A control method, control system and logic module for a cleaning device

Abstract

The application provides a control method, system and logic module of a cleaning device, the control method comprises multiple sub-processes, the sub-processes comprise: determining a current working node of the cleaning device and reporting to a first state machine; constructing a node task about the first working node and issuing the node task to a preset second state machine; judging whether the node task has an execution condition or is executed completely; executing the node task when the execution condition is met; taking the first working node as the current working node of the cleaning device after the execution is completed; and reporting the execution of the node task to the first state machine. The scheme of the application realizes various complex function logics by using state machines. The function logics are realized by using the state machines, can be edited independently, and when the corresponding function logics are modified, only the corresponding state machines need to be modified independently, new function logics are convenient to add, and the overall framework has strong expansibility.

Description

Technical Field

[0001] The present invention relates to the field of intelligent cleaning, and in particular to a control method, a control system and a logic module of a cleaning device. Background Art

[0002] With the continuous development of electronic integration technology and the continuous improvement of users' requirements for cleaning, more and more modules are integrated into cleaning devices to expand the functions of the cleaning devices.

[0003] Prior art generally divides and defines multiple functional logic units within a logic module to control individual functions. These functional logic units are not physical entities, but rather are implemented by setting relevant functional codes within logic modules such as the CPU. During logic code editing, the various functional logic units intersect with each other, resulting in an extremely complex code structure. Modifying the parameters of a particular function often requires modifying the parameters of other functions, leading to overlap between functions.

[0004] For example, the working logic of a sweeping robot involves various functional links such as global positioning, map exploration, coverage sweeping, and returning to charging piles. The process is relatively complicated, so most of the time, logical methods such as conditional branching are used to implement various functional modules. Summary of the Invention

[0005] In view of this, the present invention proposes a control method, control system and logic module for a cleaning device, the specific scheme of which is as follows:

[0006] A control method for a cleaning device includes multiple sub-processes, each sub-process corresponding to at least two working nodes of the cleaning device; wherein one or more sub-processes include the following:

[0007] Determine the current working node of the cleaning device and report it to the preset first state machine;

[0008] Determine a first working node through the first state machine, construct a node task for the first working node, and send it to a preset second state machine; the first working node is the next working node corresponding to the current working node;

[0009] Determining whether the node task meets the execution conditions or has been completed through the second state machine; and executing the node task if the execution conditions are met; and after completion of execution, setting the first working node as the current working node of the cleaning device;

[0010] The execution status of the node task is reported to the first state machine, where the execution status includes whether the node task meets the execution conditions, whether the execution is completed, and the execution progress.

[0011] In a specific embodiment, before executing the node task, the second state machine further includes:

[0012] Reporting the node task to a preset main logic mechanism through the second state machine;

[0013] Starting a working mode related to the node task through the main logic mechanism and sending task information related to the node task;

[0014] In this working mode, the second state machine analyzes the validity of the task information within a preset period to determine whether the node task meets the execution conditions;

[0015] In this working mode, the node task is executed by the second state machine until the preset completion condition is met.

[0016] In a specific embodiment, when the node task meets the execution conditions:

[0017] The first task is issued to the second state machine through the first state machine, and the first auxiliary task is issued to the main logic mechanism at the same time, so that the main logic mechanism starts the working mode for the first auxiliary task, and assists the second state machine to execute the first task under this working mode, thereby realizing the execution of the node task.

[0018] In a specific embodiment, when the node task does not meet the execution conditions, a repair task for repairing the execution conditions of the node task is issued through the first state machine. The repair task includes a second task and a second auxiliary task, specifically including:

[0019] issuing the second task to the second state machine through the first state machine, and simultaneously issuing the second auxiliary task to the main logic mechanism, so that the main logic mechanism starts a working mode for the second auxiliary task;

[0020] Reporting the node task to a preset main logic mechanism through the second state machine;

[0021] In this working mode, the second state machine is assisted in executing the second task, thereby enabling the node task to meet the execution conditions.

[0022] In a specific embodiment, the working nodes of the cleaning device include idle nodes and non-idle nodes;

[0023] Whenever the cleaning device enters the non-idle node, the timing device is synchronously started;

[0024] When the time of the timing device is exhausted, the cleaning device is automatically converted from the non-idle node to the idle node.

[0025] In a specific embodiment, the main logic mechanism collects sensor data of the cleaning device to determine the current working node of the cleaning device for one or more sub-processes;

[0026] When the main logic mechanism releases sensor data about startup, one or more sub-processes corresponding to the current working node begin to execute.

[0027] A control system for a cleaning device includes a plurality of sub-process units, each of which corresponds to at least two working nodes of the cleaning device; wherein one or more sub-process units include the following:

[0028] A node determination module, configured to determine the current working node of the cleaning device and report the result to a preset first state machine;

[0029] A task construction module is used to determine a first working node through the first state machine, where the first working node is the next working node corresponding to the current working node, construct a node task for the first working node, and send it to a preset second state machine;

[0030] an execution module, configured to determine, through the second state machine, whether the node task meets the execution conditions or has been completed; and if the execution conditions are met, execute the node task; and after completion, use the first working node as the current working node of the cleaning device;

[0031] The reporting module is used to report the execution status of the node task to the first state machine, and the execution status includes whether the node task meets the execution conditions, whether the execution is completed, and the execution progress.

[0032] In a specific embodiment, the execution module further includes: before the second state machine executes the node task, reporting the node task to a preset main logic mechanism through the second state machine;

[0033] Starting a working mode related to the node task through the main logic mechanism and sending task information related to the node task;

[0034] In this working mode, the second state machine analyzes the validity of the task information within a preset period to determine whether the node task meets the execution conditions;

[0035] In this working mode, the node task is executed by the second state machine until the preset completion condition is met.

[0036] In a specific embodiment, the working nodes of the cleaning device include idle nodes and non-idle nodes; the control system further includes:

[0037] The timing module is provided with a timing device, which is used to synchronously start the timing device when the cleaning device enters the non-idle node; when the time of the timing device expires, the cleaning device automatically converts from the non-idle node to the idle node.

[0038] A logic module of a cleaning device, for executing any of the control methods described above, comprising a first state machine, a second state machine and a main logic mechanism;

[0039] The main logic mechanism is communicatively connected to the first state machine and the second state machine respectively, and the first state machine is communicatively connected to the second state machine;

[0040] The first state machine and the second state machine are independent of each other, so that when the control logic of one of the first state machine and the second state machine is changed, the control logic of the other of the first state machine and the second state machine is not affected.

[0041] Beneficial Effects: This invention provides a control method, system, and logic module for a cleaning device. These methods modularize and materialize the abstract functional logic within the cleaning device, implementing each complex functional logic using a state machine. This state machine implementation allows for independent editing of functional logic. Modifying a specific functional logic requires only searching for the corresponding state machine and making the changes individually, eliminating the need to modify other intersecting functional logic. This facilitates the addition of new functional logic, making the overall framework highly scalable. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a flow chart of the control method proposed in an embodiment of the present invention;

[0043] Figure 2 This is a schematic diagram of a complete control method flow chart proposed in an embodiment of the present invention;

[0044] Figure 3 This is a schematic diagram of the principle of the embodiment of the present invention with execution conditions;

[0045] Figure 4 This is a schematic diagram of the principle of the embodiment of the present invention that does not meet the execution conditions;

[0046] Figure 5 This is a schematic diagram of the logic module structure proposed in an embodiment of the present invention;

[0047] Figure 6 It is a schematic diagram of the control system module proposed in an embodiment of the present invention.

[0048] Figure numerals: A1 - node determination module; A2 - task construction module; A3 - execution module; A4 - reporting module; A5 - timing module; 1 - first state machine; 2 - second state machine; 3 - main logic mechanism. DETAILED DESCRIPTION

[0049] Hereinafter, various embodiments of the present disclosure will be described more fully. The present disclosure may have various embodiments, and modifications and variations may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present disclosure to the specific embodiments disclosed herein, but rather that the present disclosure should be construed to encompass all modifications, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of the present disclosure.

[0050] The present invention provides a control method, system and logic module for a cleaning device. Figure 1-6 .

[0051] Example 1

[0052] Embodiment 1 of the present invention discloses a control method for a cleaning device, which modularizes and materializes the abstract functional logic in the cleaning device and uses a state machine to implement each complex functional logic. The specific process of the control method is shown in the attached manual. Figure 1 shown.

[0053] A control method for a cleaning device includes multiple sub-processes. A functional logic can be implemented through one or more sub-processes, making the overall framework highly scalable. In this embodiment, each sub-process corresponds to at least two working nodes of the cleaning device, and the cleaning device has a corresponding working state at each working node. The working states include idle state, charging state, waiting state, and different degrees of cleaning state. For example, in the charging-related sub-process, the cleaning device enters the charging node from the working node before charging. The working node before charging can be in a cleaning state, idle state, etc., and the charging node is in a charging state.

[0054] Preferably, different sub-processes may include the same or different logic. The flowchart of one or more sub-processes is shown in the attached specification. Figure 1 As shown, the scheme is as follows:

[0055] 101. Determine the current working node of the cleaning device and report it to a preset first state machine;

[0056] 102. Determine a first working node through a first state machine, where the first working node is the next working node corresponding to the current working node, construct a node task for the first working node, and send it to a preset second state machine;

[0057] 103. Determine, through the second state machine, whether the node task meets the execution conditions or has been completed; and if the execution conditions are met, execute the node task; and after the execution is completed, set the first working node as the current working node of the cleaning device;

[0058] 104. Report the execution status of the node task to the first state machine. The execution status includes whether the node task meets the execution conditions, whether the execution is completed, and the execution progress.

[0059] The control method of this embodiment is applicable to a cleaning device including a first state machine, a second state machine and a main logic mechanism. The complete process is as shown in the attached manual. Figure 2 As shown. The first state machine, the second state machine and the main logic mechanism transmit information by sending messages. By cooperating with each other, the complex control logic of all or part of the cleaning device can be realized, making the overall framework highly scalable. Among them, the main logic mechanism is used to control various hardware modules on the cleaning device to realize functions such as controlling the robot's movement, turning, and collecting data. For example, in a sweeping robot, the main logic mechanism includes a control module, a mapping module, an Internet of Things client, etc. The mapping module involves the construction and confirmation of map information in the sweeping robot, and the Internet of Things client is used to realize the interaction between the sweeping robot and the server.

[0060] Among them, the first state machine and the second state machine are independent of each other, and in the actual operation process, the first state machine and the second state machine communicate and interact with each other. When the first state machine performs a certain task, the second state machine must participate. However, the first state machine and the second state machine are two independent state machines. When the control logic of the first state machine is modified, it will not affect the control logic inside the second state machine, and there is no need to modify the control logic of the second state machine. In the prior art, the functional modules in the cleaning device are virtualized, and there are a large number of cross-relationships between the modules, which "affects the whole body". The control method implemented in this embodiment materializes the functional modules and can be edited independently. When modifying the corresponding functional logic, it is only necessary to find the corresponding state machine and modify it separately. There is no need to modify other functional logics with cross-relationships, which facilitates the addition of new functional logic, making the overall framework highly scalable.

[0061] It should be noted that the state machine of this embodiment, comprised of state registers and combinational logic circuits, can transition between pre-set states based on control signals. It serves as a control center that coordinates related signal actions and completes specific operations, operating in response to a series of events. Each event falls within the control scope of the transition function belonging to the current node. The state machine, including both Moore and Mealy state machines, can decompose complex control logic into a finite number of stable states, assessing events in each state and transforming continuous processing into discrete digital processing.

[0062] Before the second state machine executes the node task, the process also includes: reporting the node task to a preset main logic mechanism via the second state machine; initiating a working mode associated with the node task via the main logic mechanism and transmitting task information associated with the node task, which may be various data, including sensor data. In this working mode, the second state machine analyzes the validity of the task information within a preset time period to determine whether the node task meets the execution conditions; and in this working mode, the second state machine executes the node task until the preset completion conditions are met.

[0063] In some sub-processes, the execution of node tasks requires the assistance of other hardware of the sweeping robot. This embodiment implements this method through the main logic mechanism and uses it as the working mode. In the sweeping robot, the working mode includes positioning mode, mapping mode, etc. In this embodiment, the second state machine will send information to the main logic mechanism to run the relevant working mode. During the operation of the working mode, the main logic mechanism will detect the status of the cleaning device through sensors and collect some data to feed back to the second state machine.

[0064] During global positioning, it is necessary to determine whether the feedback posture obtained by the main logic mechanism is valid. If the posture is valid, global positioning is valid. Therefore, before executing a node task, it is necessary to accurately determine whether the task can be executed, that is, whether the execution conditions are met. Only when the execution conditions are met can the hardware modules in the cleaning device be controlled to perform the relevant actions. When the execution conditions are not met, the execution conditions need to be constructed or repaired to enable the task to be executed. For example, when global positioning cannot be performed due to map issues, the execution conditions for global positioning are not met at this time. Map information needs to be constructed to compensate for the execution conditions so that the global positioning task can proceed smoothly.

[0065] Specifically, as shown in the appendix to the manual Figure 3 As shown, when the node task meets the execution conditions: the first task is issued to the second state machine through the first state machine, and the first auxiliary task is issued to the main logic mechanism at the same time, so that the main logic mechanism starts the working mode for the first auxiliary task and assists the second state machine in executing the first task under this working mode, thereby realizing the execution of the node task. For example, the first state machine issues a node task of global positioning to the second state machine, and the second state machine sends the task to the mapping module in the main logic mechanism to start the global positioning mode. At the same time, it also sends the task to the control module in the main logic mechanism. The control module controls the hardware structure in the sweeping robot to execute the task and start global positioning.

[0066] Specifically, as shown in the appendix to the manual Figure 4As shown, when the node task does not meet the execution conditions, the first state machine issues a patch task to fix the execution conditions of the node task. The patch task includes a second task and a second auxiliary task. Specifically, the first state machine issues the second task to the second state machine and simultaneously issues the second auxiliary task to the main logic unit, causing the main logic unit to activate the operating mode for the second auxiliary task; the second state machine reports the node task to the preset main logic unit; and assists the second state machine in executing the second task under this operating mode, thereby meeting the execution conditions for the node task. For example, if global positioning fails, a map must be constructed to execute the task. The first state machine issues a map exploration node task to the second state machine, which then sends the task to the mapping module in the main logic unit to activate mapping mode and initiate exploration. During the exploration process, the second state machine calculates the next target area and sends the speed of the cleaning device to the main logic unit. When all areas are explored, the second state machine sends a message to the first state machine indicating that the map has been created. When the map is constructed, the first state machine issues a full cleaning task, and the second state machine calculates the cleaning path before beginning the cleaning task.

[0067] Preferably, the cleaning device's working nodes include both idle and non-idle nodes. Time monitoring is required for the transition from idle to non-idle nodes. Whenever an idle state transitions to a non-idle state, or vice versa, a timer is activated. When the timer expires, the current state returns to the idle state. The introduction of a timer prevents tasks from taking too long to execute, effectively improving the cleaning device's logical execution efficiency.

[0068] Preferably, the main logic unit collects sensor data from the cleaning device to determine the current operating node of one or more sub-processes. When the main logic unit releases sensor data regarding startup, one or more sub-processes corresponding to the current operating node begin execution. The main logic unit, serving as the hardware control center for the cleaning device, is capable of monitoring the operating status of various components of the cleaning device and determining the current operating node through sensors. This sensor data is fed back to the first state machine and the second state machine. For example, when the cleaning device is charging, circuit information can be monitored by relevant sensors to determine the current operating node of the cleaning device.

[0069] The interactive relationship between the first state machine, the second state machine and the main logic mechanism is shown in the appendix of the specification. Figure 5As shown in the figure, the main logic mechanism sends corresponding sensor data to the first and second state machines to facilitate the determination of task execution by the cleaning device's hardware. The first state machine issues the node task and the first task to the second state machine, which then provides feedback on task execution. The first state machine issues the second auxiliary task and the first auxiliary task to the main logic mechanism, which also provides feedback on task execution via sensor data. The second state machine then sends the task to the main logic mechanism, initiating the relevant operating mode.

[0070] This embodiment provides a control method for a cleaning device that modularizes and materializes the abstract functional logic within the cleaning device, implementing each complex functional logic using a state machine. Implementing functional logic using a state machine allows for independent editing. When modifying a specific functional logic, one only needs to find the corresponding state machine and modify it individually, eliminating the need to modify other intersecting functional logic. This facilitates the addition of new functional logic, making the overall framework highly scalable.

[0071] Example 2

[0072] The second embodiment of the present invention discloses a control device for cleaning equipment, which systematizes the control method of the cleaning equipment in the first embodiment to make it more practical. Figure 6 The specific plan is as follows:

[0073] A control system for a cleaning device includes a plurality of sub-process units, each of which corresponds to at least two working nodes of the cleaning device; wherein one or more sub-process units include the following:

[0074] The node determination module A1 is used to determine the current working node of the cleaning device and report it to the preset first state machine 1;

[0075] The task construction module A2 is used to determine the first working node through the first state machine 1, construct a node task for the first working node, and send it to the preset second state machine 2; wherein the first working node is the next working node corresponding to the current working node;

[0076] The execution module A3 is used to determine whether the node task meets the execution conditions or has been completed through the second state machine 2; and if the execution conditions are met, execute the node task; and after the execution is completed, set the first working node as the current working node of the cleaning device;

[0077] The reporting module A4 is used to report the execution status of the node task to the first state machine 1. The execution status includes whether the node task meets the execution conditions, whether the execution is completed, and the execution progress.

[0078] The execution module A3 further includes: before the second state machine 2 executes the node task, the second state machine 2 reports the node task to the preset main logic mechanism 3;

[0079] Start the working mode related to the node task through the main logic mechanism 3 and send the task information related to the node task;

[0080] In this working mode, the second state machine 2 analyzes the validity of the task information within a preset period to determine whether the node task meets the execution conditions;

[0081] In this working mode, the node task is executed by the second state machine 2 until the preset completion condition is met.

[0082] The working nodes of the cleaning device include idle nodes and non-idle nodes; the control system also includes:

[0083] The timing module A5 is provided with a timing device, which is used to synchronously start the timing device when the cleaning device enters a non-idle node; when the time of the timing device expires, the cleaning device automatically converts from a non-idle node to an idle node.

[0084] This embodiment provides a control system for a cleaning device, which systematizes the control method of embodiment 1 to make it more practical.

[0085] Example 3

[0086] This embodiment provides a logic module for a cleaning device, which can be used in a cleaning device. The relationship between the components in the logic module is shown in the attached manual. Figure 5 The specific plan is as follows:

[0087] A logic module of a cleaning device, used to execute the control method of embodiment 1, the logic module comprising a first state machine 1, a second state machine 2 and a main logic mechanism 3;

[0088] The main logic mechanism 3 is respectively connected to the first state machine 1 and the second state machine 2 in communication, and the first state machine 1 is in communication with the second state machine 2;

[0089] The first state machine 1 and the second state machine 2 are independent of each other, so that when the control logic of one of the first state machine 1 and the second state machine 2 is changed, the control logic of the other one of the first state machine 1 and the second state machine 2 is not affected.

[0090] This embodiment provides a logic module of a cleaning device, which can implement the control method of embodiment 1.

[0091] This invention provides a control method, system, and logic module for a cleaning device. These methods modularize and materialize the abstract functional logic within the cleaning device, implementing each complex functional logic using a state machine. This state machine implementation allows for independent editing of functional logic. Modifying a specific functional logic requires only searching the corresponding state machine and making the changes individually, eliminating the need to modify other intersecting functional logic. This facilitates the addition of new functional logic and makes the overall framework highly scalable.

[0092] Those skilled in the art will appreciate that the accompanying drawings are merely schematic diagrams of a preferred implementation scenario, and that the modules or processes depicted in the drawings are not necessarily required to implement the present invention. Those skilled in the art will appreciate that the modules within the devices within the implementation scenarios may be distributed throughout the devices within the implementation scenarios as described in the implementation scenarios, or may be modified accordingly and located within one or more devices different from the implementation scenarios.

Claims

1. A method for controlling a cleaning device, characterized in that: It includes multiple sub-processes, each sub-process corresponds to at least two working nodes of the cleaning device; wherein one or more sub-processes include the following: Determine the current working node of the cleaning device and report it to the preset first state machine; Determine a first working node through the first state machine, construct a node task for the first working node, and send it to a preset second state machine; the first working node is the next working node corresponding to the current working node; Determine whether the node task meets the execution conditions or has been completed through the second state machine; And when the execution conditions are met, execute the node task; After the execution is completed, the first working node is used as the current working node of the cleaning device; Reporting the execution status of the node task to the first state machine, the execution status including whether the node task meets the execution conditions, whether the execution is completed, and the execution progress; Wherein, the working nodes of the cleaning device include idle nodes and non-idle nodes; Whenever the cleaning device enters the non-idle node, the timing device is synchronously started; When the time of the timing device is exhausted, the cleaning device is automatically converted from the non-idle node to the idle node.

2. The control method according to claim 1, characterized in that: Before executing the node task, the second state machine further includes: Reporting the node task to a preset main logic mechanism through the second state machine; Starting a working mode related to the node task through the main logic mechanism and sending task information related to the node task; In this working mode, the second state machine analyzes the validity of the task information within a preset period to determine whether the node task meets the execution conditions; In this working mode, the node task is executed by the second state machine until the preset completion condition is met.

3. The control method according to claim 2, characterized in that: When the node task meets the execution conditions: The first task is issued to the second state machine through the first state machine, and the first auxiliary task is issued to the main logic mechanism at the same time, so that the main logic mechanism starts the working mode for the first auxiliary task, and assists the second state machine to execute the first task under this working mode, thereby realizing the execution of the node task.

4. The control method according to claim 3, characterized in that: When the node task does not meet the execution conditions, a repair task for repairing the execution conditions of the node task is issued through the first state machine, and the repair task includes a second task and a second auxiliary task, specifically including: issuing the second task to the second state machine through the first state machine, and simultaneously issuing the second auxiliary task to the main logic mechanism, so that the main logic mechanism starts a working mode for the second auxiliary task; Reporting the node task to a preset main logic mechanism through the second state machine; In this working mode, the second state machine is assisted in executing the second task, thereby enabling the node task to meet the execution conditions.

5. The control method according to claim 2, characterized in that: Collect sensor data of the cleaning device through the main logic mechanism to determine the current working node of the cleaning device for one or more sub-processes; When the main logic mechanism releases sensor data about startup, one or more sub-processes corresponding to the current working node begin to execute.

6. A control system for a cleaning device, characterized in that: It includes multiple sub-process units, each sub-process unit corresponds to at least two working nodes of the cleaning device; wherein one or more sub-process units include the following: A node determination module, configured to determine the current working node of the cleaning device and report the result to a preset first state machine; A task construction module is used to determine a first working node through the first state machine, where the first working node is the next working node corresponding to the current working node, construct a node task for the first working node, and send it to a preset second state machine; An execution module, configured to determine, through the second state machine, whether the node task meets the execution conditions or has been completed; And when the execution conditions are met, execute the node task; After the execution is completed, the first working node is used as the current working node of the cleaning device; A reporting module, configured to report the execution status of the node task to the first state machine, wherein the execution status includes whether the node task meets the execution conditions, whether the execution is completed, and the execution progress; The working nodes of the cleaning device include idle nodes and non-idle nodes; the control system also includes: The timing module is provided with a timing device, which is used to synchronously start the timing device when the cleaning device enters the non-idle node; when the time of the timing device expires, the cleaning device automatically converts from the non-idle node to the idle node.

7. The control system according to claim 6, characterized in that: The execution module further includes: before the second state machine executes the node task, reporting the node task to a preset main logic mechanism through the second state machine; Starting a working mode related to the node task through the main logic mechanism and sending task information related to the node task; In this working mode, the second state machine analyzes the validity of the task information within a preset period to determine whether the node task meets the execution conditions; In this working mode, the node task is executed by the second state machine until the preset completion condition is met.

8. A logic module of a cleaning device, characterized in that: Used to execute the control method according to any one of claims 1 to 5, comprising a first state machine, a second state machine and a main logic mechanism; The main logic mechanism is communicatively connected to the first state machine and the second state machine respectively, and the first state machine is communicatively connected to the second state machine; The first state machine and the second state machine are independent of each other, so that when the control logic of one of the first state machine and the second state machine is changed, the control logic of the other of the first state machine and the second state machine is not affected.

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