Indoor mobile robot control system and method based on low-code platform

Abstract

The invention provides an indoor mobile robot control system and method based on a low-code platform, and belongs to the technical field of robot control. The system comprises a robot terminal subsystem and a robot configuration platform subsystem; the robot terminal subsystem comprises a control module, a robot vehicle body, a driving module and a sensing module; and the robot configuration platform subsystem is used for communicating with the control module, remotely controlling the robot vehicle body to operate in the target environment, acquiring operation data of the robot vehicle body in the target environment, and interacting with a user to perform automatic operation rule configuration of the robot vehicle body in the target environment. Through the configuration of the human-computer interaction interface of the low-code platform, programming of autonomous operation of the indoor mobile robot is carried out, when different scene changes are coped, programming can be carried out again through the low-code platform so as to adapt to new requirements, the programming efficiency of robot control is improved, and the flexibility of different scenes is met.

Description

Technical Field

[0001] The present invention belongs to the field of robot control technology, and specifically relates to an indoor mobile robot control system and method based on a low-code platform. Background Art

[0002] With the development of robot technology, indoor mobile robots have been widely used in industrial automation, warehousing and logistics, smart home, medical care, security inspection and patrol, etc., bringing convenience to various fields. At present, the functional control of mobile robots is mainly autonomous navigation and obstacle avoidance, but the realization of these functions requires professional technicians to program and control the mobile robots. During the programming process, it is necessary to build a mathematical model for a specific application scenario, and then write the underlying control program of the mobile robot based on the built mathematical model. Although this method can achieve precise control of the mobile robot, when the application scenario changes, it is necessary to rebuild the mathematical model and then rewrite the underlying control program of the mobile robot. This method is very cumbersome and has high technical requirements for programmers, resulting in low control efficiency of existing indoor mobile robots, high requirements for programmers, long control program development cycle, and large workload, which leads to an increase in the overall cost of indoor mobile robots and limits the promotion and development of indoor mobile robots.

[0003] This is the shortcoming of the existing technology. Therefore, in view of the above-mentioned defects in the existing technology, it is very necessary to provide an indoor mobile robot control system and method based on a low-code platform. Summary of the invention

[0004] In view of the defect that the function control of the above-mentioned indoor mobile robot in the prior art requires professional and technical personnel to build a mathematical model according to the application scenario, and then write the underlying control program based on the mathematical model, and then reprogram it when the application scenario changes, the present invention provides an indoor mobile robot control system and method based on a low-code platform to solve the above-mentioned technical problems.

[0005] In a first aspect, the present invention provides an indoor mobile robot control system based on a low-code platform, including a robot terminal subsystem and a robot configuration platform subsystem;

[0006] The robot terminal subsystem includes a control module, a robot body, a drive module, and a sensor module;

[0007] The robot configuration platform subsystem is used to communicate with the control module, remotely control the robot body to operate in the target environment, obtain the operation data of the robot body in the target environment, and interact with the user to configure the automatic operation rules of the robot body in the target environment;

[0008] The control module is used to receive the remote control instructions issued by the robot configuration platform subsystem, control the drive module to drive the robot body to operate in the target environment according to the remote control instructions, obtain the operation data of the robot in the target environment collected by the sensor module and forward it to the robot configuration platform subsystem, and receive the automatic operation rules issued by the robot configuration platform subsystem, and control the drive module to drive the robot body to automatically operate in the target environment according to the automatic operation rules.

[0009] Furthermore, the robot body is provided with a DC motor, and the driving module adopts a motor driving module;

[0010] The control module is connected to the motor drive module, and the motor drive module is connected to the DC motor;

[0011] The control module drives the DC motor through the motor drive module to drive the movement of the robot body;

[0012] The sensing module includes a wheel odometer, an inertial measurement sensor and an ultrasonic sensor unit, and the wheel odometer, the inertial measurement sensor and the ultrasonic sensor unit are all arranged on the robot body;

[0013] The ultrasonic sensor unit includes three ultrasonic sensors, which are respectively arranged on the front side, left side and right side of the robot body;

[0014] The wheel odometer collects the movement distance collected by the robot, and the inertial measurement sensor collects the angle and offset information of the robot body movement;

[0015] The three ultrasonic sensors respectively collect the distance between the target environment and the front, left and right sides of the robot body. Furthermore, the robot configuration platform subsystem includes a robot remote control module, an environmental experience data storage module, a robot automatic operation configuration module and a configuration distribution module;

[0016] The robot remote control module is used to interact with the user, control the speed, direction and angle of the robot in the target environment, and display the real-time collected operation data;

[0017] The environment experience data storage module is used to store the operation data of the robot body in the target environment according to the remote control command through the database;

[0018] The robot automatically runs the configuration module, which is used to respond to the user to configure sensor attributes according to the target environment, perform feature description of sensor data, configure the logical relationship between sensor data features and execute action generation rules, and select rules for feature points in the navigation path;

[0019] The configuration and delivery module is used to compile the rules for configuring the sensor data features according to the target environment and generate instructions to be delivered to the robot terminal subsystem.

[0020] Furthermore, the robot remote control module includes:

[0021] The action control unit is used to receive the user's forward, backward, left turn, right turn and stop instructions through the action component, and send the corresponding action instructions to the robot terminal subsystem after the action button is triggered; the adjustment control unit is used to receive the user's speed adjustment instructions and angle adjustment instructions through the slider component, and send the corresponding speed value and angle value to the robot terminal subsystem according to the position of the corresponding slider component;

[0022] The sensor data display unit is used to display the moving angle, moving speed, moving distance and the distance between the target environment and the front, left and right sides of the robot body collected by the robot terminal subsystem through the sensor module.

[0023] Furthermore, the robot automatic operation configuration module includes:

[0024] An ultrasonic sensor semantic configuration unit, used to define semantic information of the distance measured by the ultrasonic sensor according to a preset number of categories;

[0025] A sensor attribute configuration unit, configured to respond to a user configuring sensor attributes of a map feature point in a target environment, wherein the sensor attributes include a priority attribute and a sampling phase attribute;

[0026] A sensor data feature display unit is used to filter the sensor data according to the configured sensor data, integrate the filtered sensor data of adjacent feature points, match them with a preset sensor change feature model, obtain a feature description of the sensor data, and display the sensor data features and the matched sensor change feature model;

[0027] The sensor data feature logic configuration unit is used to respond to the user's configuration of the logical relationship between the sensor data features, and configure the execution actions and control attributes corresponding to the logical relationship to form rules; the rule and navigation configuration unit is used to respond to the user's selection of map feature points in the target environment according to the navigation path, and add rules to the selected feature points to complete the navigation configuration.

[0028] Furthermore, the control module includes:

[0029] The instruction parsing unit is used to receive instructions issued by the robot configuration platform subsystem and parse out the rule content;

[0030] A rule matching unit is used to obtain and analyze sensor data, match the sensor data with the parsed rules, and add the matched rules to the queue in sequence;

[0031] The rule execution unit is used to sort the control strategies corresponding to the rules in the queue according to the priority, and control the robot body to execute in the order of priority.

[0032] In a second aspect, the present invention provides an indoor mobile robot control method based on a low-code platform, comprising the following steps:

[0033] S1. Build a robot configuration platform subsystem based on the low-code platform, and set up the robot remote control module, environmental experience data storage module and robot automatic operation configuration module of the robot configuration platform subsystem;

[0034] S2. The robot remote control module interacts with the user to control the speed, direction and angle of the robot in the target environment, and displays the real-time collected operation data;

[0035] S3. The robot automatic operation configuration module responds to the user to configure sensor attributes according to the target environment, perform feature description of sensor data, configure logical relationships between sensor data features and execute action generation rules and select rules for feature points in the navigation path;

[0036] S4. The configuration issuing module compiles the rules for configuring the sensor data features according to the target environment and generates instructions to issue to the robot terminal subsystem;

[0037] S5. The robot terminal subsystem receives and parses the instructions to obtain automatic operation rules, and controls the driving module according to the automatic operation rules to drive the robot body to automatically operate in the target environment.

[0038] Furthermore, the specific steps of step S2 are as follows:

[0039] S21. Respond to the forward, backward, left turn, right turn and stop commands sent by the user through the action component, and send the corresponding action command to the robot terminal subsystem after the action button is triggered;

[0040] S22. Respond to the user's speed adjustment command and angle adjustment command through the slider component, and send the corresponding speed value and angle value to the robot terminal subsystem according to the position of the corresponding slider component;

[0041] S23. Display the moving angle, moving speed, moving distance, and the distance between the target environment and the front, left, and right sides of the robot body collected by the robot terminal subsystem through the sensor module.

[0042] Furthermore, the specific steps of step S3 are as follows:

[0043] S31. Defining semantic information of the distance measured by the ultrasonic sensor according to a preset number of categories;

[0044] S32. In response to the user configuring the sensor attributes of the map feature points in the target environment, the sensor attributes include priority attributes and sampling stage attributes;

[0045] S33. Filter the sensor data according to the configured sensor data, integrate the sensor data of the adjacent feature points that have been filtered out, and then match them with the preset sensor change feature model to obtain a feature description of the sensor data, and display the sensor data features and the matching sensor change feature model;

[0046] S34. Responding to the user configuring the logical relationship between the data features of the sensor, and configuring the execution actions and control attributes corresponding to the logical relationship to form a rule;

[0047] S35. In response to the user selecting map feature points in the target environment in sequence according to the navigation path, and adding rules for the selected feature points, the navigation configuration is completed.

[0048] Furthermore, the specific steps of step S5 are as follows:

[0049] S51. Receive instructions issued by the robot configuration platform subsystem and parse the rule content;

[0050] S52. Acquire and analyze sensor data, match the sensor data with the parsed rules, and add the matching rules to the queue in sequence;

[0051] S53. Sort the control strategies corresponding to the rules in the queue according to priority, and control the robot body to execute in order of priority.

[0052] The beneficial effects of the present invention are:

[0053] The indoor mobile robot control system and method based on a low-code platform provided by the present invention can program the autonomous operation of the indoor mobile robot through the configuration of the human-computer interaction interface of the low-code platform. When responding to different scene changes, the low-code platform can also be used to reprogram to adapt to new needs, thereby improving the programming efficiency of robot control and meeting the flexibility of different scenarios.

[0054] In addition, the invention has a reliable design principle, a simple structure and a very broad application prospect.

[0055] It can be seen that compared with the prior art, the present invention has outstanding substantive features and significant progress, and the beneficial effects of its implementation are also obvious. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0057] Figure 1 This is a schematic diagram of the indoor mobile robot control system based on the low-code platform of the present invention.

[0058] Figure 2 It is a schematic flow chart of the indoor mobile robot control method based on the low-code platform of the present invention. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0060] See also Figure 1 Shown is a specific implementation of an indoor mobile robot control system based on a low-code platform, including a robot terminal subsystem and a robot configuration platform subsystem;

[0061] The robot terminal subsystem includes a control module, a robot body, a drive module, and a sensor module;

[0062] The robot configuration platform subsystem is used to communicate with the control module, remotely control the robot body to operate in the target environment, obtain the operation data of the robot body in the target environment, and interact with the user to configure the automatic operation rules of the robot body in the target environment;

[0063] The control module is used to receive the remote control instructions issued by the robot configuration platform subsystem, control the drive module to drive the robot body to operate in the target environment according to the remote control instructions, obtain the operation data of the robot in the target environment collected by the sensor module and forward it to the robot configuration platform subsystem, and receive the automatic operation rules issued by the robot configuration platform subsystem, and control the drive module to drive the robot body to automatically operate in the target environment according to the automatic operation rules.

[0064] In this embodiment, the robot body is provided with a DC motor, and the driving module adopts a motor driving module;

[0065] The control module is connected to the motor drive module, and the motor drive module is connected to the DC motor;

[0066] The control module drives the DC motor through the motor drive module to drive the movement of the robot body;

[0067] The sensing module includes a wheel odometer, an inertial measurement sensor and an ultrasonic sensor unit, and the wheel odometer, the inertial measurement sensor and the ultrasonic sensor unit are all arranged on the robot body;

[0068] The ultrasonic sensor unit includes three ultrasonic sensors, which are respectively arranged on the front side, left side and right side of the robot body;

[0069] The wheel odometer collects the movement distance collected by the robot, and the inertial measurement sensor collects the angle and offset information of the robot body movement;

[0070] The three ultrasonic sensors respectively collect the distance between the target environment and the front, left and right sides of the robot body; the robot configuration platform subsystem includes a robot remote control module, an environmental experience data storage module, a robot automatic operation configuration module and a configuration distribution module;

[0071] The robot remote control module is used to interact with the user, control the speed, direction and angle of the robot in the target environment, and display the real-time collected operation data;

[0072] The environment experience data storage module is used to store the operation data of the robot body in the target environment according to the remote control command through the database;

[0073] The robot automatically runs the configuration module, which is used to respond to the user to configure sensor attributes according to the target environment, perform feature description of sensor data, configure the logical relationship between sensor data features and execute action generation rules, and select rules for feature points in the navigation path;

[0074] The configuration and delivery module is used to compile the rules for configuring the sensor data features according to the target environment and generate instructions to be delivered to the robot terminal subsystem;

[0075] The robot remote control module includes:

[0076] The action control unit is used to receive the user's forward, backward, left turn, right turn and stop instructions through the action component, and send the corresponding action instructions to the robot terminal subsystem after the action button is triggered; the adjustment control unit is used to receive the user's speed adjustment instructions and angle adjustment instructions through the slider component, and send the corresponding speed value and angle value to the robot terminal subsystem according to the position of the corresponding slider component;

[0077] A sensor data display unit is used to display the moving angle, moving speed, moving distance, and the distance between the target environment and the front, left, and right sides of the robot body collected by the robot terminal subsystem through the sensor module;

[0078] The robot automatic operation configuration module includes:

[0079] An ultrasonic sensor semantic configuration unit, used to define semantic information of the distance measured by the ultrasonic sensor according to a preset number of categories;

[0080] A sensor attribute configuration unit, configured to respond to a user configuring sensor attributes of a map feature point in a target environment, wherein the sensor attributes include a priority attribute and a sampling phase attribute;

[0081] A sensor data feature display unit is used to filter the sensor data according to the configured sensor data, integrate the filtered sensor data of adjacent feature points, match them with a preset sensor change feature model, obtain a feature description of the sensor data, and display the sensor data features and the matched sensor change feature model;

[0082] The sensor data feature logic configuration unit is used to respond to the user's configuration of the logical relationship between the sensor data features, and configure the execution actions and control attributes corresponding to the logical relationship to form rules; the rule and navigation configuration unit is used to respond to the user's selection of map feature points in the target environment according to the navigation path, and add rules to the selected feature points to complete the navigation configuration;

[0083] The control module includes:

[0084] The instruction parsing unit is used to receive instructions issued by the robot configuration platform subsystem and parse out the rule content;

[0085] A rule matching unit is used to obtain and analyze sensor data, match the sensor data with the parsed rules, and add the matched rules to the queue in sequence;

[0086] The rule execution unit is used to sort the control strategies corresponding to the rules in the queue according to the priority, and control the robot body to execute in the order of priority.

[0087] The following is an embodiment of the indoor mobile robot control method based on a low-code platform provided in an embodiment of the present disclosure. This method and the indoor mobile robot control systems based on a low-code platform in the above-mentioned embodiments belong to the same inventive concept. For details not described in detail in the embodiment of the indoor mobile robot control method based on a low-code platform, please refer to the above-mentioned embodiment of the indoor mobile robot control system based on a low-code platform.

[0088] like Figure 2 As shown, the method comprises the following steps:

[0089] S1. Build a robot configuration platform subsystem based on the low-code platform, and set up the robot remote control module, environmental experience data storage module and robot automatic operation configuration module of the robot configuration platform subsystem;

[0090] S2. The robot remote control module interacts with the user to control the speed, direction and angle of the robot in the target environment, and displays the real-time collected operation data;

[0091] S3. The robot automatic operation configuration module responds to the user to configure sensor properties according to the target environment, perform feature description of sensor data, configure logical relationships between sensor data features and execution action generation rules, and select rules for feature points in the navigation path;

[0092] S4. The configuration issuing module compiles the rules for configuring the sensor data features according to the target environment and generates instructions to issue to the robot terminal subsystem;

[0093] S5. The robot terminal subsystem receives and parses the instructions to obtain automatic operation rules, and controls the driving module according to the automatic operation rules to drive the robot body to automatically operate in the target environment.

[0094] In this embodiment, the specific steps of step S2 are as follows:

[0095] S21. Respond to the forward, backward, left turn, right turn and stop commands sent by the user through the action component, and send the corresponding action command to the robot terminal subsystem after the action button is triggered;

[0096] S22. Respond to the user's speed adjustment command and angle adjustment command through the slider component, and send the corresponding speed value and angle value to the robot terminal subsystem according to the position of the corresponding slider component;

[0097] S23. Display the moving angle, moving speed, moving distance and the distance between the target environment and the front, left and right sides of the robot body collected by the robot terminal subsystem through the sensor module; the specific steps of step S3 are as follows:

[0098] S31. Defining semantic information of the distance measured by the ultrasonic sensor according to a preset number of categories;

[0099] S32. In response to the user configuring the sensor attributes of the map feature points in the target environment, the sensor attributes include priority attributes and sampling stage attributes;

[0100] S33. Filter the sensor data according to the configured sensor data, integrate the sensor data of the adjacent feature points that have been filtered out, and then match them with the preset sensor change feature model to obtain a feature description of the sensor data, and display the sensor data features and the matching sensor change feature model;

[0101] S34. Responding to the user configuring the logical relationship between the data features of the sensor, and configuring the execution actions and control attributes corresponding to the logical relationship to form a rule;

[0102] S35. In response to the user selecting map feature points in the target environment in turn according to the navigation path, and adding rules for the selected feature points to complete the navigation configuration;

[0103] The specific steps of step S5 are as follows:

[0104] S51. Receive instructions issued by the robot configuration platform subsystem and parse the rule content;

[0105] S52. Acquire and analyze sensor data, match the sensor data with the parsed rules, and add the matching rules to the queue in sequence;

[0106] S53. Sort the control strategies corresponding to the rules in the queue according to priority, and control the robot body to execute in order of priority.

[0107] It should be understood that the order of execution of the steps in the above embodiment does not mean that 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 invention.

[0108] This application can realize the control of indoor mobile robots through low-code or zero-code platforms.

[0109] Although the present invention has been described in detail with reference to the accompanying drawings and in combination with the preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, a person of ordinary skill in the art may make various equivalent modifications or substitutions to the embodiments of the present invention, and these modifications or substitutions shall be within the scope of the present invention. Any person of ordinary skill in the art may easily think of changes or substitutions within the technical scope disclosed by the present invention, and these shall be within the scope of protection of the present invention.

Claims

1. An indoor mobile robot control system based on a low-code platform, It is characterized in that Including robot terminal subsystem and robot configuration platform subsystem; The robot terminal subsystem includes a control module, a robot body, a drive module, and a sensor module; The robot configuration platform subsystem is used to communicate with the control module, remotely control the robot body to operate in the target environment, obtain the operation data of the robot body in the target environment, and interact with the user to configure the automatic operation rules of the robot body in the target environment; The control module is used to receive the remote control instructions issued by the robot configuration platform subsystem, control the drive module to drive the robot body to operate in the target environment according to the remote control instructions, obtain the operation data of the robot in the target environment collected by the sensor module and forward it to the robot configuration platform subsystem, and receive the automatic operation rules issued by the robot configuration platform subsystem, and control the drive module to drive the robot body to automatically operate in the target environment according to the automatic operation rules.

2. The indoor mobile robot control system based on the low-code platform as claimed in claim 1, It is characterized in that The robot body is equipped with a DC motor, and the drive module adopts a motor drive module; The control module is connected to the motor drive module, and the motor drive module is connected to the DC motor; The control module drives the DC motor through the motor drive module to drive the movement of the robot body; The sensing module includes a wheel odometer, an inertial measurement sensor and an ultrasonic sensor unit, and the wheel odometer, the inertial measurement sensor and the ultrasonic sensor unit are all arranged on the robot body; The ultrasonic sensor unit includes three ultrasonic sensors, which are respectively arranged on the front side, left side and right side of the robot body; The wheel odometer collects the movement distance collected by the robot, and the inertial measurement sensor collects the angle and offset information of the robot body movement; The three ultrasonic sensors respectively collect the distance between the target environment and the front, left and right sides of the robot body.

3. The indoor mobile robot control system based on the low-code platform as claimed in claim 2, It is characterized in that The robot configuration platform subsystem includes a robot remote control module, an environmental experience data storage module, a robot automatic operation configuration module, and a configuration delivery module; The robot remote control module is used to interact with the user, control the speed, direction and angle of the robot in the target environment, and display the real-time collected operation data; The environment experience data storage module is used to store the operation data of the robot body in the target environment according to the remote control command through the database; The robot automatically runs the configuration module, which is used to respond to the user to configure sensor attributes according to the target environment, perform feature description of sensor data, configure the logical relationship between sensor data features and execute action generation rules, and select rules for feature points in the navigation path; The configuration and delivery module is used to compile the rules for configuring the sensor data features according to the target environment and generate instructions to be delivered to the robot terminal subsystem.

4. The indoor mobile robot control system based on the low-code platform as claimed in claim 3, It is characterized in that The robot remote control module includes: The action control unit is used to receive the user's forward, backward, left turn, right turn and stop instructions through the action component, and send the corresponding action instructions to the robot terminal subsystem after the action button is triggered; An adjustment control unit is used to receive a user's speed adjustment instruction and an angle adjustment instruction through a slider component, and send corresponding speed values ​​and angle values ​​to the robot terminal subsystem according to the position of the corresponding slider component; The sensor data display unit is used to display the moving angle, moving speed, moving distance and the distance between the target environment and the front, left and right sides of the robot body collected by the robot terminal subsystem through the sensor module.

5. The indoor mobile robot control system based on the low-code platform as claimed in claim 3, It is characterized in that The robot automatic operation configuration module includes: An ultrasonic sensor semantic configuration unit, used to define semantic information of the distance measured by the ultrasonic sensor according to a preset number of categories; A sensor attribute configuration unit, configured to respond to a user configuring sensor attributes of a map feature point in a target environment, wherein the sensor attributes include a priority attribute and a sampling phase attribute; A sensor data feature display unit is used to filter the sensor data according to the configured sensor data, integrate the filtered sensor data of adjacent feature points, match them with a preset sensor change feature model, obtain a feature description of the sensor data, and display the sensor data features and the matched sensor change feature model; The sensor data feature logic configuration unit is used to respond to the user's configuration of the logical relationship between the sensor data features, and configure the execution actions and control attributes corresponding to the logical relationship to form rules; the rule and navigation configuration unit is used to respond to the user's selection of map feature points in the target environment according to the navigation path, and add rules to the selected feature points to complete the navigation configuration.

6. The indoor mobile robot control system based on the low-code platform as claimed in claim 5, It is characterized in that The control module includes: The instruction parsing unit is used to receive instructions issued by the robot configuration platform subsystem and parse out the rule content; A rule matching unit is used to obtain and analyze sensor data, match the sensor data with the parsed rules, and add the matched rules to the queue in sequence; The rule execution unit is used to sort the control strategies corresponding to the rules in the queue according to the priority, and control the robot body to execute in the order of priority.

7. A control method for an indoor mobile robot based on a low-code platform. It is characterized in that The steps include: S1. Build a robot configuration platform subsystem based on the low-code platform, and set up the robot remote control module, environmental experience data storage module and robot automatic operation configuration module of the robot configuration platform subsystem; S2. The robot remote control module interacts with the user to control the speed, direction and angle of the robot in the target environment, and displays the real-time collected operation data; S3. The robot automatic operation configuration module responds to the user to configure sensor attributes according to the target environment, perform feature description of sensor data, configure logical relationships between sensor data features and execute action generation rules and select rules for feature points in the navigation path; S4. The configuration issuing module compiles the rules for configuring the sensor data features according to the target environment and generates instructions to issue to the robot terminal subsystem; S5. The robot terminal subsystem receives and parses the instructions to obtain automatic operation rules, and controls the driving module according to the automatic operation rules to drive the robot body to automatically operate in the target environment.

8. The indoor mobile robot control method based on the low-code platform as claimed in claim 7, It is characterized in that The specific steps of step S2 are as follows: S21. Respond to the forward, backward, left turn, right turn and stop commands sent by the user through the action component, and send the corresponding action command to the robot terminal subsystem after the action button is triggered; S22. Respond to the user's speed adjustment command and angle adjustment command through the slider component, and send the corresponding speed value and angle value to the robot terminal subsystem according to the position of the corresponding slider component; S23. Display the moving angle, moving speed, moving distance, and the distance between the target environment and the front, left, and right sides of the robot body collected by the robot terminal subsystem through the sensor module.

9. The indoor mobile robot control method based on the low-code platform as claimed in claim 7, It is characterized in that The specific steps of step S3 are as follows: S31. Defining semantic information of the distance measured by the ultrasonic sensor according to a preset number of categories; S32. In response to the user configuring the sensor attributes of the map feature points in the target environment, the sensor attributes include priority attributes and sampling stage attributes; S33. Filter the sensor data according to the configured sensor data, integrate the sensor data of the adjacent feature points that have been filtered out, and then match them with the preset sensor change feature model to obtain a feature description of the sensor data, and display the sensor data features and the matching sensor change feature model; S34. Responding to the user configuring the logical relationship between the data features of the sensor, and configuring the execution actions and control attributes corresponding to the logical relationship to form a rule; S35. In response to the user selecting map feature points in the target environment in sequence according to the navigation path, and adding rules for the selected feature points, the navigation configuration is completed.

10. The indoor mobile robot control method based on the low-code platform according to claim 7, It is characterized in that The specific steps of step S5 are as follows: S51. Receive instructions issued by the robot configuration platform subsystem and parse the rule content; S52. Acquire and analyze sensor data, match the sensor data with the parsed rules, and add the matching rules to the queue in sequence; S53. Sort the control strategies corresponding to the rules in the queue according to priority, and control the robot body to execute in order of priority.

Images