WO2025152911A1 - Control method and apparatus for cleaning robot, device, and medium - Google Patents

Abstract

A control method and apparatus for a cleaning robot, a device, and a medium, relating to the technical field of robots. The method comprise: providing a graphical interface at a configuration end, wherein the interface comprises an instruction block panel and an instruction editor, and the instruction block panel comprises at least one instruction block (S101); in the instruction editor, receiving one or more target instruction blocks selected from the instruction block panel, and by means of the one or more target instruction blocks, formulating target control logic for controlling a cleaning robot (S102); and controlling the cleaning robot on the basis of the formulated target control logic (S103). By providing the graphical interface at the configuration end, users can formulate target control logic according to their diverse and personalized requirements, so as to meet corresponding target function requirements, such that the usage scenarios of the cleaning robot are enriched, improving the working efficiency of the cleaning robot.

Description

Control method, device, equipment and medium of cleaning robot

This application claims the priority of the Chinese patent application filed with the China Patent Office on January 16, 2024, with application number 202410063920.1, and invention name “Control method, device, equipment and medium of cleaning robot”, all contents of which are incorporated by reference in this application.

Technical Field

The present application relates to the field of robot technology, and in particular to a control method and device, equipment and medium for a cleaning robot.

Background Art

With the development of computer technology and embedded technology, various cleaning robots such as sweeping robots and mopping robots have emerged. At present, users can interact with cleaning robots through virtual buttons or voice on APP (application), and the cleaning robots can move in the designated area and perform cleaning or removal operations according to the interactive instructions.

However, currently only fixed instructions can be sent to the cleaning robot, and for users, the fixed instructions cannot meet the user's diverse and personalized configuration function requirements. Therefore, this technical problem needs to be solved urgently.

Summary of the invention

In view of the above problems, the present application is proposed to provide a control method and device, equipment and medium for a cleaning robot that overcomes the above problems or at least partially solves the above problems. The technical solution is as follows:

In a first aspect, a control method for a cleaning robot is provided, which is applied to a configuration end, and the method includes:

Providing a graphical interface, the interface comprising an instruction block panel and an instruction editor, the instruction block panel comprising at least one instruction block;

Receiving one or more target instruction blocks selected from the instruction block panel in the instruction editor, and formulating target control logic for controlling the cleaning robot through the one or more target instruction blocks;

The cleaning robot is controlled according to the formulated target control logic.

In a possible implementation, the instruction block includes at least one level one instruction block.

In a possible implementation, the primary instruction block includes at least one secondary instruction block.

In a possible implementation manner, receiving, in the instruction editor, one or more target instruction blocks selected from the instruction block panel includes:

One or more target instruction blocks selected from the primary instruction blocks and/or secondary instruction blocks of the instruction block panel are received in the instruction editor.

In one possible implementation, at least one of the first-level instruction blocks includes one or more of an artificial intelligence instruction block, a sweeping instruction block, a judgment instruction block, an action instruction block, a function instruction block, a loop and branch instruction block, an event instruction block, and other instruction blocks.

In one possible implementation, if the first-level instruction block includes an artificial intelligence instruction block, at least one second-level instruction block under the first-level instruction block includes one or more of speech recognition, object recognition, stain recognition, and language recognition wake-up.

In a possible implementation, if the primary instruction block includes a cleaning instruction block, at least one secondary instruction block under the primary instruction block includes one or more of a cleaning position, a cleaning mode, and a suction force.

In a possible implementation, formulating a target control logic for controlling the cleaning robot through the one or more target instruction blocks includes:

Obtaining information describing functions to be achieved by controlling the cleaning robot;

Based on the description information of the function, a target control logic for controlling the cleaning robot is formulated through the one or more target instruction blocks.

In a second aspect, a control method for a cleaning robot is provided, which is applied to the cleaning robot, and the method comprises:

Receive a target control code sent from a configuration end; wherein the target control code is generated by the configuration end according to a formulated target control logic, the configuration end receives one or more target instruction blocks selected from an instruction block panel in an instruction editor, and formulates a target control logic for controlling the cleaning robot through the one or more target instruction blocks; the configuration end provides a graphical interface, the interface includes the instruction block panel and the instruction editor, and the instruction block panel includes at least one instruction block;

The target control code is executed to control the cleaning robot.

In a possible implementation, the cleaning robot includes a code snippet manager and a code executor;

After receiving the target control code sent from the configuration end, the method further includes:

The code segment manager stores the target control code;

Executing the target control code to control the cleaning robot includes:

The code snippet manager loads the target control code into the code executor;

The code executor executes the target control code to control the cleaning robot.

In a possible implementation, the cleaning robot further includes a function server;

The code executor executes the target control code to control the cleaning robot, including:

In the process of executing the target control code, the code executor customizes the functional service to the functional server when a functional service is involved, and the functional server subscribes to an event corresponding to the functional service from an IoT event bus;

When the code executor monitors the event corresponding to the functional service, it executes the control code of the event corresponding to the functional service to control the cleaning robot.

In a possible implementation, the code executor executes the target control code to control the cleaning robot, including:

The code executor starts a thread to execute the target control code, and during the execution of the target control code, checks the execution status of one or more of the following target control codes according to a set duration:

Whether the thread exists;

Whether the control code of the event response has any abnormality;

Whether the execution time of the target control code exceeds a preset threshold;

Whether the cleaning robot reports an error;

Whether a stop command sent from the configuration end is received;

When one or more of the following occurs: the thread does not exist, an exception occurs in the control code of the event response, the execution time of the target control code exceeds a preset threshold, the cleaning robot reports an error, or a stop command is received from the configuration end, the execution of the target control code is stopped.

In a possible implementation, the code snippet manager loads the target control code into the code executor, including:

The code snippet manager loads the target control code into the sandboxed code executor;

The code executor executes the target control code to control the cleaning robot, including:

The code executor executes the target control code in the sandbox to control the cleaning robot.

In a third aspect, a control device for a cleaning robot is provided, which is applied to a configuration end, and the device includes:

A display unit, used for providing a graphical interface, the interface including an instruction block panel and an instruction editor, the instruction block panel including at least one instruction block;

A formulation unit, configured to receive one or more target instruction blocks selected from the instruction block panel in the instruction editor, and formulate a target control logic for controlling the cleaning robot through the one or more target instruction blocks;

A control unit is used to control the cleaning robot according to the formulated target control logic.

In a fourth aspect, a control device for a cleaning robot is provided, which is applied to the cleaning robot, and the device comprises:

A receiving unit, configured to receive a target control code sent from a configuration end; wherein the target control code is generated by the configuration end according to a formulated target control logic, the configuration end receives one or more target instruction blocks selected from an instruction block panel in an instruction editor, and formulates a target control logic for controlling the cleaning robot through the one or more target instruction blocks; the configuration end provides a graphical interface, the interface includes the instruction block panel and the instruction editor, and the instruction block panel includes at least one instruction block;

An execution unit is used to execute the target control code to control the cleaning robot.

In a fifth aspect, a configuration end is provided, comprising a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute any one of the control methods of the cleaning robot described above.

In a sixth aspect, a storage medium is provided, wherein the storage medium stores a computer program, wherein the computer program is configured to execute any of the above-mentioned control methods for the cleaning robot when running.

In a seventh aspect, a cleaning robot is provided, comprising a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute any one of the above-described control methods for the cleaning robot.

In an eighth aspect, a storage medium is provided, wherein the storage medium stores a computer program, wherein the computer program is configured to execute any one of the above-mentioned control methods for the cleaning robot when running.

By means of the above technical solution, the control method, device, equipment and medium of the cleaning robot provided in the embodiment of the present application can provide a graphical interface on the configuration end, which includes an instruction block panel and an instruction editor, and the instruction block panel includes at least one instruction block; one or more target instruction blocks selected from the instruction block panel are received in the instruction editor, and a target control logic for controlling the cleaning robot is formulated through one or more target instruction blocks; the cleaning robot is controlled according to the formulated target control logic. It can be seen that this embodiment can provide a graphical interface on the configuration end, and users can formulate target control logic according to their own diverse and personalized needs, realize corresponding target function requirements, enrich the use scenarios of the cleaning robot, and improve the working efficiency of the cleaning robot.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in describing the embodiments of the present application are briefly introduced below.

FIG1 is a flow chart showing a control method for a cleaning robot applied to a configuration end provided in an embodiment of the present application;

FIG2 is a flow chart showing a control method for a cleaning robot provided in an embodiment of the present application;

FIG3A shows a graphical interface provided by an embodiment of the present application;

FIG3B is a schematic diagram showing the interaction between the graphical interface and the cleaning robot provided in an embodiment of the present application;

FIG4 shows a schematic diagram of a graphical interface provided by an embodiment of the present application;

FIG5 shows another schematic diagram of a graphical interface provided in an embodiment of the present application;

FIG6 shows another schematic diagram of a graphical interface provided in an embodiment of the present application;

FIG7 is a schematic diagram showing a control logic corresponding to the first function provided in an embodiment of the present application;

FIG8 is a schematic diagram showing a control logic corresponding to the second function provided in an embodiment of the present application;

FIG9 is a schematic diagram showing a control logic corresponding to the third function provided in an embodiment of the present application;

FIG10 is a schematic diagram showing a control logic corresponding to the fourth function provided in an embodiment of the present application;

FIG11 is a schematic diagram showing a corresponding event of a sweeping machine function server subscribing to a function service provided in an embodiment of the present application;

FIG12 shows a structural diagram of a control device for a cleaning robot applied to a configuration end provided in an embodiment of the present application;

FIG13 shows a structural diagram of a control device for a cleaning robot provided in an embodiment of the present application and applied to a cleaning robot.

DETAILED DESCRIPTION

The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such use is interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the term "including" and its variants are to be interpreted as open-ended terms meaning "including but not limited to".

In order to solve the above technical problems, an embodiment of the present application provides a control method for a cleaning robot applied to a configuration end. As shown in FIG1 , the control method for a cleaning robot applied to a configuration end may include the following steps S101 to S103:

Step S101, providing a graphical interface, the interface including an instruction block panel and an instruction editor, the instruction block panel including at least one instruction block;

Step S102, receiving one or more target instruction blocks selected from the instruction block panel in the instruction editor, and formulating a target control logic for controlling the cleaning robot through the one or more target instruction blocks;

Step S103, controlling the cleaning robot according to the established target control logic.

In this step, a target control code may be generated according to the established target control logic, and the target control code may be sent to the cleaning robot so that the target control code is executed to control the cleaning robot.

This embodiment can provide a graphical interface on the configuration end, and the user can formulate the target control logic according to his or her own diverse and personalized needs to achieve the corresponding target function requirements, thereby enriching the use scenarios of the cleaning robot and improving the work efficiency of the cleaning robot.

In this embodiment, the functional points of the cleaning robot and the configurable parameters and modes of each functional point can be specifically sorted out, and these functional points, configurable parameters and modes of each functional point can be encapsulated into programming instructions, which are intuitively and clearly integrated into a graphical interface, and at least one instruction block is displayed in the instruction block panel of the interface.

In an embodiment of the present application, a possible implementation method is provided, in which at least one instruction block displayed in the instruction block panel of the interface may specifically include a first-level instruction block, and each first-level instruction block includes a second-level instruction block. For example, the first-level instruction block may be an AI (Artificial Intelligence) instruction block, and the AI instruction block includes a second-level instruction block, such as speech recognition, object recognition, stain recognition, language recognition wake-up, etc.

Optionally, each secondary instruction block may also include a tertiary instruction block, such as a first camera, a second camera, etc., which is not limited in this embodiment.

In addition, each third-level instruction block may also include a fourth-level instruction block, and so on. Specifically, the hierarchy can be set based on programming instructions encapsulated based on function points, configurable parameters of each function point, and modes, etc. This embodiment does not impose any restrictions on this.

In the embodiment of the present application, a possible implementation method is provided. In the above step S102, one or more target instruction blocks selected from the instruction block panel are received in the instruction editor. Specifically, one or more target instruction blocks selected from the primary instruction block and/or the secondary instruction block of the instruction block panel are received in the instruction editor, so that the selection is more flexible and efficient. Here, one or more target instruction blocks can be selected from the instruction block panel by clicking, dragging, or double-clicking, and this embodiment does not limit this.

Optionally, if the instruction block panel includes multiple levels of instruction blocks, such as primary instruction blocks, secondary instruction blocks, tertiary instruction blocks, etc., one or more target instruction blocks can be selected from these multi-level instruction blocks, making the selection more flexible and efficient.

A possible implementation method is provided in an embodiment of the present application. The various first-level instruction blocks mentioned in this embodiment may include one or more of artificial intelligence instruction blocks, cleaning instruction blocks, judgment instruction blocks, action instruction blocks, function instruction blocks, loop and branch instruction blocks, event instruction blocks, and other instruction blocks, and this embodiment does not limit this.

Optionally, if the first-level instruction block includes an artificial intelligence instruction block, at least one second-level instruction block under the first-level instruction block may include one or more of speech recognition, object recognition, stain recognition, and language recognition wake-up, which is not limited in this embodiment.

Optionally, if the first-level instruction block includes a cleaning instruction block, at least one second-level instruction block under the first-level instruction block may include one or more of the cleaning position, cleaning mode, and suction force, which is not limited in this embodiment. The cleaning position instruction block here may also include a third-level instruction block, such as master bedroom, living room, second bedroom, balcony, bathroom, etc.; the cleaning mode instruction block may also include a third-level instruction block, such as cleaning only, mopping only, moving only, sweeping and mopping, etc.; the suction force instruction block may also include a third-level instruction block, such as strong, normal, etc., which is not limited in this embodiment.

Optionally, if the primary instruction block includes an event instruction block, the sensor functions of the cleaning robot, such as the infrared sensor, distance sensor, acceleration sensor, etc., can be defined as event instructions. For example, when the sensor of the cleaning robot detects that the cleaning robot collides with a wall or a virtual wall, a collision event is generated. Then, the collision event instruction block can be used as a secondary instruction block under the event instruction block. It should be noted that the examples given here are only illustrative and do not limit this embodiment.

A possible implementation method is provided in the embodiment of the present application. In the above step S102, a target control logic for controlling the cleaning robot is formulated through one or more target instruction blocks, which may specifically include the following steps A1 and A2:

Step A1, obtaining description information of functions to be achieved by controlling the cleaning robot.

In this step, the function description information is a detailed description of the function to be achieved by controlling the cleaning robot. For example, the function description information may be that when the sweeping robot finds that no one is at home, it switches to the security mode and triggers an alarm when a stranger enters the house; for another example, the function description information may be that the sweeping robot starts cleaning at 8 am every weekday and at 9 am every non-workday, etc. It should be noted that the examples here are only illustrative and do not limit this embodiment.

Step A2, based on the functional description information, formulate a target control logic for controlling the cleaning robot through one or more target instruction blocks.

This embodiment can formulate the target control logic for controlling the cleaning robot through one or more target instruction blocks based on the function description information, which is more accurate and efficient, enriches the usage scenarios of the cleaning robot, and improves the working efficiency of the cleaning robot.

Based on the same inventive concept, the embodiment of the present application further provides a control method for a cleaning robot applied to a cleaning robot. As shown in FIG. 2 , the control method for a cleaning robot applied to a cleaning robot may include the following steps S201 to S202:

Step S201, receiving a target control code sent from a configuration end; wherein the target control code is generated by the configuration end according to a formulated target control logic, the configuration end receives one or more target instruction blocks selected from an instruction block panel in an instruction editor, and formulates a target control logic for controlling the cleaning robot through the one or more target instruction blocks; the configuration end provides a graphical interface, the interface includes an instruction block panel and an instruction editor, and the instruction block panel includes at least one instruction block;

Step S202, executing the target control code to control the cleaning robot.

This embodiment receives a target control code sent from the configuration end. The target control code here is generated by the configuration end according to the established target control logic. In this way, the high-level instruction program based on user intention is converted into an executable command sequence for the cleaning robot, thereby controlling the cleaning robot, enriching the usage scenarios of the cleaning robot, and improving the work efficiency of the cleaning robot.

A possible implementation method is provided in an embodiment of the present application. The cleaning robot may include a code snippet manager and a code executor. After receiving the target control code sent from the configuration end in step S201, the code snippet manager may also store the target control code. Thus, step S202 executes the target control code to control the cleaning robot, which may specifically include the following steps B1 and B2:

Step B1, the code snippet manager loads the target control code into the code executor;

Step B2: the code executor executes the target control code to control the cleaning robot.

In this implementation, the code executor executes the target control code, converts the high-level instruction program based on user intention into a command sequence executable by the cleaning robot, realizes the control of the cleaning robot, enriches the usage scenarios of the cleaning robot, and improves the work efficiency of the cleaning robot.

A possible implementation method is provided in an embodiment of the present application. The cleaning robot may further include a functional server. Then, in the above step B2, the code executor executes the target control code to control the cleaning robot, which may specifically include the following steps B21 and B22:

Step B21, when the code executor is executing the target control code and involves a functional service, it can customize the functional service to the functional server, and the functional server subscribes to the event corresponding to the functional service to the IoT event bus.

In this step, IOT (Internet of Things) refers to connecting any object to the network through information sensing devices according to the agreed protocol, and the objects exchange and communicate information through information transmission media to achieve intelligent identification, positioning, tracking, supervision and other functions. The IOT event bus manages IOT devices (such as smart door locks, smart air conditioners, smart lamps, etc.) and monitors events related to IOT devices.

Step B22: When the code executor monitors the event corresponding to the functional service, it executes the control code of the event corresponding to the functional service to control the cleaning robot.

In this embodiment, the code executor connects to the Internet of Things event system, listens in the cleaning robot's graphical program, triggers specific device events, and combines and configures more complex and flexible functions that meet actual needs, such as triggering the cleaning process after the smart door lock is closed.

A possible implementation method is provided in the embodiment of the present application. In the above step B2, the code executor executes the target control code to control the cleaning robot, which may specifically include the following steps B23:

Step B23: the code executor starts a thread to execute the target control code, and during the execution of the target control code, checks the execution status of one or more of the following target control codes according to the set duration:

Whether the thread exists;

Whether the control code of the event response has any abnormality;

Whether the execution time of the target control code exceeds the preset threshold;

Whether the cleaning robot reports an error;

Whether the stop command sent from the configuration end is received;

When one or more of the following occurs: the thread does not exist, an exception occurs in the control code of the event response, the execution time of the target control code exceeds the preset threshold, the cleaning robot reports an error, or a stop command is received from the configuration end, the execution of the target control code will be stopped.

In the process of executing the target control code, this embodiment checks the execution status of the target control code according to the set time period, which can improve the accuracy and efficiency of code execution.

A possible implementation method is provided in an embodiment of the present application. In the above step B1, the code snippet manager loads the target control code to the code executor, which may specifically be the code snippet manager loading the target control code to the sandboxed code executor; in the above step B2, the code executor executes the target control code to control the cleaning robot, which may specifically be the code executor executing the target control code in the sandbox to control the cleaning robot.

Since the target control logic formulated by the user, and the target control code generated according to the target control logic, can also be called user code, may have some problems (such as dead loops, execution of malicious code, etc.), this embodiment deploys the user code in a secure sandbox for execution, so that the user code can only call limited functions and modules, and the code executor acts as a monitor. When executing the user code, it can actively terminate the executing code; when the code execution times out or an error occurs, the user code is actively terminated to ensure the safe operation of the cleaning robot.

The above introduces various implementation methods of each link of the embodiments shown in Figures 1 and 2. The control method of the cleaning robot applied to the configuration end and the cleaning robot in the embodiments of the present application will be further explained through specific embodiments.

Due to the limitations of existing interactive elements, the interaction between users and robots cannot or is difficult to achieve some highly flexible configuration function requirements, such as independently completing a deep cleaning function after recognizing that no one is at home during the day (for example, 8 am to 6 pm); or roaming in the room, recognizing pets or specific objects, taking photos and sending them to the user's mailbox or sending APP messages to the user's account.

At the same time, with the increase in smart home devices, a linkage mechanism is needed between different smart devices to accomplish tasks such as setting the cleaning robot function to security mode when the smart door lock detects that the user has closed the door and left the room.

To solve the above problems or similar complex and flexible user interaction problems, a highly customizable interaction technology is needed.

In related technologies, the hardware functions of the cleaning robot are directly provided through SDK (Software Development Kit), and the hardware functions are called through programming statements to control the various behaviors of the cleaning robot.

However, if the hardware functions of the cleaning robot are directly provided through the SDK, it is difficult for users to perform customized programming. The main reason is the complexity of embedded system programming, which involves knowledge related to hardware, software, control theory, etc., and each category of knowledge requires a lot of professional training to master. For example, if the user is allowed to directly control the motor of the cleaning robot, it is very likely that the motor of the cleaning robot will be damaged during the user's debugging of the program due to excessive current parameters; and from the underlying details API (Application Programming Interface) to the completion of specific customization requirements, a lot of programming and debugging work is required, and it is almost impossible for ordinary users to complete such code writing work.

This embodiment provides an interactive method for graphical and programmed operation of a cleaning robot, which can achieve a high degree of customization of the functions of the cleaning robot.

In a specific embodiment, the configuration terminal may be a smart phone, a tablet computer, a personal computer, etc., which is not limited in this embodiment. The cleaning robot may be a sweeping robot, a mopping robot, etc., which is not limited in this embodiment.

FIG3A shows a graphical interface provided by an embodiment of the present application. FIG3A provides a graphical interface, which includes an instruction block panel and an instruction editor. The instruction block panel includes at least one instruction block, such as AI instructions, cleaning instructions, judgment instructions, action instructions, function instructions, loops and branches, event instructions, other instructions, etc. One or more target instruction blocks selected from the instruction block panel can be received in the instruction editor, and the target control logic for controlling the cleaning robot can be formulated through one or more target instruction blocks.

Figure 3B shows a schematic diagram of the interaction between the graphical interface and the cleaning robot provided in the embodiment of the present application. In Figure 3B, the left part is a graphical interface, and AI instructions, cleaning instructions, judgment instructions, action instructions, function instructions, loops and branches, event instructions, other instructions, etc. can be provided on the instruction block panel of the interface. The right part on the left is the instruction editor. The start in the instruction editor -> Clean the master bedroom (set normal suction) -> Clean the living room (set carpet mode) -> Clean the kitchen (set mopping mode) -> Clean the bathroom (set normal suction) -> Charge back to the pile (set slow charging) -> End of the program is the target control logic edited by the user, which is executed sequentially. Subsequently, the target control code is generated according to the formulated target control logic, and the target control code is sent to the cleaning robot.

In Figure 3B, the right part is the processing logic of the cleaning robot. Specifically, the configuration end uploads the code snippet (i.e., the target control code generated by the configuration end according to the formulated target control logic) to the cleaning robot; the cleaning robot's instruction code snippet manager (i.e., the code snippet manager) stores and loads the user's code snippet to the cleaning robot file system; the robot instruction executor (i.e., the code executor) executes the code snippet, and subscribes to the event of the function service from the robot function server (i.e., the function server), and listens to the IOT event bus. Here, the instruction code snippet manager, robot instruction executor, and robot function server are implemented based on the robot operating system.

FIG4 shows a schematic diagram of a graphical interface provided by an embodiment of the present application. In the instruction block panel shown in FIG4, the AI instruction is a first-level instruction block, and the first-level instruction block also includes a second-level instruction block, such as voice recognition, object recognition, stain recognition, and language recognition wake-up, etc., and custom programming can be implemented according to these instruction blocks. For example, the control logic edited in the instruction editor shown in FIG4 is language recognition wake-up -> voice recognition -> clean the area recognized by the language -> program ends.

Figure 5 shows another schematic diagram of a graphical interface provided in an embodiment of the present application. In the command block panel shown in Figure 5, the cleaning command is a first-level command block, and the first-level command block also includes a second-level command block, such as location (master bedroom, living room, second bedroom, balcony, bathroom, etc.), suction (strong, normal, etc.), mode (only cleaning, only dragging, only moving, sweeping and mopping, etc.), and custom programming can be implemented according to these command blocks. For example, the control logic edited in the command editor shown in Figure 5 is, start->clean the master bedroom (normal suction)->clean the living room (carpet mode)->clean the kitchen (mopping mode)->clean the bathroom (normal suction)->return to the pile for charging (slow charging)->program ends.

FIG6 shows another schematic diagram of a graphical interface provided by an embodiment of the present application. In the command block panel shown in FIG6, the event command is a first-level command block, and the first-level command block also includes a second-level command block, such as when the smart door lock closes the door, other IoT device events, etc., custom programming can be implemented based on these command blocks. For example, the control logic edited in the command editor shown in FIG6 is, when the smart door lock is monitored to close the door -> call the whole house cleaning function -> program ends, thereby realizing linkage with the smart door lock.

FIG7 shows a schematic diagram of the control logic corresponding to the first function provided in an embodiment of the present application, and the whole-house cleaning function combination function shown in FIG7 is defined as a reusable function.

Figure 8 shows a schematic diagram of the control logic corresponding to the second function provided in an embodiment of the present application, which is that when the sweeper finds that no one is at home, it switches to security mode and triggers an alarm when a stranger enters the house. The edited control logic is that when the smart door lock is monitored to close the door -> the sweeper moves near the door -> switches to security mode. Among them, the security mode means that when the AI module recognizes a stranger, the camera is switched to video recording mode, and the recognized face is recognized. If a stranger is recognized, an alarm message is pushed to the APP.

FIG9 shows a schematic diagram of the control logic corresponding to the third function provided in the embodiment of the present application, which is to clean at 8 a.m. every day on weekdays and at 9 a.m. every day on non-working days. The edited control logic is: set at 8 a.m. every morning -> determine whether it is a weekday -> if not, wait for 1 hour and then call the whole house cleaning function; if so, call the whole house cleaning function.

FIG10 shows a schematic diagram of the control logic corresponding to the fourth function provided in an embodiment of the present application, which is that the sweeping robot roams in the room, and when a pet is found, the pet's location is pushed to the APP. The edited control logic is, start->switch the sweeping robot to room roaming mode->set the AI recognition module to pet recognition mode->when a pet is recognized->push the sweeping robot's coordinates in the SLAM (Simultaneous Localization And Mapping) map to the APP->end.

Figure 11 shows a schematic diagram of the sweeping machine function server subscribing to the corresponding events of the function service provided by the embodiment of the present application. In Figure 11, the cleaning robot is a sweeping machine, and the user-defined code snippet on the configuration end is uploaded to the code snippet executor (i.e., the code executor). The code snippet executor executes each instruction one by one. When it comes to the function service, the function service is customized to the sweeping machine function server, and the function server subscribes to the event corresponding to the function service to the IOT event bus, that is, publishes sweeping machine related events. The IOT event bus monitors the device events of the IOT device, and sends the IOT device events to the code snippet executor's listening IOT events, and sends them to the search event response code snippet. The code snippet executor finds the corresponding code snippet and continues to execute to control the sweeping machine.

The main functions of the code snippet manager are to store and load user code snippets to the sweeper file system.

Based on the code generation capability of Blockly (a graphical programming framework), the following Python (a programming language) code snippet is generated according to the user code snippet. The functional details of the sweeper have been encapsulated as callable Python functions.

The code executor is a fixed Python code that loads the Python code snippet and then starts a dedicated thread to execute the main function in the code module. The code executor then checks the execution of the user code every tens of milliseconds:

1) Whether the user code thread exists;

2) Whether any exception occurs in the Python code of the event response;

3) Whether the user code execution exceeds the preset threshold;

4) Whether there is an error in the sweeper function module;

5) Whether the stop command sent by the APP is received.

When any error occurs, the execution of the user program is stopped and the sweeper is switched to a user-interactive state, that is, the user can interact with the configuration end and adjust the target instruction block through the graphical interface of the configuration end.

This embodiment can be used to enhance the customizability of the sweeping robot, and the user can formulate a more convenient, efficient and intelligent way of using the cleaning robot based on their own needs.

It should be noted that the size of the sequence number of each step in the above embodiment does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. In practical applications, all the above possible implementation methods can be combined in any way to form possible embodiments of the present application, which will not be described one by one here.

Based on the control methods of the cleaning robot provided in the above embodiments and based on the same inventive concept, an embodiment of the present application also provides a control device for a cleaning robot.

Fig. 12 is a structural diagram of a control device for a cleaning robot applied to a configuration end provided by an embodiment of the present application. As shown in Fig. 12, the control device for a cleaning robot applied to a configuration end may specifically include a display unit 1201, a formulation unit 1202, and a control unit 1203.

A display unit 1201 is used to provide a graphical interface, wherein the interface includes an instruction block panel and an instruction editor, wherein the instruction block panel includes at least one instruction block;

A formulation unit 1202, configured to receive one or more target instruction blocks selected from the instruction block panel in the instruction editor, and formulate a target control logic for controlling the cleaning robot through the one or more target instruction blocks;

The control unit 1203 is used to control the cleaning robot according to the formulated target control logic.

A possible implementation method is provided in an embodiment of the present application, where the control unit 1203 is further configured to:

A target control code is generated according to the formulated target control logic, and the target control code is sent to the cleaning robot so as to execute the target control code to control the cleaning robot.

A possible implementation method is provided in an embodiment of the present application, wherein the instruction block includes at least one first-level instruction block.

A possible implementation method is provided in an embodiment of the present application, wherein the first-level instruction block includes at least one second-level instruction block.

A possible implementation method is provided in an embodiment of the present application, wherein the formulation unit 1202 is further configured to:

One or more target instruction blocks selected from the primary instruction blocks and/or secondary instruction blocks of the instruction block panel are received in the instruction editor.

A possible implementation method is provided in an embodiment of the present application, wherein at least one of the first-level instruction blocks includes one or more of an artificial intelligence instruction block, a cleaning instruction block, a judgment instruction block, an action instruction block, a function instruction block, a loop and branch instruction block, an event instruction block, and other instruction blocks.

A possible implementation method is provided in an embodiment of the present application. If the first-level instruction block includes an artificial intelligence instruction block, at least one second-level instruction block under the first-level instruction block includes one or more of speech recognition, object recognition, stain recognition, and language recognition wake-up.

A possible implementation method is provided in an embodiment of the present application. If the first-level instruction block includes a cleaning instruction block, at least one second-level instruction block under the first-level instruction block includes one or more of a cleaning position, a cleaning mode, and a suction force.

A possible implementation method is provided in an embodiment of the present application, wherein the formulation unit 1202 is further configured to:

Obtaining information describing functions to be achieved by controlling the cleaning robot;

Based on the description information of the function, a target control logic for controlling the cleaning robot is formulated through the one or more target instruction blocks.

Fig. 13 is a structural diagram of a control device for a cleaning robot provided in an embodiment of the present application. As shown in Fig. 13 , the control device for a cleaning robot provided in an embodiment of the present application may specifically include a receiving unit 1301 and an executing unit 1302 .

The receiving unit 1301 is used to receive a target control code sent from a configuration end; wherein the target control code is generated by the configuration end according to a formulated target control logic, the configuration end receives one or more target instruction blocks selected from an instruction block panel in an instruction editor, and formulates a target control logic for controlling the cleaning robot through the one or more target instruction blocks; the configuration end provides a graphical interface, the interface includes the instruction block panel and the instruction editor, and the instruction block panel includes at least one instruction block;

The execution unit 1302 is used to execute the target control code to control the cleaning robot.

A possible implementation is provided in an embodiment of the present application, where the execution unit 1302 of the cleaning robot may include a code snippet manager and a code executor;

The code segment manager stores the target control code;

The code snippet manager loads the target control code into the code executor;

The code executor executes the target control code to control the cleaning robot.

A possible implementation method is provided in an embodiment of the present application, wherein the execution unit 1302 of the cleaning robot further includes a function server;

In the process of executing the target control code, the code executor customizes the functional service to the functional server when a functional service is involved, and the functional server subscribes to an event corresponding to the functional service from an IoT event bus;

When the code executor monitors the event corresponding to the functional service, it executes the control code of the event corresponding to the functional service to control the cleaning robot.

In an embodiment of the present application, a possible implementation method is provided, wherein the code executor starts a thread to execute the target control code, and during the execution of the target control code, checks the execution status of one or more of the following target control codes according to a set duration:

Whether the thread exists;

Whether the control code of the event response has any abnormality;

Whether the execution time of the target control code exceeds a preset threshold;

Whether the cleaning robot reports an error;

Whether a stop command sent from the configuration end is received;

When one or more of the following occurs: the thread does not exist, an exception occurs in the control code of the event response, the execution time of the target control code exceeds a preset threshold, the cleaning robot reports an error, or a stop command is received from the configuration end, the execution of the target control code is stopped.

An embodiment of the present application provides a possible implementation method, wherein the code snippet manager loads the target control code into the sandboxed code executor;

The code executor executes the target control code to control the cleaning robot, including:

The code executor executes the target control code in the sandbox to control the cleaning robot.

Based on the same inventive concept, an embodiment of the present application also provides a configuration end, including a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute any one of the above-mentioned embodiments of the control method of the cleaning robot applied to the configuration end.

Based on the same inventive concept, an embodiment of the present application further provides a storage medium, in which a computer program is stored, wherein the computer program is configured to execute, when running, a control method for a cleaning robot applied to a configuration end of any of the above embodiments.

Based on the same inventive concept, an embodiment of the present application also provides a cleaning robot, including a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute a control method of the cleaning robot applied to the cleaning robot of any one of the above embodiments.

Based on the same inventive concept, an embodiment of the present application further provides a storage medium, in which a computer program is stored, wherein the computer program is configured to execute, when running, a control method for a cleaning robot applied to a cleaning robot of any of the above embodiments.

Those skilled in the art can clearly understand that the specific working processes of the systems, devices, and modules described above can refer to the corresponding processes in the aforementioned method embodiments, and for the sake of brevity, they are not further described here.

Those skilled in the art can understand that the technical solution of the present application can be essentially or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, which includes a number of program instructions, so that an electronic device (such as a personal computer, a server, or a network device, etc.) executes all or part of the steps of the method described in each embodiment of the present application when running the program instructions. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

Alternatively, all or part of the steps of implementing the aforementioned method embodiments may be accomplished by hardware associated with program instructions (such as electronic devices such as personal computers, servers, or network devices), and the program instructions may be stored in a computer-readable storage medium. When the program instructions are executed by a processor of an electronic device, the electronic device executes all or part of the steps of the methods described in the embodiments of the present application.

The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that within the spirit and principles of the present application, they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate from the protection scope of the present application.

Claims (18)

A control method for a cleaning robot is applied to a configuration end, wherein the method comprises: Providing a graphical interface, the interface comprising an instruction block panel and an instruction editor, the instruction block panel comprising at least one instruction block; Receiving one or more target instruction blocks selected from the instruction block panel in the instruction editor, and formulating target control logic for controlling the cleaning robot through the one or more target instruction blocks; The cleaning robot is controlled according to the formulated target control logic. The method according to claim 1, wherein the instruction block includes at least one level one instruction block. The method according to claim 2, wherein the primary instruction block includes at least one secondary instruction block. The method according to claim 2 or 3, wherein receiving one or more target instruction blocks selected from the instruction block panel in the instruction editor comprises: One or more target instruction blocks selected from the primary instruction blocks and/or secondary instruction blocks of the instruction block panel are received in the instruction editor. According to the method according to any one of claims 2 to 4, at least one of the first-level instruction blocks includes one or more of an artificial intelligence instruction block, a sweep instruction block, a judgment instruction block, an action instruction block, a function instruction block, a loop and branch instruction block, an event instruction block, and other instruction blocks. According to the method of claim 5, if the first-level instruction block includes an artificial intelligence instruction block, at least one second-level instruction block under the first-level instruction block includes one or more of speech recognition, object recognition, stain recognition, and language recognition wake-up. According to the method according to claim 5, wherein, if the primary instruction block includes a cleaning instruction block, at least one secondary instruction block under the primary instruction block includes one or more of a cleaning position, a cleaning mode, and a suction force. The method according to any one of claims 1 to 7, wherein the target control logic for controlling the cleaning robot is formulated through the one or more target instruction blocks, comprising: Obtaining information describing functions to be achieved by controlling the cleaning robot; Based on the description information of the function, a target control logic for controlling the cleaning robot is formulated through the one or more target instruction blocks. A control method for a cleaning robot is applied to the cleaning robot, wherein the method comprises: Receive a target control code sent from a configuration end; wherein the target control code is generated by the configuration end according to a formulated target control logic, the configuration end receives one or more target instruction blocks selected from an instruction block panel in an instruction editor, and formulates a target control logic for controlling the cleaning robot through the one or more target instruction blocks; the configuration end provides a graphical interface, the interface includes the instruction block panel and the instruction editor, and the instruction block panel includes at least one instruction block; The target control code is executed to control the cleaning robot. The method according to claim 9, wherein the cleaning robot comprises a code snippet manager and a code executor; After receiving the target control code sent from the configuration end, the method further includes: The code segment manager stores the target control code; Executing the target control code to control the cleaning robot includes: The code snippet manager loads the target control code into the code executor; The code executor executes the target control code to control the cleaning robot. The method according to claim 10, wherein the cleaning robot further comprises a function server; The code executor executes the target control code to control the cleaning robot, including: In the process of executing the target control code, the code executor customizes the functional service to the functional server when a functional service is involved, and the functional server subscribes to an event corresponding to the functional service from an IoT event bus; When the code executor monitors the event corresponding to the functional service, it executes the control code of the event corresponding to the functional service to control the cleaning robot. The method according to claim 11, wherein the code executor executes the target control code to control the cleaning robot, comprising: The code executor starts a thread to execute the target control code, and during the execution of the target control code, checks the execution status of one or more of the following target control codes according to a set duration: Whether the thread exists; Whether the control code of the event response has any abnormality; Whether the execution time of the target control code exceeds a preset threshold; Whether the cleaning robot reports an error; Whether a stop command sent from the configuration end is received; When one or more of the following occurs: the thread does not exist, an exception occurs in the control code of the event response, the execution time of the target control code exceeds a preset threshold, the cleaning robot reports an error, or a stop command is received from the configuration end, the execution of the target control code is stopped. The method according to claim 10, wherein the code snippet manager loads the target control code into the code executor, comprising: The code snippet manager loads the target control code into the sandboxed code executor; The code executor executes the target control code to control the cleaning robot, including: The code executor executes the target control code in the sandbox to control the cleaning robot. A control device for a cleaning robot, applied to a configuration end, wherein the device comprises: A display unit, used for providing a graphical interface, the interface including an instruction block panel and an instruction editor, the instruction block panel including at least one instruction block; A formulation unit, configured to receive one or more target instruction blocks selected from the instruction block panel in the instruction editor, and formulate a target control logic for controlling the cleaning robot through the one or more target instruction blocks; A control unit is used to control the cleaning robot according to the formulated target control logic. A control device for a cleaning robot, applied to the cleaning robot, wherein the device comprises: A receiving unit, configured to receive a target control code sent from a configuration end; wherein the target control code is generated by the configuration end according to a formulated target control logic, the configuration end receives one or more target instruction blocks selected from an instruction block panel in an instruction editor, and formulates a target control logic for controlling the cleaning robot through the one or more target instruction blocks; the configuration end provides a graphical interface, the interface includes the instruction block panel and the instruction editor, and the instruction block panel includes at least one instruction block; An execution unit is used to execute the target control code to control the cleaning robot. A configuration end, comprising a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the control method of the cleaning robot according to any one of claims 1 to 8. A storage medium, wherein a computer program is stored in the storage medium, wherein the computer program is configured to execute the control method of the cleaning robot according to any one of claims 1 to 13 when running. A cleaning robot, comprising a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the control method of the cleaning robot according to any one of claims 9 to 13.