CN110712204B - Robot working method and robot - Google Patents
Robot working method and robot Download PDFInfo
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- CN110712204B CN110712204B CN201910924630.0A CN201910924630A CN110712204B CN 110712204 B CN110712204 B CN 110712204B CN 201910924630 A CN201910924630 A CN 201910924630A CN 110712204 B CN110712204 B CN 110712204B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application is applicable to the technical field of robots, and provides a robot working method and a robot, wherein the robot working method comprises the steps of determining the reason of task interruption when the task interruption is detected and the task deviates from a preset track in the process of executing a task by the robot, and judging whether to return to the position when the task is interrupted to continue executing the task according to the track according to the reason of the task interruption. According to the method and the device, whether the original task is continuously executed according to the original track when the position returns to the position when the task is interrupted can be judged according to the reason of task interruption, and the improvement of the intelligent degree and the cleaning efficiency of the robot is facilitated.
Description
Technical Field
The present application relates to the field of robots, and in particular, to a method for a robot to work, a robot, and a computer-readable storage medium.
Background
With the continuous progress of science and technology, cleaning robots, such as sweeping robots, mopping robots or sweeping and mopping all-in-one machines, are widely used in daily life because they can replace manual work to clean the floor.
Most of the robots in the prior art have the function of continuous scanning at break points, so that even if the robot temporarily interrupts a task and deviates from a preset track, the robot finally returns to the interrupted position to continue to complete the interrupted task. However, when the robot leaves the trapped area with the help of the user, if the robot automatically returns to the area, the degree of intelligence and the efficiency of cleaning of the robot may be reduced.
Therefore, a new technical solution is needed to solve the above technical problems.
Disclosure of Invention
In view of this, the embodiment of the application provides a method for robot work and a robot, which can determine whether to return to a position where a task is interrupted to continue to execute an original task according to an original track according to the reason of task interruption, and are beneficial to improving the intelligent degree and the cleaning efficiency of the robot.
A first aspect of an embodiment of the present application provides a method for robot work, including:
in the process that the robot executes a task, when the task is detected to be interrupted and deviates from a preset track, determining the reason of the task interruption;
and judging whether to return to the position when the task is interrupted to continue to execute the task according to the track according to the reason of the task interruption.
In one embodiment, determining whether to return to the position where the task was interrupted to continue executing the task according to the track according to the reason for the task interruption includes:
and if the reason of the task interruption is that the self electric quantity is insufficient, returning to the position of the task interruption to continue executing the task according to the track when the self electric quantity is sufficient.
In one embodiment, determining whether to return to the position where the task was interrupted to continue executing the task according to the track further includes:
and if the reason of the task interruption is that a recharging instruction is received, after the recharging instruction is executed, returning to the position where the task is interrupted to continue executing the task according to the track.
In one embodiment, determining whether to return to the position where the task was interrupted to continue executing the task according to the track further includes:
and if the reason for the task interruption is that a next cleaning instruction is received, executing the received next cleaning instruction by taking the current position as a starting point.
In one embodiment, after executing the received next cleaning instruction if the reason for the task interruption is that the next cleaning instruction is received, the method further includes:
and returning to the charging seat for charging and waiting for receiving the next working instruction.
In one embodiment, determining whether to return to the position where the task was interrupted to continue executing the task according to the track further includes:
if the reason of the task interruption is caused by manual movement, judging whether the moved position is the position of a certain charging seat;
and if the moved position is the position of a certain charging seat, returning to the position when the task is interrupted after the self-charging is finished, and continuously executing the task according to the track.
In one embodiment, the method further comprises:
if the moved position is not the position of a certain charging seat, executing the in-place waiting operation.
In one embodiment, the method further comprises:
and if the next work instruction is received in the process of executing the in-place waiting operation, executing the received next work instruction by taking the current position as a starting point.
A second aspect of the embodiments of the present application provides a robot, including a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method mentioned in the first aspect when executing the computer program.
A third aspect of embodiments of the present application provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the method mentioned in the first aspect.
A fourth aspect of embodiments of the present application provides a computer program product, which, when run on a robot, causes the robot to perform the method of any one of the first aspect described above.
Compared with the prior art, the embodiment of the application has the advantages that: in this embodiment, in the process of executing a task by the robot, when the task is detected to be interrupted and deviates from a predetermined trajectory, the reason for the task interruption is determined, and whether to return to the position where the task was interrupted to continue executing the task along the trajectory is determined according to the reason for the task interruption. Compared with the prior art, the method and the device can judge whether to return to the position when the task is interrupted to continue to execute the original task according to the original track according to the reason of the task interruption, and are beneficial to improving the intelligent degree and the cleaning efficiency of the robot; when the reason of the task interruption is that the electric quantity of the robot is insufficient, the robot returns to the position of the task interruption after the electric quantity of the robot is sufficient to continue to execute the task according to the track, and the robot is favorable for processing the task interruption in a targeted manner; when the reason of task interruption is that a recharging instruction is received, after the recharging instruction is executed, the robot returns to the position of task interruption to continue executing the task according to the track, and the robot is favorable for processing the task interruption in a targeted manner; when the reason for the task interruption is that the next cleaning instruction is received, the original task is executed according to the original track without returning to the position when the task is interrupted, and the received next cleaning instruction is directly executed, so that the robot can execute the interrupted task in a targeted manner; when the reason of the task interruption is caused by manual movement and the position after the movement is the position of a certain charging seat, after the self-charging is finished, the robot returns to the position when the task is interrupted to continue to execute the task according to the track, so that the robot can perform the task interruption in a targeted manner; when the reason of the task interruption is caused by manual movement and the moved position is not the position of a certain charging seat, the robot can directly execute the original task according to the original track without returning to the position when the task is interrupted, and the robot can conveniently perform targeted task interruption processing and has strong usability and practicability.
It is understood that the beneficial effects of the second to fourth aspects can be seen from the description of the first aspect, and are not described herein again.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1-a is a schematic flow chart of a method for operating a robot according to an embodiment of the present disclosure;
1-b is a schematic view of a working scenario of a robot according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a method for working a robot according to a second embodiment of the present disclosure;
fig. 3 is a schematic flowchart of a method for working a robot according to a third embodiment of the present application;
fig. 4 is a schematic flowchart of a method for working by a robot according to a fourth embodiment of the present disclosure;
fig. 5 is a schematic flowchart of a method for working by a robot according to a fifth embodiment of the present disclosure;
fig. 6 is a schematic flowchart of a method for working by a robot according to a sixth embodiment of the present application;
fig. 7 is a schematic structural diagram of a robot according to a seventh embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
It should be understood that, the sequence numbers of the steps in this embodiment do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation to the implementation process of the embodiment of the present application.
It should be noted that, the descriptions of "first" and "second" in this embodiment are used to distinguish different regions, modules, and the like, and do not represent a sequential order, and the descriptions of "first" and "second" are not limited to be of different types.
The execution main body of the robot working method can be a cleaning robot, and the cleaning robot can automatically complete indoor cleaning robot for cleaning the ground by means of certain artificial intelligence, such as a sweeping robot, a mopping robot or a sweeping and mopping integrated robot.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
Example one
Fig. 1-a is a schematic flow chart of a method for working by a robot according to an embodiment of the present application, which may include the following steps:
s101: and in the process of executing the task by the robot, when the task is detected to be interrupted and deviates from a preset track, determining the reason of the task interruption.
In one embodiment, the tasks include, but are not limited to, recharge exploration, edgewise cleaning, and in-zone cleaning, wherein recharge exploration refers to the robot starting from the current location, continuously exploring until a target charging dock is found and charging begins; edge cleaning means that the robot cleans along the edge of an obstacle, such as along a corner; in-zone cleaning refers to cleaning of a zone by a robot in a certain zone, such as in zone 1 of room a.
In one embodiment, the task may be a cleaning task within a certain area, such as the cleaning task within area 3 shown in fig. 1-b.
In one embodiment, if it is detected that the current working mode of the robot is different from the working mode at the previous moment, the task is determined to be interrupted.
In one embodiment, the predetermined trajectory may be a pre-planned cleaning path.
In one embodiment, if it is detected that the current position of the robot is not on the pre-planned cleaning path, it is determined to deviate from the predetermined trajectory.
In one embodiment, the reasons for the task interruption include active interruption and passive interruption, wherein active interruption refers to interruption of the task by the robot due to its own reason, such as interruption of the task due to detection of insufficient power; passive interruption corresponds to active interruption, and passive interruption refers to interruption of the task by the robot due to objective reasons, such as interruption of the task due to reception of a preset instruction or manual movement.
In one embodiment, when the task is detected to be interrupted and deviates from a predetermined trajectory, the trajectory may be marked so that the position of itself when returning to the task interruption may continue to execute the task along the trajectory for a first time.
S102: and judging whether to return to the position when the task is interrupted to continue to execute the task according to the track according to the reason of the task interruption.
Judging whether the task needs to be returned to the position when the task is interrupted to continue to execute the task according to the track or not, wherein the step of returning to the position when the task is interrupted to continue to execute the task according to the track comprises the step of returning to the position when the task is interrupted to continue to execute the task according to the track, and the step of not returning to the position when the task is interrupted to continue to execute the task according to the track. It will be appreciated that the robot may perform other tasks at other locations while continuing to perform the task along the trajectory without returning to the location at the time of the task interruption.
Therefore, the embodiment of the application can judge whether to return to the position when the task is interrupted to continue to execute the original task according to the original track according to the reason of the task interruption, is favorable for improving the intelligent degree and the cleaning efficiency of the robot, and has strong usability and practicability.
Example two
Fig. 2 is a schematic flow chart of a method for robot work according to a second embodiment of the present application, which is a refinement and description of step S102 in the first embodiment, and the method may include the following steps:
s201: and in the process of executing the task by the robot, when the task is detected to be interrupted and deviates from a preset track, determining the reason of the task interruption.
The step S201 is the same as the step S101 in the second embodiment, and the specific implementation process may refer to the description of the step S101, which is not repeated herein.
S202: and if the reason of the task interruption is that the self electric quantity is insufficient, returning to the position of the task interruption to continue executing the task according to the track when the self electric quantity is sufficient.
In one embodiment, the robot may determine whether the cause of the task interruption is a self-power shortage through the following steps a 1-A3.
A1: and detecting the electric quantity value of the self.
In one embodiment, the electrical quantity value may be presented in percentage form.
A2: comparing the detected electric quantity value with a preset value.
In one embodiment, the preset value may be twenty percent.
A3: and if the detected electric quantity value is smaller than a preset value, determining that the reason of the task interruption is that the electric quantity of the task is insufficient.
Of course, in practical applications, the reason for the task interruption may be determined in other ways as well as the fact that the power of the task is insufficient, which is not limited in this application.
In one embodiment, the self-charge amount is considered sufficient when the self-charge amount tends to be stable.
In one embodiment, when the self-electricity quantity is sufficient, at least one suitable return path can be planned according to the position of the charging seat and the position of the charging seat when the task is interrupted, so that the self-electricity quantity can return to the position of the task interruption with the highest efficiency to continue executing the task according to the track.
Taking a specific application scenario as an example for explanation and explanation, as shown in fig. 1-b, in the process of executing a cleaning task in the area 3 by the robot, when it is detected that the robot interrupts the cleaning task and changes from the position a to the position C, the reason for the interruption of the cleaning task is determined, if the reason for the interruption of the cleaning task is insufficient, when the robot starts to charge on the charging stand at the position C, the self-power is detected in real time, and when the self-power is sufficient, the robot returns to the position a from the position C, and the unfinished cleaning task in the area 3 is continued.
Therefore, compared with the first embodiment, the second embodiment of the application can return to the position where the task is interrupted after the self electric quantity is sufficient and continue to execute the task according to the track when the reason of the task interruption is that the self electric quantity is insufficient, is favorable for the robot to pertinently perform task interruption processing, and has stronger usability and practicability.
EXAMPLE III
Fig. 3 is a schematic flowchart of a method for robot work according to a third embodiment of the present application, which is further detailed and described with respect to step S102 in the first embodiment, and the method may include the following steps:
s301: and in the process of executing the task by the robot, when the task is detected to be interrupted and deviates from a preset track, determining the reason of the task interruption.
The step S301 is the same as the step S101 in the first embodiment, and the specific implementation process may refer to the description of the step S101, which is not repeated herein.
S302: and if the reason of the task interruption is that a recharging instruction is received, returning to the position of the task interruption to continue executing the task according to the track after the recharging instruction is executed.
In one embodiment, the recharge command comprises an internal recharge command and an external recharge command, wherein the internal recharge command comprises, but is not limited to, a command sent when the preset cleaning task is completed; the external recharging instruction includes, but is not limited to, an instruction sent when the user actively controls the robot to return to the charging dock, for example, the user issues the external recharging instruction through an operation panel on the robot body, a remote controller used in a matching manner, or a corresponding APP on the terminal device.
In an embodiment, the method for detecting whether the robot has executed the recharging instruction is the same as the method for detecting whether the self-power is sufficient in the second embodiment, and reference may be specifically made to the related description in step a3 in the second embodiment, which is not repeated herein.
In an embodiment, referring to the description in step S202 in the second embodiment, returning to the position where the task is interrupted, and continuing to execute the task according to the track.
Taking a specific application scenario as an example for explanation and explanation, as shown in fig. 1-b, in the process of executing a cleaning task in an area 3 by a robot, when it is detected that the robot interrupts the cleaning task and changes from a position a to a position C, the reason for the interruption of the cleaning task is determined, if the reason for the interruption of the cleaning task is that a recharging instruction is received, when the robot starts to charge on a charging stand at the position C, the self-power is detected in real time, and when the self-power is sufficient, the robot returns to the position a from the position C, and the unfinished cleaning task in the area 3 is continued.
Therefore, three phases of the embodiment of the application are more than those of the first embodiment, when the reason of task interruption is that the recharging instruction is received, after the recharging instruction is executed, the position where the task is interrupted is returned to and the task is executed according to the track, the task is executed, the processing of task interruption by the robot is facilitated, and the usability and the practicability are high.
Example four
Fig. 4 is a schematic flowchart of a method for robot work according to a fourth embodiment of the present application, which is another refinement and description of step S102 in the first embodiment, and the method may include the following steps:
s401: and in the process of executing the task by the robot, when the task is detected to be interrupted and deviates from a preset track, determining the reason of the task interruption.
The step S401 is the same as the step S101 in the first embodiment, and the specific implementation process of the step S401 can refer to the description of the step S101, which is not repeated herein.
S402: and if the reason for the task interruption is that a next cleaning instruction is received, executing the received next cleaning instruction by taking the current position as a starting point.
In one embodiment, after executing the received next cleaning instruction if the reason for the task interruption is that the next cleaning instruction is received, the method may further include:
and returning to the charging seat for charging and waiting for receiving the next working instruction.
In one embodiment, when the task is a cleaning task, the next cleaning instruction is an instruction different from the cleaning task, such as when the task is cleaning area 3 shown in fig. 1-b, the next cleaning instruction may be cleaning area 1 shown in fig. 1-b.
In one embodiment, the user may issue the next cleaning instruction through an operation panel on the robot body, a remote controller used in cooperation, or a corresponding APP on a terminal device.
To explain and explain by taking a specific application scenario as an example, as shown in fig. 1-B, when the robot detects that the robot interrupts the cleaning task and changes from the position a to the position B during the execution of the cleaning task in the area 3, the reason for the interruption of the cleaning task is determined, and if the reason for the interruption of the cleaning task is that a cleaning instruction of the cleaning area 1 is received, the cleaning in the area 1 is performed by taking the position B as the cleaning starting point of the cleaning area 1.
Therefore, compared with the first embodiment, the fourth embodiment of the application can be used for executing the original task according to the original track without returning to the position when the task is interrupted for the reason of interruption of the next cleaning instruction, and directly executing the next cleaning instruction, so that the processing of executing the interrupted task in a targeted manner by the robot is facilitated, and the fourth embodiment of the application has high usability and practicability.
EXAMPLE five
Fig. 5 is a schematic flowchart of a method for robot work according to a fifth embodiment of the present application, which is further detailed and described in step S102 in the first embodiment, and the method may include the following steps:
s501: and in the process of executing the task by the robot, when the task is detected to be interrupted and deviates from a preset track, determining the reason of the task interruption.
The step S501 is the same as the step S101 in the first embodiment, and the specific implementation process thereof can refer to the description of the step S101, which is not repeated herein.
S502: if the reason of the task interruption is caused by artificial movement, judging whether the moved position is the position of a certain charging seat, and if the moved position is the position of a certain charging seat, returning to the position when the task is interrupted after the self-charging is finished and continuing to execute the task according to the track.
In one embodiment, the inertial measurement unit on the fuselage may detect the motion parameter of the fuselage, and determine whether the cause of the task interruption is caused by manual handling according to the change condition of the motion parameter of the fuselage before and after the task interruption. The Inertial Measurement unit is also called IMU (Inertial Measurement Unit), is called Inertial Measurement Units (interferometric Units), usually comprises various sensors such as an electronic gyroscope, an accelerometer, a magnetic compass and the like, and is mainly used for acquiring the attitude angle of a carrier; the motion parameters include, but are not limited to, own motion velocity, acceleration, and yaw angle.
In one embodiment, if the motion parameter of the user is changed violently before and after the task interruption, the reason of the task interruption is determined to be caused by manual movement.
In one embodiment, it can be determined whether the moved position is the position of a certain charging seat by means of an electronic map, or it can be determined whether the moved position is the position of a certain charging seat by a sensor of the mobile device, such as a vision sensor or a recharging sensor.
In an embodiment, the method for detecting whether the robot is charged is the same as the method for detecting whether the self-power is sufficient in the second embodiment, and reference may be specifically made to the related description in step a3 in the second embodiment, which is not repeated herein.
In an embodiment, referring to the description in step S202 in the second embodiment, returning to the position where the task is interrupted, and continuing to execute the task according to the track.
Taking a specific application scenario as an example for explanation and explanation, as shown in fig. 1-b, in the process of performing a cleaning task in the area 3 by the robot, when it is detected that the robot interrupts the cleaning task and changes from the position a to the position C, the reason for the interruption of the cleaning task is determined, and if the motion parameter changes dramatically before and after the process of changing from the position a to the position C, the reason for the interruption of the cleaning task is that the robot moves to the vicinity of the charging stand, and at this time, after the completion of self-charging, the robot returns to the position a from the position C, and continues to perform an unfinished cleaning task in the area 3.
As can be seen from the above, in the fifth embodiment of the present application, compared with the first embodiment, when the reason for the task interruption is caused by manual movement and the position after the movement is the position of a certain charging seat, after the self-charging is completed, the robot returns to the position when the task is interrupted, and continues to execute the task according to the track, which is beneficial to the targeted task interruption processing of the robot, and has strong usability and practicability.
EXAMPLE six
Fig. 6 is a schematic flowchart of a method for robot work according to a sixth embodiment of the present application, which is a refinement and description of step S102 in the first embodiment, and the method may include the following steps:
s601: and in the process of executing the task by the robot, when the task is detected to be interrupted and deviates from a preset track, determining the reason of the task interruption.
The step S601 is the same as the step S101 in the first embodiment, and the specific implementation process thereof can refer to the description of the step S101, which is not repeated herein.
S602: if the reason of the task interruption is caused by manual movement, whether the moved position is the position of a certain charging seat is judged, and if the moved position is not the position of the certain charging seat, the in-situ waiting operation is executed.
In one embodiment, the method may further comprise:
and if the next work instruction is received in the process of executing the in-place waiting operation, executing the received next work instruction by taking the current position as a starting point.
In one embodiment, the next work order is for instructing the robot to start a next work task different from the task.
Taking a specific application scenario as an example for explanation and explanation, as shown in fig. 1-B, in the process of executing a cleaning task in an area 3 by a robot, when it is detected that the robot interrupts the cleaning task and changes from a position a to a position B, the reason for the interruption of the cleaning task is determined, and if the motion parameter changes dramatically before and after the process of changing from the position a to the position B, the reason for the interruption of the cleaning task is that the robot is moved to a position near a certain position other than a charging stand, and at this time, the robot only needs to execute an in-place waiting operation at the position B. It should be understood that, at this time, it can be considered that the robot has to move from the position a in the trapped area to the position B in the safe area with the help of the user due to the failure to escape from the trap.
As can be seen from the above, in the sixth embodiment of the present application, compared with the first embodiment, when the reason of the task interruption is caused by manual movement and the position after the movement is not the position of a certain charging seat, it is not necessary to return to the position when the task is interrupted to continue executing the original task according to the original track, and the in-place waiting operation is directly executed, which is beneficial to the robot to perform the processing of the task interruption in a targeted manner, and has strong usability and practicability.
EXAMPLE seven
Fig. 7 is a schematic structural diagram of a robot according to a seventh embodiment of the present application. As shown in fig. 7, the robot 7 of this embodiment includes: a processor 70, a memory 71 and a computer program 72 stored in said memory 71 and executable on said processor 70. The processor 70, when executing the computer program 72, implements the steps of the first embodiment of the method described above, such as the steps S101 to S102 shown in fig. 1-a. Alternatively, the steps in the second embodiment of the method described above, for example, steps S201 to S202 shown in fig. 2, are implemented. Alternatively, the steps in the third embodiment of the method described above, for example, steps S301 to S302 shown in fig. 3, are implemented. Alternatively, the steps in the fourth embodiment of the method described above, for example, steps S401 to S402 shown in fig. 4, are implemented. Alternatively, the steps in the fifth embodiment of the method described above, for example, steps S501 to S502 shown in fig. 5, are implemented. Alternatively, the steps in the sixth embodiment of the method, such as steps S601 to S602 shown in fig. 6, are implemented.
The robot 7 may be an indoor cleaning robot, such as a sweeping robot, a mopping robot or a sweeping and mopping all-in-one machine. The robot may include, but is not limited to, a processor 70, a memory 71. Those skilled in the art will appreciate that fig. 7 is merely an example of a robot 7 and does not constitute a limitation of robot 7 and may include more or fewer components than shown, or some components in combination, or different components, e.g., the robot may also include input output devices, network access devices, buses, etc.
The Processor 70 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 71 may be an internal storage unit of the robot 7, such as a hard disk or a memory of the robot 7. The memory 71 may also be an external storage device of the robot 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the robot 7. Further, the memory 71 may also include both an internal storage unit and an external storage device of the robot 7. The memory 71 is used for storing the computer program and other programs and data required by the robot. The memory 71 may also be used to temporarily store data that has been output or is to be output.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art would appreciate that the modules, elements, and/or method steps of the various embodiments described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (9)
1. A method of robotic work, comprising:
in the process that the robot executes a task, when the task is detected to be interrupted and deviates from a preset track, determining the reason of the task interruption;
judging whether to return to the position when the task is interrupted to continue to execute the task according to the track according to the reason of the task interruption;
the step of judging whether to return to the position when the task is interrupted to continue executing the task according to the track according to the reason of the task interruption further comprises the following steps:
and if the reason for the task interruption is that a next cleaning instruction is received, executing the received next cleaning instruction by taking the current position as a starting point.
2. The method of claim 1, wherein determining whether to return to the position at which the task was interrupted to continue executing the task along the trajectory according to the reason for the task interruption comprises:
and if the reason of the task interruption is that the self electric quantity is insufficient, returning to the position of the task interruption to continue executing the task according to the track when the self electric quantity is sufficient.
3. The method of claim 1, wherein determining whether to return to the position at which the task was interrupted to continue executing the task along the trajectory further comprises:
and if the reason of the task interruption is that a recharging instruction is received, after the recharging instruction is executed, returning to the position where the task is interrupted to continue executing the task according to the track.
4. The method of claim 2, further comprising, after executing a next cleaning instruction received from a current location if the task is interrupted because the next cleaning instruction is received, the method further comprising:
and returning to the charging seat for charging and waiting for receiving the next working instruction.
5. The method of claim 1, wherein determining whether to return to the position at which the task was interrupted to continue executing the task along the trajectory further comprises:
if the reason of the task interruption is caused by manual movement, judging whether the moved position is the position of a certain charging seat;
and if the moved position is the position of a certain charging seat, returning to the position when the task is interrupted after the self-charging is finished, and continuously executing the task according to the track.
6. The method of claim 5, further comprising:
if the moved position is not the position of a certain charging seat, executing the in-place waiting operation.
7. The method of claim 6, further comprising:
and if the next work instruction is received in the process of executing the in-place waiting operation, executing the received next work instruction by taking the current position as a starting point.
8. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1 to 7 are implemented when the computer program is executed by the processor.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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| CN106527423B (en) * | 2015-09-15 | 2020-01-21 | 小米科技有限责任公司 | Cleaning robot and control method thereof |
| CN109953700B (en) * | 2017-12-26 | 2020-09-25 | 杭州萤石软件有限公司 | Cleaning method and cleaning robot |
| CN109683605B (en) * | 2018-09-25 | 2020-11-24 | 上海肇观电子科技有限公司 | Robot and automatic recharging method and system thereof, electronic equipment and storage medium |
| KR102615032B1 (en) * | 2018-10-15 | 2023-12-20 | 삼성전자주식회사 | User device, cleaning robot including the same, and controlling method thereof |
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Address after: 518000 room 1601, building 2, Vanke Cloud City phase 6, Tongfa South Road, Xili community, Xili street, Nanshan District, Shenzhen City, Guangdong Province (16th floor, block a, building 6, Shenzhen International Innovation Valley) Patentee after: Shenzhen Ledong robot Co.,Ltd. Address before: 518000 16 / F, building B1, Nanshan wisdom Park, 1001 Xili Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN LD ROBOT Co.,Ltd. |