magnetic stripe navigation mode, which is a control mode for navigation based on the magnetic stripe preset in the field. Since the navigation is based on the objects set in the field, the magnetic stripe navigation can accurately guide the cleaning robot to the entrance. The specified location when the library is used. The cooperation of the two navigation modes enables the cleaning robot to complete the operation of entering and leaving the warehouse by itself, and reaches the designated position when entering the warehouse, so that it can start the battery life operation such as charging, and then continue to perform the next cleaning task, so that the cleaning robot can complete it by itself Multiple cleaning tasks or long cleaning tasks without manual operation.

In the several embodiments provided in this application, it should be understood that the disclosed method and device may be implemented in other manners. For example, the device implementations described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other divisions. For example, multiple units or components may be Incorporation may either be integrated into another system, or some features may be omitted, or not implemented.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this implementation manner.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

If the integrated units in the above-mentioned other embodiments are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, removable hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes.

The above descriptions are only the embodiments of the present application, and are not intended to limit the scope of the patent of the present application. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present application, or directly or indirectly applied to other related technologies Fields are similarly included within the scope of patent protection of this application.

Claims (17)

1. a cleaning robot control method, is characterized in that, described method comprises: Get cleaning instructions; In response to the cleaning instruction, the first navigation module is turned on, and the first navigation module is used to guide the robot out of the warehouse, so as to control the robot to complete the cleaning task according to the cleaning instruction; In response to the completion of the cleaning task, the second navigation module is turned on, and the first navigation module and the second navigation module are used to guide the robot into storage; Wherein, the second navigation module is a magnetic stripe navigation module. 2 . The method according to claim 1 , wherein in response to the cleaning instruction, a first navigation module is turned on, and the first navigation module is used to guide the robot out of the warehouse to control the robot. 3 . Before completing the cleaning task according to the cleaning instruction, it further includes: Detect whether there is a warehouse positioning device; If so, open the first navigation module to guide the robot out of the warehouse; If not, execute the alarm prompt. 3 . The method according to claim 2 , wherein in response to the completion of the cleaning task, a second navigation module is turned on, and the robot is guided by the first navigation module and the second navigation module. 4 . Inventory further includes: Detect whether there is a magnetic stripe; If so, only use the second navigation module to guide the robot into storage. 4. The method according to claim 3, wherein the method further comprises: Preset a timer with a first time threshold and a second time threshold; If the magnetic stripe is not detected within the first time threshold, execute an alarm prompt; If the inbound and outbound positioning device is not detected within the second time threshold, an alarm will be prompted. 5 . The method according to claim 1 , wherein in response to the cleaning instruction, the first navigation module is turned on, and the first navigation module is used to guide the robot out of the warehouse to control the robot. 6 . Before completing the cleaning task according to the cleaning instruction, it further includes: Detect whether there is a task interruption point; If so, start the cleaning task from the task interruption point. 6. The method of claim 5, wherein the starting the cleaning task from the task interruption point comprises: Calculate the shortest distance from the current position to the task interruption point; The robot is controlled to reach the task interruption point according to the shortest distance. 7 . The method according to claim 1 , wherein in response to the cleaning instruction, the first navigation module is turned on, and the first navigation module is used to guide the robot out of the warehouse to control the robot. 8 . Completing the cleaning task according to the cleaning instruction further includes: Detecting whether the power of the robot is lower than a first threshold; If so, mark the current position as the task interruption point and control the robot to enter the warehouse. 8 . The method according to claim 1 , wherein in response to the cleaning instruction, a first navigation module is turned on, and the first navigation module is used to guide the robot out of the warehouse to control the robot. 9 . Completing the cleaning task according to the cleaning instruction further includes: Detect whether the current weather conditions meet safe operating conditions; If not, mark the current position as the task interruption point and control the robot to enter the warehouse. 9 . The method according to claim 1 , wherein in response to the cleaning instruction, the first navigation module is turned on, and the first navigation module is used to guide the robot out of the warehouse to control the robot. 10 . Completing the cleaning task according to the cleaning instruction further includes: Detect whether the current time is within the preset working time period; If not, mark the current position as the task interruption point and control the robot to enter the warehouse. 10 . The method according to claim 1 , wherein in response to the cleaning instruction, a first navigation module is turned on, and the first navigation module is used to guide the robot out of a warehouse to control the robot. 11 . Completing the cleaning task according to the cleaning instruction further includes: Detecting whether there is a deviation between the motion state of the robot body and the motion state of the chassis of the robot; If so, execute the alarm prompt. 11. The method according to claim 1, wherein in response to the cleaning instruction, a first navigation module is turned on, and the first navigation module is used to guide the robot out of a warehouse to control the robot Completing the cleaning task according to the cleaning instruction further includes: Detecting whether the value of the working current is greater than the second threshold and the duration is greater than the third threshold; If so, control the robot to stop working and give an alarm. 12 . The method according to claim 1 , wherein in response to the cleaning instruction, the first navigation module is turned on, and the first navigation module is used to guide the robot out of the warehouse to control the robot. 13 . Completing the cleaning task according to the cleaning instruction further includes: Detect whether there are obstacles on the cleaning area; If so, determine whether the obstacle can be bypassed within the cleaning area; If not, execute the alarm prompt. 13 . The method of claim 1 , wherein in response to the completion of the cleaning task, a second navigation module is turned on, and the robot is guided by the first navigation module and the second navigation module. 14 . Inventory further includes: Detect whether there is a warehouse positioning device; If so, turn on the charging switch to charge the robot. 14. The method of claim 13, wherein the method further comprises: Check whether the charging current is valid; If not, execute the alarm prompt. 15. An electronic device, characterized by comprising a memory and a processor, wherein the memory is used for storing program data, the program data can be executed by the processor to realize any one of claims 1-14 the method described. 16. A computer-readable storage device, characterized by storing program data, executable by a processor, to implement the method of any one of claims 1-14. 17. A cleaning robot control system, comprising: at least one robot; The electronic device according to claim 15, connected in communication with the robot, can implement the method according to any one of claims 1-14; The robot warehouse is provided with a warehouse entry line, a warehouse exit line, and a warehouse entry and exit positioning device; wherein, the warehouse entry line is longer than the warehouse exit line, and the warehouse entry line, the warehouse exit line, and the warehouse entry and exit positioning device are installed. It is used to guide the robot to complete entering and leaving the warehouse.

Images