CN114516061A

CN114516061A - Robot control method, robot system and robot

Info

Publication number: CN114516061A
Application number: CN202210181210.XA
Authority: CN
Inventors: 王晓佳
Original assignee: Hangzhou Ezviz Network Co Ltd
Current assignee: Hangzhou Ezviz Network Co Ltd
Priority date: 2022-02-25
Filing date: 2022-02-25
Publication date: 2022-05-20
Anticipated expiration: 2042-02-25
Also published as: CN114516061B

Abstract

The embodiment of the invention provides a robot control method, a robot system and a robot, and relates to the technical field of robots. The robot control method includes: when the target robot moves according to a preset route corresponding to a preset task, determining a first area meeting a preset sound condition and a second area not meeting the preset sound condition based on the collected sound information; when the first area is determined, the target robot continues to move according to the preset route; upon determining the second area, the target robot performing the predetermined task; and after the target robot moves according to the preset route, if a residual area which does not execute the preset task exists, executing the preset task aiming at the residual area. Compared with the prior art, the scheme provided by the embodiment of the invention can improve the working efficiency of the robot.

Description

Robot control method, robot system and robot

Technical Field

The invention relates to the technical field of robot control, in particular to a robot control method, a robot system and a robot.

Background

Currently, with the rapid development of artificial intelligence in the field of smart homes, the requirements of people on the quality of life are higher and higher. Because intelligent house, for example, robot, intelligent closestool, cleaning machines people of sweeping the floor can help people to alleviate the pressure of housework better, therefore, intelligent house receives people's liking more and more.

In the related art, the cleaning robot receives a voice command sent by a user and completes a cleaning task indicated by the voice command. However, when the cleaning robot performs a cleaning task, the cleaning robot can only clean each area one by one according to a specific route, and cannot analyze an actual environment condition. However, in the moving process of the sweeping robot, an area with frequent movement of people is often encountered, so that the moving of the sweeping robot is affected due to a plurality of dynamic obstacles in the area, and further, the working efficiency of the sweeping robot is reduced.

Therefore, how to improve the working efficiency of the sweeping robot becomes a technical problem which needs to be solved urgently at present.

Disclosure of Invention

The embodiment of the invention aims to provide a robot control method, a device and a robot, so as to improve the working efficiency of the robot. The specific technical scheme is as follows:

In a first aspect, an embodiment of the present invention provides a robot control method, where the method includes:

when the target robot moves according to a preset route corresponding to a preset task, determining a first area meeting a preset sound condition and a second area not meeting the preset sound condition based on the collected sound information;

when the first area is determined, the target robot continues to move according to the preset route;

upon determining the second area, the target robot performing the predetermined task on the second area;

and after the target robot moves according to the preset route, if a residual area which does not execute the preset task exists, executing the preset task aiming at the residual area.

Optionally, in a specific implementation manner, the preset sound condition includes: the sound energy determined based on the collected sound information is greater than an energy threshold, and the sound source determined based on the collected sound information is plural.

Optionally, in a specific implementation manner, the determining, based on the collected sound information, a first area that satisfies a preset sound condition and a second area that does not satisfy the preset sound condition includes:

If the sound energy determined based on the collected sound information is not larger than the energy threshold, determining a second area based on the first position of the target robot;

if the sound energy determined based on the collected sound information is larger than the energy threshold value, sound source detection is carried out;

determining a first azimuth of the first location if a plurality of sound sources are detected, and moving the target robot to a second location, determining a second azimuth of the second location; determining an intersection point of the first ray and the second ray, and determining a first area based on the intersection point; wherein the first ray is: a ray that starts at the first position and extends in a direction indicated by the first azimuth angle, the second ray being: a ray that starts at the second position and extends in a direction indicated by the second azimuth angle;

otherwise, a second region is determined based on the first location.

Optionally, in a specific implementation manner, the determining the first region based on the intersection point includes:

determining a region within a second distance from the intersection point as a first region; or,

Searching a first room corresponding to the position information of the intersection point from a preset corresponding relation between the position information and the room to serve as a first area;

the determining a second area based on the first location where the target robot is located comprises:

determining an area within a first distance from a first position where the target robot is located as a second area; or,

and searching a second room corresponding to the position information of the first position from the preset corresponding relation between the position information and the room to be used as a second area.

Optionally, in a specific implementation manner, if there is a remaining area where the predetermined task is not executed, the executing the predetermined task for the remaining area includes:

if the residual area which does not execute the preset task meets the preset sound condition, reducing the task execution parameters of the target robot, and executing the preset task on the residual area;

and if the residual area which does not execute the preset task does not meet the preset sound condition, executing the preset task on the residual area.

Optionally, in a specific implementation manner, the executing the predetermined task on the remaining area includes:

And sequentially executing the predetermined tasks for each sub-area in the residual area according to the sequence of the sound energy determined based on the collected sound information from small to large.

Optionally, in a specific implementation manner, before determining, based on the collected sound information, a first area satisfying a preset sound condition and a second area not satisfying the preset sound condition when the target robot moves according to a predetermined route corresponding to a predetermined task, the method further includes:

receiving a task instruction for instructing a target robot to execute a predetermined task, and determining a predetermined route indicated by the task instruction as a predetermined route corresponding to the predetermined task.

Optionally, in a specific implementation manner, the target robot is a cleaning target robot, and the predetermined task is a cleaning task.

In a second aspect, an embodiment of the present invention provides a robot control apparatus, including:

the area judgment module is used for determining a first area meeting a preset sound condition and a second area not meeting the preset sound condition based on the collected sound information when the target robot moves according to a preset route corresponding to a preset task;

The first control module is used for continuously moving the target robot according to the preset route when the first area is determined;

the second control module is used for executing the preset task on the second area by the target robot when the second area is determined;

and the third control module is used for executing the preset task aiming at the residual area if the residual area which does not execute the preset task exists after the target robot moves according to the preset route.

Optionally, in a specific implementation manner, the region determining module includes:

a second area determination submodule, configured to determine a second area based on the first position where the target robot is located if sound energy determined based on the acquired sound information is not greater than the energy threshold;

the sound source detection submodule is used for carrying out sound source detection if the sound energy determined based on the collected sound information is greater than the energy threshold; if a plurality of sound sources are detected, triggering an intersection point determining submodule; otherwise, determining a second area based on the first position;

The intersection point determining submodule is used for determining a first azimuth angle of the first position, moving the target robot to a second position and determining a second azimuth angle of the second position; determining an intersection of the first ray and the second ray; wherein the first ray is: a ray that starts at the first position and extends in a direction indicated by the first azimuth angle, the second ray being: a ray that starts at the second position and extends in a direction indicated by the second azimuth angle;

a first region determination submodule for determining a first region based on the intersection.

Optionally, in a specific implementation manner, the first region determining submodule is specifically configured to: determining a region within a second distance from the intersection point as a first region; or, searching a first room corresponding to the position information of the intersection point from a preset corresponding relation between the position information and the room, and taking the first room as a first area;

the second region determination submodule is specifically configured to: determining an area within a first distance from a first position where the target robot is located as a second area; or, a second room corresponding to the position information of the first position is searched from a preset corresponding relation between the position information and the room to serve as a second area.

Optionally, in a specific implementation manner, the third control module is specifically configured to:

if the remaining area which does not execute the preset task meets the preset sound condition, reducing task execution parameters of the target robot, and executing the preset task on the remaining area;

Optionally, in a specific implementation manner, the apparatus further includes:

and the route determining module is used for receiving a task instruction for instructing the target robot to execute a preset task and determining a preset route indicated by the task instruction as the preset route corresponding to the preset task before determining a first area meeting a preset sound condition and a second area not meeting the preset sound condition based on the collected sound information when the target robot moves according to the preset route corresponding to the preset task.

In a third aspect, an embodiment of the present invention provides a robot system, where the robot system includes:

the sound acquisition module is used for acquiring sound information in real time when the target robot moves according to a preset route corresponding to a preset task;

a processor for determining a first region satisfying a preset sound condition and a second region not satisfying the preset sound condition based on the collected sound information; when the first area is determined, the target robot continues to move according to the preset route; when the second area is determined, the target robot executes the predetermined task on the second area; and after the target robot moves according to the preset route, if a residual area which does not execute the preset task exists, executing the preset task aiming at the residual area.

Optionally, in a specific implementation manner, the processor is specifically configured to:

if the sound energy determined based on the collected sound information is larger than the energy threshold, sound source detection is carried out;

determining a first azimuth of the first location and moving the target robot to a second location if a plurality of sound sources are detected, determining a second azimuth of the second location; determining an intersection point of the first ray and the second ray; wherein the first ray is: a ray that starts at the first position and extends in a direction indicated by the first azimuth angle, the second ray being: a ray that starts at the second position and extends in a direction indicated by the second azimuth angle;

otherwise, a second region is determined based on the first location.

determining a region within a second distance from the intersection point as a first region; or, from the preset corresponding relation between the position information and the rooms, searching a first room corresponding to the position information of the intersection point as a first area.

determining an area within a first distance from a first position where the target robot is located as a second area; or, a second room corresponding to the position information of the first position is searched from a preset corresponding relation between the position information and the room to serve as a second area.

When the target robot moves according to a preset route corresponding to a preset task, receiving a task instruction for instructing the target robot to execute the preset task before determining a first area meeting a preset sound condition and a second area not meeting the preset sound condition based on the collected sound information, and determining the preset route indicated by the task instruction as the preset route corresponding to the preset task.

In a fourth aspect, an embodiment of the present invention provides a robot, including a processor, a communication interface, a memory, and a communication bus, where the processor and the communication interface complete communication between the processor and the memory through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of any of the robot control methods provided by the first aspect described above when executing the program stored in the memory.

In a fifth aspect, the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method steps of any of the robot control methods provided in the first aspect.

In a sixth aspect, embodiments of the present invention provide a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method steps of any of the robot control methods provided in the first aspect above.

The embodiment of the invention has the following beneficial effects:

as can be seen from the above, according to the solution provided by the embodiment of the present invention, when the target robot moves according to the predetermined route corresponding to the predetermined task, based on the sound information collected by the target robot, the first area satisfying the preset sound condition and the second area not satisfying the preset sound condition are determined. Thereby, when the first area is determined, the target robot can be caused to continue to move along the predetermined route; when the second area is determined, the target robot may be caused to execute the predetermined task, and after the target robot has moved along the predetermined route, it may be determined whether or not there is a remaining area in which the predetermined task is not executed, and if so, the predetermined task may be executed with respect to the remaining area.

Based on this, by applying the solution provided by the embodiment of the present invention, when the target robot moves according to the predetermined route corresponding to the predetermined task, the areas included in the predetermined route can be distinguished based on the sound information collected by the target robot, and the predetermined task is executed first for the second area that does not satisfy the preset sound condition, so that after the target robot moves according to the predetermined route, if there is a remaining area where the predetermined task is not executed, the predetermined task is executed for the remaining area, thereby improving the working efficiency of the robot.

In this way, when the cleaning robot moves according to the predetermined route corresponding to the predetermined cleaning task, if each area included in the route of the cleaning robot is in a situation where the human activity is frequent, the preset sound condition may be set to a condition matching the situation where the human activity is frequent, so that the predetermined cleaning task may be preferentially performed for an area where the human activity is not frequent, and then the predetermined cleaning task may be performed for an area where the human activity is frequent, thereby improving the working efficiency of the robot.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other embodiments can be obtained by referring to these drawings.

Fig. 1 is a schematic flowchart of a robot control method according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart of another robot control method according to an embodiment of the present invention;

fig. 3 is a schematic flowchart of a process for determining a noisy area using a multi-person sound source according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of the coordinates of the noisy region of FIG. 3;

FIG. 5 is a schematic flow chart of an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a robot control apparatus according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a robot system according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a robot according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived from the embodiments given herein by one of ordinary skill in the art, are within the scope of the invention.

In the related art, the cleaning robot receives a voice command sent by a user and completes a cleaning task indicated by the voice command. However, when the cleaning robot performs a cleaning task, the cleaning robot can only clean each area one by one according to a specific route, and cannot analyze an actual environment condition. However, in the moving process of the sweeping robot, an area with frequent movement of people is often encountered, so that the moving of the sweeping robot is affected due to a plurality of dynamic obstacles in the area, and further, the working efficiency of the sweeping robot is reduced. Therefore, how to improve the working efficiency of the sweeping robot becomes a technical problem which needs to be solved urgently at present.

In order to solve the above technical problem, an embodiment of the present invention provides a robot control method.

The method can be applied to various application scenes requiring the robot to execute a predetermined task, for example, a cleaning robot executes a cleaning task. It is reasonable that the method is applicable to a robot, and also applicable to other electronic devices that can communicate with the robot, for example, a management server of the robot.

The robot control method provided by the embodiment of the invention can comprise the following steps:

upon determining the second area, the target robot performing the predetermined task;

In this way, when the cleaning robot moves according to the predetermined route corresponding to the predetermined cleaning task, if each area included in the route of the cleaning robot is in a situation where the human activities are frequent, the preset sound condition may be set to a condition matching the situation where the human activities are frequent, so that the predetermined cleaning task may be preferentially performed with respect to the area where the human activities are infrequent, and then the predetermined cleaning task may be performed with respect to the area where the human activities are frequent, thereby improving the working efficiency of the robot.

A robot control method according to an embodiment of the present invention is specifically described below with reference to the accompanying drawings.

Fig. 1 is a schematic flowchart of a robot control method according to an embodiment of the present invention, and as shown in fig. 1, the method may include the following steps S101 to S104.

S101: when the target robot moves according to a preset route corresponding to a preset task, a first area meeting a preset sound condition and a second area not meeting the preset sound condition are determined based on the collected sound information.

The robot can receive a task instruction sent by a user, and further determine a route corresponding to the task execution, so that the robot can move according to the route, and complete the task indicated by the task instruction in the moving process.

Based on the above, when the target robot executes the predetermined task, the target robot can move according to the predetermined route corresponding to the predetermined task.

Alternatively, the predetermined route may be a route set in advance as the predetermined task.

Optionally, the predetermined route may be a route planned and determined by the target robot in real time according to a map and a received task instruction about the predetermined task. The map may be a map stored in advance in the target robot, may be a map acquired in real time based on the task command when the task command is received, or may be a map received simultaneously with the task command.

Optionally, in a specific implementation manner, as shown in fig. 2, the robot control method provided in the embodiment of the present invention may further include the following step S100:

s100: and receiving a task instruction for instructing the target robot to execute a preset task, and determining a preset route indicated by the task instruction as a preset route corresponding to the preset task.

In this embodiment, before the target robot starts working, a task instruction issued by a user for instructing the target robot to perform a predetermined task may be received, and then the target robot may determine a predetermined route indicated by the task instruction and use the predetermined route indicated by the task instruction as a predetermined route corresponding to the predetermined task.

When the predetermined route corresponding to the predetermined task is determined, the target robot can move according to the predetermined route, and during the moving process, the target robot can collect the sound information in the environment, for example, the sound information in the environment is collected by the microphone.

In this way, the target robot can divide the area through which the movement process passes into a first area satisfying the preset sound condition and a second area not satisfying the preset sound condition based on the collected sound information.

Wherein the priority of executing the predetermined task to the second area is higher than the priority of executing the predetermined task to the first area.

S102: upon determining the first area, the target robot continues to move along the predetermined path.

Since the predetermined task is executed in the first area at a lower priority than the predetermined task is executed in the second area, after the first area is determined, the robot may temporarily continue the movement along the predetermined route without executing the predetermined task in the first area.

S103: upon determining the second area, the target robot performs a predetermined task on the second area.

Since the predetermined task is performed on the second area with higher priority than the predetermined task is performed on the first area, the target robot may temporarily continue to move without following the predetermined route after the second area is determined, and perform the predetermined task on the second area first.

S104: and after the target robot moves according to the preset route, if the residual area without executing the preset task exists, executing the preset task aiming at the residual area.

Since there may be areas where the predetermined task is not performed due to being determined as the first area during the movement of the target robot according to the predetermined route, and since these areas where the predetermined task is not performed due to being determined as the first area may be changed from the first area to the second area during the subsequent movement of the target robot, the target robot may first determine whether there are remaining areas where the predetermined task is not performed after the target robot moves according to the predetermined route.

Wherein, if present, the target robot may determine that the predetermined task has not been completed, the target robot further performs the predetermined task with respect to the remaining area, and after completing the predetermined task with respect to the remaining area, the target robot may be determined to complete the predetermined task.

Accordingly, if not present, the target robot may directly determine to complete the predetermined task.

Optionally, in a specific implementation manner, in the step S104, if there is a remaining area where the predetermined task is not executed, the executing the predetermined task for the remaining area may include the following steps 41 to 42:

step 41: if the residual area which does not execute the preset task meets the preset sound condition, reducing the task execution parameters of the target robot, and executing the preset task on the residual area;

step 42: and if the residual area which does not execute the preset task does not meet the preset sound condition, executing the preset task on the residual area.

In this embodiment, after the target robot moves according to the predetermined route, if it is determined that there is a remaining area where the predetermined task is not performed, the target robot may further determine whether the remaining area satisfies a preset sound condition,

if yes, the remaining area is still the first area, so that the target robot can reduce the task execution parameters of the target robot and execute the predetermined task on the remaining area according to the reduced task execution parameters. For example, the motor sound of the target robot is reduced, the fan power of the target robot is reduced, and the like.

If not, it can be said that the remaining area is changed from the first area to the second area, and the target robot can maintain the current task execution parameter and execute the predetermined task on the remaining area according to the current task execution parameter.

Optionally, in a specific implementation manner, in the step S104, executing a predetermined task on the remaining area may include the following step 55:

step 55: and sequentially executing predetermined tasks for each sub-area in the residual area according to the sequence of the sound energy determined based on the collected sound information from small to large.

In this specific implementation, since the distance of sound propagation is limited, and the sound energy in the collected sound information is smaller as the distance is longer, the remaining area may be divided into sub-areas, and for each sub-area in the remaining area, the sound energy determined based on the collected sound information is sorted from small to large, and the target robot is controlled to execute the predetermined task in the order of the sound energy from small to large.

Accordingly, the above steps 41 and 42 may also include the above step 55 to perform the predetermined task on the remaining area.

As can be seen from the above, according to the solution provided by the embodiment of the present invention, when the target robot moves according to the predetermined route corresponding to the predetermined task, based on the sound information collected by the target robot, the first area satisfying the preset sound condition and the second area not satisfying the preset sound condition are determined. Thus, when the first area is determined, the target robot can be moved continuously along the predetermined route; when the second area is specified, the target robot may be caused to execute the predetermined task, and after the target robot has moved along the predetermined path, it may be determined whether or not there is a remaining area where the predetermined task is not executed, and if so, the predetermined task may be executed with respect to the remaining area.

Based on this, by applying the solution provided by the embodiment of the present invention, when the target robot moves according to the predetermined route corresponding to the predetermined task, each area included in the predetermined route may be distinguished based on the sound information collected by the target robot, and the predetermined task is executed on the second area that does not satisfy the preset sound condition, so that after the target robot moves according to the predetermined route, if there is a remaining area where the predetermined task is not executed, the predetermined task is executed on the remaining area, thereby improving the working efficiency of the robot.

In this particular implementation, the sound energy and the sound source may be determined based on the collected sound information, such that a region where the sound energy is greater than the energy threshold and the sound source is multiple is determined as a first region, and a region where the sound energy is not greater than the threshold and/or the sound source is one is determined as a second region.

Optionally, in a specific implementation manner, in the step S101, determining, based on the collected sound information, a first area satisfying a preset sound condition and a second area not satisfying the preset sound condition, may include the following steps 11 to 14:

Step 11: if the sound energy determined based on the collected sound information is not greater than the energy threshold, determining a second area based on the first position of the target robot;

step 12: if the sound energy determined based on the collected sound information is larger than an energy threshold value, sound source detection is carried out; if multiple sound sources are detected, step 13 is performed; otherwise, go to step 14

Step 13: determining a first azimuth angle of the first position, moving the target robot to a second position, and determining a second azimuth angle of the second position; determining an intersection point of the first ray and the second ray, and determining a first area based on the intersection point;

step 14: based on the first location, a second region is determined.

Wherein the first ray is: a ray that starts at the first position and extends in the direction indicated by the first azimuth, the second ray being: and a ray which starts from the second position and extends in the direction indicated by the second azimuth angle.

In this embodiment, the target robot may first determine whether the sound energy is greater than the energy threshold value by using the collected sound information.

If the sound energy is not greater than the energy threshold, the area where the first position where the target robot is located is defined as a second area, and therefore the second area can be determined based on the first position where the target robot is located.

If the sound energy is greater than the energy threshold, it can be said that the area where the second position where the target robot is located is possibly the second area, and thus the target robot can further perform sound source detection;

wherein, if a plurality of sound sources are detected, the area in which the first position where the target robot is located is specified as the first area. Thus, a first azimuth angle of the first position can be further determined, and a second azimuth angle of the second position can be determined by moving the target robot to the second position; further, a first ray extending in a direction indicated by the first azimuth from the first position and a ray extending in a direction indicated by the second azimuth from the second position may be determined, an intersection of the first ray and the second ray may be determined, and then the first region may be determined based on the intersection.

If a plurality of sound sources are not detected, the area in which the first position of the target robot is located can be specified as the second area, and thus, the second area can be determined based on the first position of the target robot

Optionally, the determination of the azimuth angle may be performed by using doa algorithm (Direction of arrival, Direction of arrival positioning technology).

Optionally, in a specific implementation manner, in the step 13, determining the first area based on the intersection point may include the following step 131:

step 131: and determining a region within a second distance from the intersection point as a first region.

In this embodiment, after the intersection of the first ray and the second ray is determined, a region within a second distance from the intersection may be determined as the first region.

For example, after the intersection of the first ray and the second ray is determined, the intersection is used as a center of a circle, and a circular area with a second distance as a radius is used as the first area.

For another example, after an intersection of the first ray and the second ray is determined, the intersection is defined as a center of a rectangle, and a rectangular region having a second distance as a side length is defined as the first region.

It should be noted that the circles and rectangles are merely illustrative and not limiting of the "region within the second distance from the intersection" in step 131. Any region satisfying the condition "a region having a distance from the intersection within the second distance" falls within the scope of the embodiment of the present invention.

Fig. 3 is a schematic flowchart of a process for determining a noisy area by using a multi-person sound source according to an embodiment of the present invention.

As shown in fig. 3, the multi-person sound source detection in fig. 3 is the sound source detection in the embodiment of the present invention; the presence of multiple sound sources in fig. 3 is the detection of multiple sound sources in the embodiment of the present invention; the global coordinate p1 in fig. 3 is the first position determined in the embodiment of the present invention, and further, the direction is confirmed by using doa algorithm, so as to obtain a global azimuth a1, where the global azimuth a1 is the first azimuth determined in the embodiment of the present invention; moving to another position in fig. 3, the global coordinate p2 is the moving target robot to the second position in the embodiment of the present invention; the doa algorithm is used for direction confirmation in fig. 3, and a global direction angle a2 is obtained, where the global direction angle a2 is a second azimuth angle for determining the second position in the embodiment of the present invention; in fig. 3, the coordinate p3 of the intersection point of the two rays is obtained, that is, the intersection point of the first ray and the second ray is determined in the embodiment of the present invention; the area (room) where the mark p3 is located in fig. 3 is a noisy area, which is the first area determined based on the intersection point in the embodiment of the present invention.

In this embodiment, when a multi-person sound source is used for detection, if there are multi-person sound sources, the global coordinate p1 is determined first, then the direction confirmation is performed by using the doa algorithm, the global azimuth a1 is determined, then the target robot moves to another position, thereby the global coordinate p2 is determined, then the approximate direction confirmation is performed, further, the global azimuth a2 is determined, then the two-ray intersection point coordinate p3 can be obtained by using a ray extending in the direction indicated by the global azimuth a1 with the global coordinate p1 as the starting point and a ray extending in the direction indicated by the global azimuth a2 with the global coordinate p2 as the starting point, and then the region (room) where the marker p3 is located is a noisy region. So far, noisy regions can be determined using the above method.

As yet another example, fig. 4 is a schematic coordinate diagram of the noisy region of fig. 3. As shown in fig. 4, the house includes a room 1, a room 2, a room 3, a room 4, a room 5 and a room 6, and the coordinates p3 of the suspected noisy region 401 and the suspected noisy region 401, i.e. the room 6, are determined in the room 6 by using a ray which starts at the global coordinate p1 and extends in the direction indicated by the global azimuth a1 and a ray which starts at the global coordinate p2 and extends in the direction indicated by the global azimuth a 2.

Optionally, in a specific implementation manner, in the step 13, determining the first area based on the intersection point may include the following step 132:

step 132: and searching a first room corresponding to the position information of the intersection point from the preset corresponding relation between the position information and the rooms as a first area.

In this specific implementation manner, a corresponding relationship between position information and a room may be preset according to a content such as a building structure and a building layout, and after an intersection of the first ray and the second ray is determined, the position information of the intersection may be determined first, and then a first room corresponding to the position information of the intersection is searched in the preset corresponding relationship between the position information and the room, so that the searched first room is determined as the first area.

For example, the preset correspondence relationship between the position information and the room is shown in table 1:

TABLE 1

Room	Location information
		Parlor	A
Kitchen cabinet	B
		Principal and subordinate bed	C
Toilet room	D

Further, when the position information of the intersection is specified as C, the position information C is located within the position range indicated by the position information C, and thus the principal and subordinate position corresponding to the position information C can be specified as the first region.

Accordingly, optionally, the step 11 of determining the second area based on the first position of the target robot may include the following steps 111:

step 111: and determining an area within the first distance from the first position where the target robot is located as a second area.

In this specific implementation manner, after the first location where the target robot is located is determined, an area whose distance from the first location where the target robot is located is within the first distance may be determined as the second area.

For example, after the first position of the target robot is determined, the first position is used as a center of a circle, and a circular area with a first distance as a radius is used as a second area.

For another example, after the first position of the target robot is determined, the first position is set as a center of a rectangle, and a rectangular area with a first distance as a side is set as a second area.

It should be noted that, the circle and the rectangle are merely illustrative and not limiting of the "the area within the first distance from the first position where the target robot is located" in the step 111. Any area satisfying the condition that the distance from the first position where the target robot is located is an area within the first distance falls within the protection scope of the embodiment of the present invention.

Optionally, in step 11, determining the second area based on the first position of the target robot may include the following steps 112:

step 112: and searching a second room corresponding to the position information of the first position from the preset corresponding relation between the position information and the rooms to serve as a second area.

In this specific implementation manner, the corresponding relationship between the position information and the room may be preset according to the content such as the building structure and the house layout, and then, after the first position of the target robot is determined, the position information of the first position of the target robot may be determined first, and then, in the corresponding relationship between the preset position information and the room, the second room corresponding to the position information of the first position is searched, so that the searched second room is determined as the second area.

For example, taking table 1 as an example, when the position information specifying the first position where the target robot is located is a, since the position information a falls within the position range indicated by the position information a, the living room corresponding to the position information a can be specified as the second area.

Optionally, in a specific implementation, the target robot is a cleaning robot, such as a sweeping robot, and the predetermined task is a cleaning task, such as a sweeping task.

A robot control method provided in an embodiment of the present invention is exemplified by taking a cleaning robot and a cleaning task as examples, and as shown in fig. 5, a flowchart of an embodiment of the present invention is shown.

As shown in fig. 5, the determination of the noisy human sound region in fig. 5 is to determine a first region that meets the preset sound condition and a second region that does not meet the preset sound condition in the embodiment of the present invention; the cleaning of the non-noisy area in fig. 5 is to perform a predetermined task on the second area in the embodiment of the present invention; the completion of sweeping the non-noisy region in fig. 5 is the completion of performing the predetermined task on the second region; sweeping the noisy area in fig. 5 is to perform a predetermined task on the first area in the embodiment of the present invention; the relief of the noisy scene in fig. 5 is to determine whether there are remaining areas where a predetermined task is not executed in the embodiment of the present invention; in fig. 5, reducing the gear of the fan and reducing the noise are task execution parameters of the target robot in the embodiment of the present invention; the completion of the cleaning of the noisy area in fig. 5 is to perform a predetermined task on the remaining area in the embodiment of the present invention.

According to the determination of the human-voice noisy area, dividing each area encountered by the target robot when moving according to a preset route corresponding to a preset task into a noisy area and a non-noisy area, firstly cleaning the non-noisy area, judging whether the non-noisy area is cleaned or not, and if not, returning to judge whether the non-noisy area is cleaned or not; if the cleaning is finished, cleaning a noisy area, firstly, judging whether the noisy scene of the noisy area is removed, and if so, cleaning the noisy area; if not, reducing the gear of the fan of the target robot and reducing noise, thereby cleaning the noisy area; then, judging whether the noisy area is cleaned or not, and if not, judging whether the noisy area is cleaned or not; the step of cleaning the noisy region is returned and the step of performing on the noisy region is repeated.

Corresponding to the robot control method provided by the embodiment of the invention, the embodiment of the invention also provides a robot control device.

Fig. 6 is a schematic structural diagram of a robot control apparatus according to an embodiment of the present invention, and as shown in fig. 6, the apparatus may include the following modules:

The area judgment module 610 is configured to determine, based on the collected sound information, a first area satisfying a preset sound condition and a second area not satisfying the preset sound condition when the target robot moves according to a predetermined route corresponding to a predetermined task;

a first control module 620, configured to, when the first area is determined, continue to move the target robot according to the predetermined route;

a second control module 630, configured to execute the predetermined task on the second area by the target robot when the second area is determined;

and a third control module 640, configured to execute the predetermined task with respect to a remaining area if the remaining area where the predetermined task is not executed exists after the target robot moves according to the predetermined route.

As can be seen from the above, according to the solution provided by the embodiment of the present invention, when the target robot moves according to the predetermined route corresponding to the predetermined task, based on the sound information collected by the target robot, the first area satisfying the preset sound condition and the second area not satisfying the preset sound condition are determined. Thus, when the first area is determined, the target robot can be moved continuously along the predetermined route; when the second area is determined, the target robot may be caused to execute the predetermined task, and after the target robot has moved along the predetermined route, it may be determined whether or not there is a remaining area in which the predetermined task is not executed, and if so, the predetermined task may be executed with respect to the remaining area.

Optionally, in a specific implementation manner, the area determining module 610 includes:

the intersection point determining submodule is used for determining a first azimuth angle of the first position, moving the target robot to a second position and determining a second azimuth angle of the second position; determining an intersection point of the first ray and the second ray; wherein the first ray is: a ray that starts at the first position and extends in a direction indicated by the first azimuth angle, the second ray being: a ray that starts at the second position and extends in a direction indicated by the second azimuth angle;

Optionally, in a specific implementation manner, the third control module 640 is specifically configured to:

Corresponding to the robot control method provided by the embodiment of the invention, the embodiment of the invention also provides a robot system.

Fig. 7 is a schematic structural diagram of a robot system according to an embodiment of the present invention, and as shown in fig. 7, the robot system may include the following modules:

The sound collection module 710 is used for collecting sound information in real time when the target robot moves according to a predetermined route corresponding to a predetermined task;

a processor 720, configured to determine, based on the collected sound information, a first region satisfying a preset sound condition and a second region not satisfying the preset sound condition; when the first area is determined, the target robot continues to move according to the preset route; upon determining the second area, the target robot performing the predetermined task on the second area; and after the target robot moves according to the preset route, if a residual area which does not execute the preset task exists, executing the preset task aiming at the residual area.

Optionally, in a specific implementation manner, the preset sound condition includes: the sound energy determined based on the collected sound information is larger than an energy threshold value, and the sound sources determined based on the collected sound information are multiple.

Optionally, in a specific implementation manner, the processor 720 is specifically configured to:

Otherwise, a second region is determined based on the first location.

Corresponding to the control method of the robot provided by the above embodiment of the present invention, the embodiment of the present invention further provides a robot, as shown in fig. 8, including a processor 801, a communication interface 802, a memory 803 and a communication bus 804, wherein the processor 801, the communication interface 802 and the memory 803 complete mutual communication through the communication bus 804,

A memory 803 for storing a computer program;

the processor 801 is configured to implement the steps of any of the robot control methods according to the embodiments of the present invention described above when executing the program stored in the memory 803.

The communication bus mentioned in the robot may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the electronic equipment and other equipment.

The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.

In yet another embodiment of the present invention, a computer-readable storage medium is further provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of any of the robot control methods provided in the above embodiments of the present invention.

In a further embodiment provided by the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the steps of any of the robot control methods of the above embodiments.

In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.

It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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 identical elements in the process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, apparatus embodiments, mobile robot embodiments, computer-readable storage medium embodiments, and computer program product embodiments are described for simplicity because they are substantially similar to method embodiments, as may be relevant in some descriptions of method embodiments.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims

1. A robot control method, characterized in that the method comprises:

2. The method of claim 1, wherein the preset sound conditions comprise: the sound energy determined based on the collected sound information is greater than an energy threshold, and the sound source determined based on the collected sound information is plural.

3. The method of claim 2, wherein determining, based on the collected sound information, a first region satisfying a preset sound condition and a second region not satisfying the preset sound condition comprises:

determining a first azimuth of the first location and moving the target robot to a second location if a plurality of sound sources are detected, determining a second azimuth of the second location; determining an intersection point of the first ray and the second ray, and determining a first area based on the intersection point; wherein the first ray is: a ray that starts at the first position and extends in a direction indicated by the first azimuth angle, the second ray being: a ray that starts at the second position and extends in a direction indicated by the second azimuth angle;

otherwise, a second region is determined based on the first location.

4. The method of claim 3, wherein determining the first region based on the intersection comprises:

determining a region within a second distance from the intersection point as a first region;

or,

and searching a first room corresponding to the position information of the intersection point from a preset corresponding relation between the position information and the room to be used as a first area.

5. The method of claim 3, wherein determining the second area based on the first location at which the target robot is located comprises:

6. The method according to claim 1, wherein if there is a remaining area where the predetermined task is not executed, executing the predetermined task with respect to the remaining area comprises:

7. The method of claim 1, wherein said performing said predetermined task on said remaining area comprises:

8. The method according to claim 1, wherein before the determining a first area satisfying a preset sound condition and a second area not satisfying the preset sound condition based on the collected sound information while the target robot moves according to a predetermined route corresponding to a predetermined task, the method further comprises:

9. The method according to any one of claims 1 to 8, wherein the target robot is a cleaning target robot and the predetermined task is a cleaning task.

10. A robotic system, characterized in that the system comprises:

the system comprises a sound acquisition module, a task processing module and a task processing module, wherein the sound acquisition module is used for acquiring sound information in real time when a target robot moves according to a preset route corresponding to a preset task;

a processor for determining a first region satisfying a preset sound condition and a second region not satisfying the preset sound condition based on the collected sound information; when the first area is determined, the target robot continues to move according to the preset route; upon determining the second area, the target robot performing the predetermined task on the second area; and after the target robot moves according to the preset route, if a residual area which does not execute the preset task exists, executing the preset task aiming at the residual area.

11. The system of claim 10, wherein the preset sound conditions comprise: the sound energy determined based on the collected sound information is greater than an energy threshold, and the sound source determined based on the collected sound information is plural.

12. The system of claim 11, wherein the processor is specifically configured to:

otherwise, a second region is determined based on the first location.

13. The system of claim 12, wherein the processor is specifically configured to:

14. The system of claim 12, wherein the processor is specifically configured to:

determining an area within a first distance from the first position of the target robot as a second area; or, a second room corresponding to the position information of the first position is searched from a preset corresponding relation between the position information and the room to serve as a second area.

15. The system of claim 10, wherein the processor is specifically configured to:

16. The system of claim 10, wherein the processor is specifically configured to:

17. The system of claim 10, wherein the processor is specifically configured to:

18. A system according to any of claims 10-17, wherein the target robot is a cleaning target robot and the predetermined task is a cleaning task.

19. A robot is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing the communication among the processors and the memory through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of any of claims 1-9 when executing a program stored in the memory.

20. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of the claims 1-9.