CN112987716A

CN112987716A - Operation control method, device and system and robot

Info

Publication number: CN112987716A
Application number: CN201911302839.XA
Authority: CN
Inventors: 张益彬
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2019-12-17
Filing date: 2019-12-17
Publication date: 2021-06-18

Abstract

The embodiment of the application provides a work control method, a device, a system and a robot. The method comprises the following steps: obtaining vibration information in the moving process of the mobile robot; marking the vibration position of the self-moving robot in an environment map according to the vibration information; planning a working path in the environment map based on the vibration position. By collecting the position information of which the vibration amplitude exceeds the threshold value in the moving process of the self-moving robot, the operation path needing to be subjected to targeted cleaning again is obtained, and the cleaning effect of the self-moving robot can be improved.

Description

Operation control method, device and system and robot

Technical Field

The application relates to the technical field of artificial intelligence, in particular to a method, a device and a system for controlling operation and a robot.

Background

With the continuous development of artificial intelligence technology, various intelligent robots increasingly enter the lives of people, such as logistics robots, floor sweeping robots, welcoming robots and the like.

The intelligent robot can jolt, shake when the unevenness on ground, intelligent robot can influence intelligent robot normal operation owing to jolt when the intelligent robot removes, intelligent robot when passing through ground concave-convex department.

Disclosure of Invention

Aspects of the present application provide a method, an apparatus, a system and a robot for controlling a job, so as to implement that a self-moving robot can more flexibly execute a cleaning task according to a user's requirement.

The embodiment of the application provides a work control method, which is applied to a self-moving robot and comprises the following steps:

constructing an environment map of the working environment of the self-moving robot;

obtaining vibration information in the moving process of the mobile robot;

marking the vibration position of the self-moving robot in the environment map according to the vibration information;

and controlling the self-moving robot to work on the vibration position.

The embodiment of the application provides an operation control method, which is applied to a server side and comprises the following steps:

receiving vibration information sent by the mobile robot when the body vibration is detected;

marking a vibration position according to the vibration information and the environment map;

determining a working path in the environment map according to the vibration position;

and sending the operation path to the self-moving robot so that the self-moving robot completes operation according to the operation path.

The embodiment of the application provides a job control device, is applied to from mobile robot, the device includes:

the construction module is used for constructing an environment map of the working environment of the self-moving robot;

the acquisition module is used for acquiring vibration information in the moving process of the mobile robot;

the marking module is used for marking the vibration position of the self-moving robot in an environment map according to the vibration information;

and the control module is used for planning a working path in the environment map based on the vibration position.

The embodiment of the application provides an operation control device, is applied to the server side, the device includes:

the receiving module is used for receiving vibration information sent by the robot when the robot detects the body vibration;

the marking module is used for marking a vibration position according to the vibration information and the environment map;

the determining module is used for determining a working path in the environment map according to the vibration position;

and the sending module is used for sending the operation path to the robot so that the robot can complete the operation according to the operation path.

The embodiment of the application provides a from mobile robot, includes: a machine body;

the sensor is arranged on the machine body and used for detecting the vibration of the machine body;

the processor is connected with the sensor and used for marking the position according to the vibration information sensed by the sensor; and determining the working path of the body according to the position.

An embodiment of the present application provides an operation control system, including:

the control equipment is used for constructing an environment map of the working environment of the self-moving robot; receiving vibration information sent by the mobile robot when the body vibration is detected; marking a vibration position according to the vibration information and the environment map; determining a working path in the environment map according to the vibration position; sending the operation path to the self-moving robot so that the self-moving robot can complete operation according to the operation path;

the self-moving robot is used for acquiring vibration information in the moving process of the self-moving robot; marking the vibration position of the self-moving robot in an environment map according to the vibration information; and controlling the self-moving robot to work on the vibration position.

In some embodiments of the present application, the self-moving robot generates a large amplitude vibration when encountering some short obstacles that need to be surged during the moving process. The vibration amplitude of the self-moving robot in the moving process is collected in real time through a sensor, and if a certain collected vibration amplitude exceeds a threshold value, the position information of the self-moving robot is marked in an environment map. A work path requiring a cleaning work from the mobile robot is planned in the environment map based on the position information of the mark. By collecting the position information of which the vibration amplitude exceeds the threshold value in the moving process of the self-moving robot, the operation path needing to be subjected to targeted cleaning again is obtained, and the cleaning effect of the self-moving robot can be improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic flowchart of an operation control method according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a vibration region provided in an embodiment of the present application;

fig. 3 is a flowchart illustrating a method for planning a job path according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a job path provided by an embodiment of the present application;

FIG. 5 is a schematic view of a work area provided in an embodiment of the present application;

FIG. 6 is a flow chart illustrating another exemplary method for controlling operations according to an embodiment of the present disclosure;

fig. 7 is a view illustrating an operation control apparatus according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of another operation control device according to an embodiment of the present application;

fig. 9 is a block diagram of a self-moving robot according to an exemplary embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of an operation control system according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of this 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, and "a" and "an" typically include at least two, but do not exclude the presence of at least one.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.

The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

In the present application, the self-moving robot may not only travel autonomously and perform corresponding cleaning functions, but also have functions of calculation, communication, internet access, and the like, and in order to implement these functions, the self-moving robot may also be configured with corresponding hardware such as a sensor, a communication module, and a calculation module. The self-moving robot provided by the embodiment of the application can be applied to scenes such as families, office buildings, markets and the like, and the basic service function of the self-moving robot is to clean the ground in the scene.

From mobile robot in normal operation in-process, may lead to the operation effect unsatisfactory because of operational environment problem, often need artifical manual effect problem to leaving over from mobile robot to remedy, increase user work load. Taking a household sweeping robot as an example, the areas to be cleaned generally include: living rooms, bedrooms, kitchens, toilets, study rooms, etc. The doorway of some rooms may be provided with a low obstacle such as a sliding rail of a sliding door, and the ground between two adjacent rooms may have a height difference. When the sweeping robot passes over a short obstacle or shuttles between rooms with a height difference, the sweeping robot can vibrate violently, dirt on a dust suction port, a rolling brush and other parts below the robot body can be shaken off, and the shaken dirt needs to be cleaned manually by a user. Therefore, the application provides an operation scheme of the self-moving robot.

The embodiment of the application provides an operation control method. Fig. 1 is a schematic flowchart of a job control method provided in an embodiment of the present application, for meeting the requirements of a job.

101: and constructing an environment map of the working environment of the self-moving robot.

102: and obtaining vibration information in the moving process of the mobile robot.

103: and marking the vibration position of the self-moving robot in an environment map according to the vibration information.

104: and controlling the self-moving robot to work on the vibration position.

If obvious vibration is generated in the moving process of the self-moving robot, the operation effect of the self-moving robot is adversely affected. For example, the automatic cargo handling robot may cause the cargo to fall and tilt due to vibration; the sweeping robot may cause dirty cleaning to be incomplete due to vibration or the dirty to be cleaned to fall off.

There are many reasons for causing the self-moving robot to vibrate, wherein it is inevitable that the self-moving robot vibrates due to environmental factors, and the vibration is also a main reason for causing the self-moving robot to vibrate significantly in a large amplitude.

For example, a self-moving robot is taken as a sweeping robot for explanation. The sweeping robot performs sweeping operation while moving continuously. The floor sweeping robot cleans the ground through the rolling brush, the fan generates suction, and impurities such as dirt, dust, debris and the like on the ground are sucked through the dust suction opening. The robot of sweeping the floor is at the removal in-process, if the robot of sweeping the floor need cross the slide rail of push-and-pull door or little step, if debris are not inhaled in the dirt box completely, perhaps, in the dust absorption in-process, the robot of sweeping the floor takes place obvious vibration, all will lead to the robot of sweeping the floor can't accomplish the dust absorption operation, perhaps takes place to drop by inspiratory debris, leads to the dust absorption effect not good. If the position of the dirt falling is marked in the environment map, after the sweeping robot completes the current cleaning task, the marked vibration position is subjected to supplementary sweeping, so that the sweeping effect can be improved, and the sweeping burden of a user is reduced.

In practical application, a laser sensor and other sensors for detecting the environment are installed on the self-moving robot, an environment map is built for the current working environment, and the positions of various objects including the positions of obstacles are marked in the map. Or the self-moving robot sends the data collected by the sensor to the server side, and the server side constructs the environment map.

A sensor for detecting vibration, such as a gyroscope, may be mounted on the self-moving robot. And combining a current environment map prestored from the mobile robot, when the sensor detects vibration, marking the corresponding position in the environment map as a vibration position, and controlling the mobile robot to work aiming at the vibration position.

In addition, a sensor for detecting a short obstacle is attached to the self-moving robot, for example, a laser sensor, an ultrasonic sensor, or the like is attached to the front end or the bottom end of the robot, and it is possible to detect environmental information such as unevenness of the floor surface and a short obstacle on the floor surface, and mark a vibration position on an environmental map by combining vibration information detected by a gyroscope or the like. The vibration position can be marked in the environment map more accurately, and the self-moving robot can be controlled more accurately to operate according to the vibration position.

In one embodiment, after marking the vibration position, the self-moving robot determines that the vibration meets a condition of the work (for example, the vibration amplitude exceeds a threshold), and may control the self-moving robot to immediately perform the work. Another method is to wait for the mobile robot to complete the normal operation currently being performed before performing the operation on the vibration position. As an alternative, the operation opportunity of the self-moving robot operating on the vibration position may be selectively set by the user, for example, by a mobile phone APP for controlling the self-moving robot.

The vibration information referred to herein may include: vibration amplitude, vibration time and the like. It will be readily appreciated that normal walking of the robot, or normal walking on a textured floor, may result in relatively small amplitude vibrations from the mobile robot that may be picked up by the sensor, but that do not adversely affect the performance of the mobile robot. Therefore, after the sensor collects the vibration information, it is necessary to further identify the vibration amplitude in the vibration information, and in the case that the vibration amplitude of the self-moving robot at a certain position exceeds a threshold value, the vibration position is marked in the environment map. So that a more accurate operation path can be planned, more targeted cleaning is realized, and a better cleaning effect is obtained.

For example, a self-moving robot is taken as a sweeping robot. In a home environment, the kitchen door is a sliding door, and the floor at the kitchen doorway is provided with a sliding rail of the sliding door. The floor sweeping robot enters a kitchen to clean the floor of the kitchen, the sliding rail is slightly higher than the floor, but the floor sweeping robot can climb over the sliding rail, and in the climbing process, the floor sweeping robot can obviously vibrate and is detected by sensors such as a gyroscope. Whether the detected vibration amplitude exceeds a threshold value or not is judged through a controller or a processor, if the detected vibration amplitude exceeds the threshold value, the vibration is indicated to influence the cleaning operation of the sweeping robot, sundries in or near a dust suction opening of the sweeping robot can be dropped, or the sweeping robot cannot successfully suck the sundries near a slide rail into a dust box. Therefore, after cleaning, foreign matter remains in the vicinity of the slide rail, and it is necessary to perform work to clean the position where the vibration occurs again.

In practical application, vibration of the sweeping robot often occurs at a plurality of positions, for example, in a current home environment, a sliding rail of a sliding door is arranged on the floor of a kitchen doorway, the floor of a bathroom is lower than the floor of a living room, a small step exists, some floor mats are arranged in the living room, and the like. When the sweeping robot moves during sweeping operation, the sweeping robot vibrates when the sweeping robot moves over the short obstacles. The vibration is concentrated in some locations and dispersed in some locations. For example, the sweeping robot sweeps along a predefined sweeping trajectory, which requires multiple sweeps between the carpet and the floor. Because a fall exists between the carpet and the floor, the sweeping robot can generate large-amplitude vibration due to the fact that the sweeping robot crosses the fall in the sweeping process of the sweeping robot. A plurality of vibration positions are marked near the position corresponding to the carpet on the environment map and are relatively concentrated, and a corresponding vibration area can be determined based on the plurality of vibration positions through a clustering algorithm. Fig. 2 is a schematic diagram of a vibration region according to an embodiment of the present application. As can be seen in fig. 2, a plurality of vibration regions are obtained by clustering processing according to the vibration position. The clustering algorithm may be a K-means algorithm, a mean shift clustering algorithm, an Expectation Maximization (EM) clustering algorithm of a Gaussian Mixture Model (GMM), a hierarchical clustering algorithm, a composite clustering algorithm, or the like. In practical application, a user can select a proper clustering algorithm according to actual requirements.

Fig. 3 is a flowchart illustrating a method for planning a job path according to an embodiment of the present disclosure. The method comprises the following steps: 301: a boundary line of the vibration region is determined. 302: and planning a working path along a position away from the boundary line by the size according to the size of the self-moving robot.

Through the steps, the vibration area is obtained after the clustering processing is carried out on the plurality of vibration positions. The vibration area is planned into an environment map. Fig. 4 is a schematic diagram of a working path according to an embodiment of the present application. It is easy to understand that the vibration region obtained through the clustering process may be a regular pattern or an irregular pattern, and the working path is planned at a position adjacent to the vibration region, where the adjacent position may be as close as possible to the vibration region under the condition that the self-moving robot is ensured not to contact with the obstacle. The following is a detailed description of how to plan adjacent work paths according to the vibration region. After the vibration regions are obtained, the boundary line of each vibration region may be further determined. The sweeping robot generates a corresponding working path along the boundary of the vibration area, and in order to improve the cleaning effect, the working path is close to the boundary line of the vibration area as much as possible. When the working path is as close as possible to the boundary line, it should be noted that the sweeping robot has a certain size, and in order to avoid the sweeping robot colliding with the obstacle in the vibration region again, the influence of the size of the sweeping robot needs to be fully considered when the working path is planned for the sweeping robot. That is, the working path may be planned along a position distant from the boundary line robot size in a manner as shown in fig. 4. Therefore, the purpose of operation can be realized, and the influence of new sundries falling due to collision on the cleaning effect can be avoided.

In practical application, there may be a certain distance between the position where the sundries drop and the vibration position, for example, paper dust is attached to the dust suction port of the sweeping robot, when the sweeping robot crosses an obstacle, vibration with a larger amplitude is generated, and when the sweeping robot crosses the obstacle, the paper dust drops from the dust suction port after walking a distance in parallel. Therefore, in order to obtain a better working effect, a corresponding working area may be planned based on the supplementary path, as shown in fig. 5, which is a schematic diagram of the working area provided in the embodiment of the present application. The working area may be a working area adjacent to the vibration area or an area surrounding the vibration area. For example, after the adjacent working areas are generated as shown in fig. 5, the sweeping robot may perform a cleaning operation in the working areas according to a preset working path, and may perform a supplementary cleaning operation in a reciprocating manner in the working areas as indicated by arrows in fig. 5. In order to obtain better working effect, the preset working path is generally parallel to the long edge of the boundary line, so that the cleaning effect can be ensured, and meanwhile, the sweeping robot cannot enter a vibration area.

In an optional embodiment, the job control method may also be applied to a server, where the server may be a remote server, a computer, or a mobile phone of a user. Fig. 6 is a schematic flowchart of another job control method according to an embodiment of the present application. The method mainly comprises the following steps:

601: and constructing an environment map of the working environment of the self-moving robot.

602: and receiving vibration information sent by the mobile robot when the body vibration is detected.

603: and marking the vibration position according to the vibration information and the environment map.

604: and determining a working path in the environment map according to the vibration position.

605: and sending the work path to the self-moving robot so that the self-moving robot completes work according to the work path.

In practical applications, a first communication unit for transmitting and receiving information needs to be installed on the self-moving robot body, and a second communication unit corresponding to the first communication unit for transmitting and receiving information needs to be installed on the corresponding service end. The self-moving robot can be provided with a sensor used for collecting environmental information, such as a laser sensor, and the like, and sends the data information collected by the sensor to the server side, and the server side constructs an environmental map. After the self-moving robot detects the vibration information of the body through a sensor such as a gyroscope, the vibration information is sent to the second communication unit through the first communication unit, and the server receives the vibration information through the second communication unit.

And after receiving the vibration information at the server, marking the vibration position in the environment map according to the position of the current self-moving robot. If the self-moving robot is assumed to be a sweeping robot, if the sweeping robot vibrates, new sundries may fall off from the sweeping robot, and the sweeping robot needs to perform operation. Therefore, after the vibration position is determined, the service end plans out the working path of the self-moving robot in the environment map. And the server sends the work path to the first communication unit through the second communication unit, acquires the work path from the mobile robot through the first communication unit, and then performs work according to the work path.

The vibration information referred to herein may include: vibration amplitude, vibration time and the like. It is easily understood that there is a slight vibration of the robot itself due to the vibration of the motor in the case where the self-moving robot is normally walking. Or the self-moving robot normally walks on the textured floor, the self-moving robot can generate vibration with smaller amplitude, and the vibration can be collected by the sensor, but the working effect of the self-moving robot is not adversely affected. Therefore, after the sensor collects the vibration information, the server is required to further identify the vibration amplitude in the vibration information, and when the vibration amplitude of the self-moving robot at a certain position exceeds a threshold value, the vibration position is marked in an environment map, which indicates that the vibration position may cause sundries to fall off, and the operation is required.

In this embodiment, the self-moving robot only collects vibration information and executes corresponding work, and the relevant data processing work is handed over to the server, and the server generally has high data processing capacity and can plan a work path quickly and efficiently. Correspondingly, the self-moving robot does not need to perform complex data processing, the configuration of the processors or the number of the processors can be reduced, and therefore the power consumption of the self-moving robot is reduced, and the cruising ability is improved. It should be noted that, since the data processing function is transferred to the server, a reliable data transmission mode between the self-moving robot and the server is also required, for example, the first communication unit and the second communication unit may be communication units supporting a 5G communication mode, so that real-time data transmission can be realized.

In addition, this application technical scheme can also be applied to in unmanned aerial vehicle or unmanned vehicles etc. from mobile robot. Unmanned aerial vehicles are widely used in all industries, and can be used for aerial photography, pesticide spraying and the like. However, when taking photo by plane, receive the air current easily and change the influence, lead to unmanned aerial vehicle to take place the vibration. The image that unmanned aerial vehicle shot can produce obvious angular deviation in the twinkling of an eye in the vibration, leads to this image not to contain target information, or image information is incomplete, can't be used for later stage image concatenation.

If adopt this application technical scheme, can be used for detecting sensors such as vibrating gyroscope through the installation on the unmanned aerial vehicle. When the vibration of the unmanned aerial vehicle is detected to exceed a preset threshold value in the shooting process, the unmanned aerial vehicle records the current vibration position in a map and works on the vibration position. In practical application, there may be multiple working occasions when the unmanned aerial vehicle performs work on the vibration position, one is that after the unmanned aerial vehicle marks the vibration position, it is determined that the vibration meets a working condition (for example, the vibration amplitude exceeds a threshold), and the unmanned aerial vehicle can be controlled to perform work immediately (for example, perform image rephotography immediately). Another method is to wait for the unmanned aerial vehicle to complete the normal operation currently being executed, and then perform the operation on the vibration position (for example, after completing the current shooting task, return to the vibration position to perform the image rephotography). As an alternative, the operation opportunity of the unmanned aerial vehicle for operating the vibration position can be selectively set by the user, for example, set through a mobile phone APP for controlling the unmanned aerial vehicle. Like this, need not the staff and carry out artifical screening control unmanned aerial vehicle to the image that obtains and mend the bat once more, but unmanned aerial vehicle can mend the bat according to the vibration position automation of mark, alleviates personnel's work load, promotes and shoots efficiency and effect. Here, only a simple description is given to an application scenario of the unmanned aerial vehicle, and reference may be made to the foregoing embodiments for specific technical solutions for acquiring vibration information, marking a vibration position, and controlling to perform operations.

Fig. 7 is a schematic diagram illustrating a work control apparatus according to an embodiment of the present application, which is applied to a self-moving robot.

The device includes:

and the building module 71 is used for building an environment map of the working environment of the self-moving robot.

And the obtaining module 72 is used for obtaining vibration information in the moving process of the mobile robot.

And a marking module 73, configured to mark the vibration position of the self-moving robot in an environment map according to the vibration information.

And a control module 74 for controlling the self-moving robot to work on the vibration position.

Optionally, the marking module 73 is configured to mark a vibration position of the self-moving robot in the environment map if a vibration amplitude in the vibration information exceeds a threshold value.

Optionally, the control module 74 is configured to plan a work path in the environment map based on the vibration position; and controlling the self-moving robot to work on the vibration position according to the work path.

Optionally, the control module 74 is configured to determine a corresponding vibration region based on at least one of the vibration positions; planning the working path adjacent to the vibration region.

Optionally, the control module 74 is configured to obtain information of an obstacle causing vibration in a working environment; determining the corresponding vibration region based on at least one of the vibration position and the obstacle information.

Optionally, the control module 74 is configured to determine a boundary line of the vibration region; and planning a working path along a position away from the boundary line by the size according to the size of the self-moving robot.

Optionally, the control module 74 is configured to determine a working area adjacent to the boundary line according to the working path.

Fig. 8 is a schematic structural diagram of another operation control device according to an embodiment of the present application. The device can be applied to a server side, and comprises:

and the building module 81 is used for building an environment map of the working environment of the self-moving robot.

And the receiving module 82 is used for receiving vibration information sent by the robot when the robot detects the body vibration.

And the marking module 83 is configured to mark a vibration position according to the vibration information and the environment map.

A determining module 84, configured to determine a work path in the environment map according to the vibration position.

And the sending module 85 is used for sending the work path to the robot so that the robot can complete the work according to the work path.

Fig. 9 is a block diagram of a self-moving robot according to an exemplary embodiment of the present disclosure. As shown in fig. 9, the sweeping robot includes: a machine body 901; machine body 901 is provided with one or more processors 903 and one or more memories 904 that store computer instructions. In addition, the mechanical body 901 is further provided with a sensor 902, and the sensor 902 may be a gyroscope 902 or the like, and is used for detecting the vibration of the self-moving robot continuing the body and acquiring the vibration information in the moving process during the robot working process.

In addition to one or more processors 903 and one or more memories 904, the machine body 901 is also provided with some basic components of the sweeping robot, such as an audio component, a power supply component, an odometer, a driving component, and the like. An audio component, which may be configured to output and/or input an audio signal. For example, the audio component includes a Microphone (MIC) configured to receive an external audio signal when the device in which the audio component is located is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal may further be stored in a memory or transmitted via a communication component. In some embodiments, the audio assembly further comprises a speaker for outputting audio signals. Alternatively, the drive assembly may include drive wheels, drive motors, universal wheels, and the like. Alternatively, the cleaning assembly may include a cleaning motor, a cleaning brush, a dusting brush, a dust suction fan, and the like. The basic components and the structures of the basic components included in different sweeping robots are different, and the embodiments of the present application are only some examples.

It is noted that the audio component, the sensor 902, the one or more processors 903, and the one or more memories 904 may be disposed inside the machine body 901, or disposed on the surface of the machine body 901.

The machine body 901 is an execution mechanism by which the robot performs a task, and can execute an operation designated by the processor 903 in a certain environment. Wherein, the appearance form of robot of sweeping the floor has been reflected to a certain extent to the mechanical body. In the present embodiment, the appearance of the sweeping robot is not limited, and may be, for example, a circle, an ellipse, a triangle, a convex polygon, or the like.

The one or more memories 904 are used primarily to store computer programs that are executable by the one or more processors 903 such that the one or more processors 903 may perform travel control operations on the sweeping robot. In addition to storing computer programs, the one or more memories 904 may also be configured to store other various data to support operations on the sweeping robot.

Processor 903, e.g., one or more memories 904 storing a computer program, the one or more processors 903 may execute the computer program and may be operable to:

optionally, one or more processors 903 connected to the sensor 902 for marking the position according to the vibration information sensed by the sensor; and determining the working path of the body according to the position.

Optionally, the one or more processors 903 mark the vibration position of the self-moving robot in the environment map in case the vibration amplitude exceeds a threshold in the vibration information.

Optionally, one or more processors 903 to plan a work path in the environment map based on the vibration position; and controlling the self-moving robot to work on the vibration position according to the work path.

Optionally, the one or more processors 903 determine a corresponding vibration region based on at least one of the vibration positions;

planning the working path adjacent to the vibration region.

Optionally, one or more processors 903, obtaining information of obstacles causing vibration in the working environment;

determining the corresponding vibration region based on at least one of the vibration position and the obstacle information

Optionally, one or more processors 903 to determine the boundary line of the vibration region;

and planning a working path along a position away from the boundary line by the size according to the size of the self-moving robot.

Optionally, the one or more processors 903, taking the at least one piece of location information as a parameter of a clustering algorithm, and executing the clustering algorithm to obtain the vibration region.

Optionally, the one or more processors 903 determine a working area adjacent to the boundary line according to the working path.

Fig. 10 is a schematic structural diagram of an operation control system according to an embodiment of the present application, where the system includes:

a control device 1001 for receiving vibration information transmitted from the mobile robot when detecting body vibration; marking a vibration position according to the vibration information and an environment map; determining a working path in the environment map according to the vibration position; sending the work path to the self-moving robot so that the self-moving robot can complete work according to the work path;

the robot 1002 is used for acquiring vibration information in the moving process of the mobile robot; marking the vibration position of the self-moving robot in an environment map according to the vibration information; planning a working path in the environment map based on the vibration position.

In this work control system, one control device 1001 is capable of simultaneously controlling at least one self-moving robot to perform work, and the control device 1001 may be a remote server, a smart phone, a computer, a remote controller, or the like. In order to meet the requirement of data transmission between the control device 1001 and the self-moving robot 1002, it may be implemented based on a 5G technology. The control device 1001 is mainly used to perform a complicated data processing procedure such as planning a work path on the received vibration information and to transmit a data processing (work path) result to the self-moving robot 1002. The mobile robot 1002 starts execution of the corresponding job based on the received job path.

In practical application, after the control device finishes marking the vibration position in the environment map, the environment map marked with the vibration position can be further stored in the storage unit of the control device, and detection is avoided when the control device is used every time. Further, the job path may be directly saved.

For ease of understanding, the following is specifically exemplified. For example, a sweeping robot performs cleaning tasks in a given home environment. Due to the presence of carpets, floor mats, sliding door slides, etc. in the home, vibrations of a greater magnitude occur when the self-moving robot crosses these obstacles. When the control device 1001 compares the received vibration amplitudes, and finds that the vibration amplitude of the sweeping robot at a certain position exceeds a threshold value, marking the corresponding position in the environment map. And after the sweeping robot completes the cleaning task of the wheel, the control equipment obtains an operation path according to the vibration position plan.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A work control method applied to a self-moving robot, the method comprising:

obtaining vibration information in the moving process of the mobile robot;

and controlling the self-moving robot to work on the vibration position.

2. The method of claim 1, wherein said marking a vibration location of said self-moving robot in said environment map based on said vibration information comprises:

and marking the vibration position of the self-moving robot in the environment map when the vibration amplitude in the vibration information exceeds a threshold value.

3. The method of claim 1, wherein said controlling said self-moving robot to work on said vibration location comprises:

planning a working path in the environment map based on the vibration position;

and controlling the self-moving robot to work on the vibration position according to the work path.

4. The method of claim 3, wherein planning a work path in the environmental map based on the vibration location comprises:

determining a corresponding vibration region based on at least one of the vibration positions;

planning the working path adjacent to the vibration region.

5. The method of claim 4, wherein determining the corresponding vibration region based on the at least one vibration location comprises:

acquiring barrier information causing vibration in a working environment;

determining the corresponding vibration region based on at least one of the vibration position and the obstacle information.

6. The method of claim 4, wherein said planning the work path adjacent to the vibration region comprises:

determining a boundary line of the vibration area;

7. The method of claim 6, further comprising, after planning a work path in the environment map based on the location information:

and determining a working area adjacent to the boundary line according to the working path.

8. A job control method is applied to a server side, and comprises the following steps:

9. A work control apparatus applied to a self-moving robot, the apparatus comprising:

the marking module is used for marking the vibration position of the self-moving robot in the environment map according to the vibration information;

and the control module is used for controlling the self-moving robot to operate the vibration position.

10. The apparatus of claim 9, wherein the marking module is configured to mark a vibration location of the self-moving robot in the environment map if a vibration amplitude in the vibration information exceeds a threshold value.

11. The apparatus of claim 9, wherein the control module is configured to plan a work path in the environmental map based on the vibration location;

12. The apparatus of claim 11, wherein the control module is configured to determine a corresponding vibration region based on at least one of the vibration locations; planning the working path adjacent to the vibration region.

13. The device of claim 12, wherein the control module is configured to obtain information of an obstacle causing vibration in a working environment; determining the corresponding vibration region based on at least one of the vibration position and the obstacle information.

14. The apparatus of claim 12, wherein the control module is configured to determine a boundary line of the vibration region; and planning a working path along a position away from the boundary line by the size according to the size of the self-moving robot.

15. The apparatus of claim 14, wherein the control module is configured to determine a working area adjacent to the boundary line based on the working path.

16. An operation control device, applied to a server, the device comprising:

17. A self-moving robot, comprising:

a machine body;

18. A work control system, the system comprising: