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US 11,534,916 B2Granted
Robot control method, robot and storage medium
AssigneeEcovacs Robotics Co., Ltd.
InventorBin Cen
Life of this patent
Estimating the term…
Abstract
The embodiment of the present disclosure provides a robot control method, a robot and a storage medium. In the embodiment of the present disclosure, the robot determines a position when the robot is released from being hijacked based on relocalization operation; determines a task execution area according to environmental information around the position when the robot is released from being hijacked; and afterwards executes a task within the task execution area. Thus, the robot may flexibly determine the task execution area according to the environment in which the robot is released from being hijacked, without returning to the position when the robot is hijacked, to continue to execute the task, then acting according to local conditions is realized and the user requirements may be met as much as possible.
Claims15
A robot control method, comprising:
- determining, by a robot, a position when the robot is released from being hijacked based on relocalization operation;
- determining, by the robot, according to environmental information around the position when the robot is released from being hijacked, the position when the robot is released from being hijacked as a position to continue a task executed before the robot being hijacked and a task area to be executed;
- and
- executing, by the robot, the task within the task area to be executed;
- wherein the environmental information is obtained by sensor provided on the robot;
- wherein the robot is a sweeping robot, and the determining, by the robot, the task area to be executed according to the environmental information around the position when the robot is released from being hijacked, comprises:
- determining, by the sweeping robot, a to-be-swept area according to the environmental information around the position when the sweeping robot is released from being hijacked;
- wherein the determining, by the sweeping robot, the to-be-swept area according to the environmental information around the position when the sweeping robot is released from being hijacked, further comprises:
- recognizing whether the environmental information around the position when the sweeping robot is released from being hijacked contains a corner;
- and if the corner is contained, determining an associated area of the corner as the to-be-swept area;
- and wherein the determining the associated area of the corner as the to-be-swept area comprises:
- determining a sector area by taking a vertex of the corner as a circle center and a distance from the position when the sweeping robot is released from being hijacked to the vertex of the corner as a radius, and taking the sector area as the to-be-swept area;
- or
- determining a rectangular area by taking a distance from the position when the sweeping robot is released from being hijacked to any side of the corner as a half side length, and taking the rectangular area as the to-be-swept area.
11 more elements
A robot, comprising:
- a mechanical body, wherein the mechanical body is provided with one or more sensors, one or more processors and one or more memories for storing computer instructions;
- and
- the one or more processors for executing the computer instructions for:
- determining a position when the robot is released from being hijacked based on relocalization operation;
- obtaining environmental information around the position when the robot is released from being hijacked through the one or more sensors;
- determining the position when the robot is released from being hijacked as a position to continue a task executed before the robot being hijacked and a task area to be executed according to the environmental information around the position when the robot is released from being hijacked;
- and
- controlling the robot to execute the task within the task area to be executed;
- the robot is a sweeping robot, and the one or more processors, when determining the task area to be executed, specifically for:
- determining a to-be-swept area according to the environmental information around the position when the sweeping robot is released from being hijacked;
- the one or more processors, when determining the to-be-swept area, specifically for:
- recognizing whether the environmental information around the position when the sweeping robot is released from being hijacked contains a corner;
- and if the corner is contained, determining an associated area of the corner as the to-be-swept area;
- the one or more processors, when determining the associated area of the corner as the to-be-swept area, specifically for:
- determining a sector area by taking a vertex of the corner as a circle center and a distance from the position when the sweeping robot is released from being hijacked to the vertex of the corner as a radius, and taking the sector area as the to-be-swept area;
- or
- determining a rectangular area by taking a distance from the position when the sweeping robot is released from being hijacked to any side of the corner as a half side length, and taking the rectangular area as the to-be-swept area.
14 more elements
A computer-readable storage medium storing computer instructions, when the computer instructions are executed by one or more processors, the one or more processors are caused to execute the following actions comprising:
- determining a position when a robot is released from being hijacked based on relocalization operation of the robot;
- determining the position when the robot is released from being hijacked as a position to continue a task executed before the robot being hijacked and a task area to be executed according to environmental information around the position when the robot is released from being hijacked;
- and
- controlling the robot to execute the task within the task area to be executed;
- wherein the robot is a sweeping robot, and the determining, by the robot, the task area to be executed according to the environmental information around the position when the robot is released from being hijacked, comprises:
- determining, by the sweeping robot, a to-be-swept area according to the environmental information around the position when the sweeping robot is released from being hijacked;
- wherein the determining, by the sweeping robot, the to-be-swept area according to the environmental information around the position when the sweeping robot is released from being hijacked, further comprises:
- recognizing whether the environmental information around the position when the sweeping robot is released from being hijacked contains a corner;
- and if the corner is contained, determining an associated area of the corner as the to-be-swept area;
- and wherein the determining the associated area of the corner as the to-be-swept area comprises:
- determining a sector area by taking a vertex of the corner as a circle center and a distance from the position when the sweeping robot is released from being hijacked to the vertex of the corner as a radius, and taking the sector area as the to-be-swept area;
- or
- determining a rectangular area by taking a distance from the position when the sweeping robot is released from being hijacked to any side of the corner as a half side length, and taking the rectangular area as the to-be-swept area.
10 more elements
Dependencies are inferred from the claim text.