CN-117047760-B - Robot control method

CN117047760BCN 117047760 BCN117047760 BCN 117047760BCN-117047760-B

Abstract

The embodiment of the invention provides a control method of a robot, which comprises the steps of obtaining first identification information acquired by a target robot in a pool, wherein the first identification information represents characteristic information obtained by carrying out image identification on a target obstacle, the target obstacle is an obstacle detected by the target robot in the pool, determining the type of the target obstacle according to the first identification information, setting different types for obstacles allowed to be detected in the pool in advance, allowing different control modes adopted by the target robot to detect the different types of obstacles, and controlling the target robot to execute a preset task in the pool based on the target control mode corresponding to the target type under the condition that the type of the target obstacle is the target type. The invention solves the problem of lower working efficiency of the pool robot, thereby achieving the effect of improving the working efficiency of the robot.

Inventors

ZHANG SHILEI

Assignees

星迈创新科技(苏州)有限公司

Dates

Publication Date: 20260508
Application Date: 20230817

Claims (11)

1. A control method of a robot, comprising: Acquiring first identification information acquired by a target robot in a pool, wherein the first identification information represents characteristic information obtained by carrying out image identification on a target obstacle, and the target obstacle is an obstacle detected by the target robot in the pool; determining the category of the target obstacle according to the first identification information, wherein different categories are preset for the obstacles allowed to be detected in the pool, and the control mode adopted by the target robot for detecting the obstacles of different categories is allowed to be different; under the condition that the category of the target obstacle is a target category, controlling the target robot to execute a preset task in the pool based on a target control mode corresponding to the target category; The method further comprises the steps of determining that the category of the target obstacle is a fourth category according to the first identification information, wherein the target category comprises the fourth category, the fourth category indicates that the target obstacle is an obstacle which needs to be moved by the target robot, and controlling a mechanical control part of the target robot to move the target obstacle and cleaning the position of the target obstacle before moving under the condition that the category of the target obstacle is the fourth category so as to control the target robot to execute the preset task in the pool.
2. The method of claim 1, wherein obtaining first identification information collected by the target robot within the pool comprises: Responding to the target robot to start executing the preset task, and acquiring an image of the target obstacle in the pool through a target image acquisition device to obtain target image data, wherein the target image acquisition device is arranged on the target robot; and identifying the target image data and determining the first identification information.
3. The method of claim 2, wherein responsive to the target robot beginning to perform the preset task, image capturing the target obstacle in the pool by a target image capturing device to obtain target image data, comprising: responding to the target robot to start executing the preset task, and detecting the depth of the water body where the target robot is located; And determining acquisition parameters of the target image acquisition equipment according to the water depth, and carrying out image acquisition on the target obstacle based on the acquisition parameters to obtain target image data.
4. The method of claim 2, wherein responsive to the target robot beginning to perform the preset task, image capturing the target obstacle in the pool by a target image capturing device to obtain target image data, comprising: Detecting the water body cleanliness of the water tank, and determining the target water body cleanliness; and determining acquisition parameters of the target image acquisition equipment according to the target water body cleanliness, and carrying out image acquisition on the target obstacle based on the acquisition parameters to obtain target image data.
5. The method of claim 2, wherein identifying the target image data, determining the first identification information, comprises: extracting features of the target image data, and determining target feature information of the target obstacle; Preprocessing the target characteristic information, inputting the preprocessed target characteristic information into an identification model of the target robot, and determining the first identification information, wherein the preprocessing is used for adding a weight value corresponding to characteristic information used for determining the category of the target obstacle in the target characteristic information.
6. The method of claim 1, wherein determining the category of the target obstacle based on the first identification information comprises at least one of: determining the category of the target obstacle as a first category according to the first identification information, wherein the target category comprises the first category, and the first category indicates that the target obstacle is an obstacle which needs the target robot to be far away; Determining the category of the target obstacle as a second category according to the first identification information, wherein the target category comprises the second category, and the second category represents that the target obstacle is a fixed obstacle; and determining the category of the target obstacle as a third category according to the first identification information, wherein the target category comprises the third category, and the third category indicates that the target obstacle is an obstacle needing to send out a reminding message.
7. The method of claim 6, wherein, in the case where the category of the target obstacle is a target category, controlling the target robot to perform a preset task in the pool based on a target control manner corresponding to the target category, comprises at least one of: setting a first obstacle avoidance distance under the condition that the category of the target obstacle is the first category, wherein the first obstacle avoidance distance is larger than an initial obstacle avoidance distance preset by the target robot; controlling the target robot to execute the preset task in the pool according to the first obstacle avoidance distance under the condition that the target robot moves to a distance from the target obstacle to meet the first obstacle avoidance distance; Setting a second obstacle avoidance distance under the condition that the category of the target obstacle is the second category, wherein the second obstacle avoidance distance is smaller than an initial obstacle avoidance distance preset by the target robot; controlling the target robot to execute the preset task in the pool according to the second obstacle avoidance distance under the condition that the target robot moves to a distance from the target obstacle to meet the second obstacle avoidance distance; and sending a target reminding message to a target terminal to indicate the position of the target obstacle in the pool, and executing the preset task in the pool according to the initial obstacle avoidance distance preset by the target robot.
8. The method according to claim 1, wherein the method further comprises: Acquiring an original map of the pool and position information of the target obstacle, wherein the target robot is set to execute the preset task in the pool according to the original map; And marking and updating the original map according to the position information to obtain a target map so as to control the target robot to execute the preset task in the pool according to the target map.
9. The method of claim 8, wherein the method further comprises: When the target robot reaches a preset distance from a target position, controlling the target robot to decelerate, and acquiring second identification information acquired by the target robot in the pool, wherein the second identification information represents characteristic information obtained by carrying out image identification on the target obstacle in the process of cleaning the pool according to the target map, and the target position represents a marked position of the target obstacle in the target map; And determining the category of the target obstacle according to the second identification information, and controlling the target robot to execute the preset task in the pool according to the target obstacle avoidance distance corresponding to the target control mode under the condition that the category of the target obstacle is the target category.
10. A pool robot, a control method applied to the robot of any one of the above claims 1 to 9, comprising: the image acquisition equipment is used for acquiring first identification information; And the processor is used for determining the target control mode according to the first identification information and controlling the target robot to execute the preset task in the pool according to the target control mode.
11. A computer readable storage medium, characterized in that a computer program is stored in the computer readable storage medium, wherein the computer program, when being executed by a processor, implements the steps of the method according to any of the claims 1 to 9.

Description

Robot control method Technical Field The embodiment of the invention relates to the field of robots, in particular to a control method of a robot. Background In the related art, various obstacles are generally encountered when a pool robot works in a pool, and the pool robot is controlled in such a way that the obstacle is avoided after collision or kept at a fixed distance from the obstacle. If the obstacle is avoided after collision, the obstacle is possibly involved in an execution part of the pool robot to cause the execution part to be blocked, if the obstacle is kept at a fixed distance from the obstacle, the treatment of cleaning the specific obstacle and the like can be omitted, and the pool robot has low manual work efficiency. There is currently no effective solution to the above problems. Disclosure of Invention The embodiment of the invention provides a control method of a robot, which at least solves the technical problem of lower manual work efficiency of a pool robot in the related art. According to one embodiment of the invention, a control method of a robot is provided, which comprises the steps of obtaining first identification information acquired by a target robot in a pool, wherein the first identification information represents characteristic information obtained by carrying out image identification on a target obstacle, the target obstacle is detected by the target robot in the pool, determining the type of the target obstacle according to the first identification information, setting different types for the obstacles allowed to be detected in the pool in advance, and controlling the target robot to execute preset tasks in the pool based on a target control mode corresponding to the target type when the type of the target obstacle is the target type. According to another embodiment of the invention, a control device of a robot is provided, which comprises an acquisition module, a determination module and a control module, wherein the acquisition module is used for acquiring first identification information acquired by a target robot in a pool, the first identification information represents characteristic information obtained by carrying out image identification on a target obstacle, the target obstacle is detected by the target robot in the pool, the determination module is used for determining the category of the target obstacle according to the first identification information, different categories are preset for the obstacles allowed to be detected in the pool, the control modes adopted by the target robot for detecting the different categories of the obstacles are allowed to be different, and the control module is used for controlling the target robot to execute a preset task in the pool based on a target control mode corresponding to the target category when the category of the target obstacle is the target category. In an exemplary embodiment, the device is used for acquiring first identification information acquired by a target robot in a pool by responding to the fact that the target robot starts to execute the preset task, acquiring an image of the target obstacle in the pool through a target image acquisition device to obtain target image data, wherein the target image acquisition device is arranged on the target robot, identifying the target image data and determining the first identification information. In an exemplary embodiment, the device is configured to respond to the target robot to start executing the preset task, and perform image acquisition on the target obstacle in the pool through a target image acquisition device to obtain target image data, wherein the response to the target robot to start executing the preset task, the device detects the depth of water body where the target robot is located, determines acquisition parameters of the target image acquisition device according to the depth of water body, and performs image acquisition on the target obstacle based on the acquisition parameters to obtain the target image data. In an exemplary embodiment, the device is configured to respond to the target robot to start executing the preset task by detecting a water body cleanliness of the water tank, determining a target water body cleanliness, determining an acquisition parameter of the target image acquisition device according to the target water body cleanliness, and performing image acquisition on the target obstacle based on the acquisition parameter to obtain target image data. In an exemplary embodiment, the device is configured to identify the target image data, determine the first identification information by performing feature extraction on the target image data, determine target feature information of the target obstacle, perform preprocessing on the target feature information, and input the preprocessed target feature information into an identification model deployed on the target robot, and determine the first identification information, where the p