Equipment control method, cleaning robot and smart home system

Abstract

The invention relates to an equipment control method, a cleaning robot and a smart home system, and relates to the technical field of smart home. The method comprises the steps that in response to a moving work instruction, an object dragging platform is controlled to move under driving of a cleaning robot so as to execute target work corresponding to the moving work instruction; the object dragging platform is used for bearing household objects. According to the method, the moving function of the cleaning robot is utilized, the cleaning robot is used for driving the object dragging platform to move, the object dragging platform can bear the household objects, then the cleaning robot cooperates with the object dragging platform and / or the household objects to execute the target work, and diversity of the content of the work executed by the cleaning robot is achieved.

Description

[0001] This application claims priority to the Chinese patent application filed on February 2, 2024, with application number 2024202697029 and named “Home Mobile Platform, Cleaning Robot and Cleaning System”. Technical Field

[0002] The present application relates to the field of smart home technology, and in particular to a device control method, a cleaning robot and a smart home system. Background Art

[0003] With the continuous iteration and upgrading of intelligent technology, the application scenarios of intelligent robots have gradually broadened, and their functional forms have become more diverse. Among them, cleaning robots are a relatively common type of intelligent robots that can clean the floor through movement, mapping, obstacle avoidance and path planning.

[0004] However, the working mode of cleaning robots is relatively simple, especially in home scenarios, and they cannot work in coordination with other household devices or base stations. Therefore, conventional cleaning robots can no longer meet people's demand for intelligent devices. Summary of the invention

[0005] Based on this, it is necessary to provide a device control method, a cleaning robot and a smart home system that can carry a towing platform carrying household objects through a cleaning robot to achieve diversified collaborative work in order to solve the above technical problems.

[0006] In a first aspect, the present application provides a device control method, the method comprising:

[0007] In response to the moving work instruction, the towing platform is controlled to move under the driving of the cleaning robot to perform the target work corresponding to the moving work instruction;

[0008] Among them, the towing platform is used to carry household items.

[0009] In one embodiment, before controlling the object-carrying platform to move driven by the cleaning robot, the method further includes:

[0010] Get the current status between the towing platform and the cleaning robot;

[0011] Accordingly, controlling the object-carrying platform to move under the driving of the cleaning robot includes:

[0012] If the current state is combined, the towing platform is controlled to move under the drive of the cleaning robot.

[0013] In one embodiment, after obtaining the current state between the towing platform and the cleaning robot, the method further includes:

[0014] If the current state is separation, a merging instruction is sent to the cleaning robot, so that the cleaning robot moves to the area to which the towing platform belongs and merges with the towing platform.

[0015] In one embodiment, obtaining the current state between the towing platform and the cleaning robot includes:

[0016] Acquiring a trigger state of a detection device on the towing platform and / or the cleaning robot, and determining a current state between the towing platform and the cleaning robot according to the trigger state; and / or,

[0017] Acquire the connection status of the first communication electrode on the towing platform and the second communication electrode on the cleaning robot, and determine the current status between the towing platform and the cleaning robot according to the connection status;

[0018] When the trigger state of the detection device is triggered, the current state is combined; when the connection state is connected, the current state is combined.

[0019] In one embodiment, the household object is connected to the towing platform in communication and executes the target work corresponding to the moving work instruction, including:

[0020] When the object-pulling platform starts to move driven by the cleaning robot, the household object is controlled to start working through the communication interface between the object-pulling platform and the household object; or,

[0021] When the towing platform moves to a target position or a target room driven by the cleaning robot, the household object is controlled to start working through a communication interface between the towing platform and the household object.

[0022] In one embodiment, before controlling the home object to start working, the method further includes:

[0023] Send a self-check instruction to the household object; wherein the self-check instruction is used to indicate whether the household object can self-check whether it can work normally.

[0024] In one embodiment, executing the target work corresponding to the mobile work instruction includes:

[0025] Control the towing platform to supply power to household items.

[0026] In one embodiment, before controlling the object-carrying platform to move driven by the cleaning robot, the method further includes:

[0027] Determine whether the current power of the towing platform and / or the cleaning robot meets the preset power condition;

[0028] When the current power of the towing platform and / or the cleaning robot does not meet the preset power condition, the towing platform is controlled to move to the base station for charging under the drive of the cleaning robot;

[0029] Accordingly, controlling the object-carrying platform to move under the driving of the cleaning robot includes:

[0030] When the current power of the towing platform and / or the cleaning robot meets the preset power condition, the towing platform is controlled to move driven by the cleaning robot.

[0031] In one embodiment, before responding to the move work order, the method further comprises:

[0032] Obtain work instructions and determine the type of work instructions;

[0033] In case the type of the work order is a mobile work type, respond to the mobile work order.

[0034] In one embodiment, the household object is in communication with the towing platform, and after determining the type of the work instruction, the method further includes:

[0035] In the case where the type of the work instruction is an on-site work type, in response to the on-site work instruction, the household object is controlled to start working through the communication interface between the towing platform and the household object.

[0036] In a second aspect, the present application provides a device control method for a cleaning robot, the method comprising:

[0037] When the towing platform responds to the moving work instruction, the towing platform is driven to move to perform the target work corresponding to the moving work instruction;

[0038] Among them, the towing platform is used to carry household items.

[0039] In one embodiment, before driving the towing platform to move, the method further includes:

[0040] When the current state between the towing platform and the cleaning robot is integration, a movement notification is received.

[0041] In one embodiment, before the current state between the object-dragging platform and the cleaning robot is a combination, the method further includes:

[0042] When the current state is separation, a merging instruction is received, and the cleaning robot moves to the area to which the towing platform belongs according to the merging instruction, so that the cleaning robot is merged with the towing platform.

[0043] In one embodiment, before driving the towing platform to move, the method further includes:

[0044] When the current power of the cleaning robot and / or the towing platform does not meet the preset power condition, the towing platform is driven to move to the base station for charging.

[0045] In a third aspect, the present application provides a cleaning robot, the cleaning robot comprising a first device control device, the first device control device comprising:

[0046] A first device control module is used to drive the towing platform to move when the towing platform responds to the moving work instruction, so as to perform the target work corresponding to the moving work instruction;

[0047] Among them, the towing platform is used to carry household items.

[0048] In a fourth aspect, the present application provides a smart home system, including the cleaning robot and mopping platform of the third aspect, as well as a terminal, a client and a server.

[0049] In a fifth aspect, the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method of the first aspect or the second aspect when executing the computer program.

[0050] In a sixth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the method of the first aspect or the second aspect mentioned above when the computer program is executed by a processor.

[0051] In a seventh aspect, the present application further provides a computer program product, comprising a computer program, which implements the steps of the method of the first aspect or the second aspect when executed by a processor.

[0052] The above-mentioned device control method, cleaning robot and smart home system, in response to the mobile work instruction, control the towing platform to move under the drive of the cleaning robot to perform the target work corresponding to the mobile work instruction; wherein the towing platform is used to carry household objects. This application utilizes the mobile function of the cleaning robot, uses the cleaning robot to drive the towing platform to move, and the towing platform can carry household objects, and then the cleaning robot cooperates with the towing platform and / or household objects to perform the target work, thereby realizing the diversity of the work content performed by the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 An application scenario diagram of a device control method in an embodiment;

[0054] Figure 2 It is a schematic diagram of the structure of a cleaning robot and a dragging platform carrying household objects in one embodiment;

[0055] Figure 3 A schematic diagram of a flow chart of a device control method in one embodiment;

[0056] Figure 4It is a schematic diagram of a process of driving the towing platform to move in one embodiment;

[0057] Figure 5 is a schematic diagram of the structure of a towing platform and a cleaning robot in one embodiment;

[0058] Figure 6 It is a schematic diagram of a process of charging a towing platform in one embodiment;

[0059] Figure 7 A schematic diagram of a process for controlling the operation of a household object in one embodiment;

[0060] Figure 8 A schematic diagram of a process of combining a cleaning robot and a towing platform in one embodiment;

[0061] Fig. 9 It is a structural block diagram of a device control device of a towing platform in one embodiment;

[0062] Fig.10 is a structural block diagram of a device control device for a towing platform in another embodiment;

[0063] Fig.11 It is a structural block diagram of a device control device of a towing platform in yet another embodiment;

[0064] Fig.12 It is a structural block diagram of a device control device of a towing platform in yet another embodiment;

[0065] Fig.13 is a structural block diagram of an equipment control device of a cleaning robot in one embodiment;

[0066] Fig.14 is a structural block diagram of an equipment control device of a cleaning robot in another embodiment;

[0067] Fig.15 is a structural block diagram of an equipment control device of a cleaning robot in yet another embodiment;

[0068] Fig.16 The present invention is a structural block diagram of a computer device for implementing a device control method in an embodiment.

[0069] Reference numerals:

[0070] 100. Cleaning robot;

[0071] 110. A first combining member;

[0072] 200, towing platform;

[0073] 210, second combining member;

[0074] 300. Household items. DETAILED DESCRIPTION

[0075] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0076] The device control method provided in the embodiment of the present application can be applied to a terminal (e.g., a laptop, a smart phone, a tablet computer, a smart speaker, a smart watch), a client (e.g., an APP), a server, or a drag-and-drop platform. Figure 1 As shown, the cleaning robot 100 is an intelligent robot with path planning, movement and obstacle avoidance functions, and can independently complete cleaning tasks such as sweeping and mopping. The towing platform 200 is a device independent of the cleaning robot 100 and can be used to carry objects. The cleaning robot 100 and the towing platform 200 are located in the same environment, such as a home indoor environment, and the towing platform 200 can be used to carry household objects 300, and the cleaning robot 100 and the towing platform 200 are both equipped with wireless communication and / or wired communication functions. Figure 2 As shown, when the cleaning robot and the towing platform carry household objects, the household objects 300 can be smart home objects with specific functions, such as cameras, humidifiers, purifiers and other smart home objects, or they can be ordinary household objects to be moved, such as tableware, paper towels, umbrellas and towels. A base station can also be deployed in the same environment, and the base station is used to charge and / or clean the cleaning robot 100 and the towing platform 200. The terminal can be located in the same environment or in different environments. The terminal can be used to communicate with the cleaning robot 100, the towing platform 200 and the base station to control the behavior of the cleaning robot 100, the towing platform 200 and the base station.

[0077] In one embodiment, a device control method is provided, such as Figure 3 As shown, including:

[0078] S301, in response to a moving work instruction, controlling the object-carrying platform to move driven by the cleaning robot.

[0079] S302, executing the target work corresponding to the mobile work instruction.

[0080] Specifically, the terminal, client, server or cleaning robot can send the moving work instruction to the towing platform 200. The towing platform 200 itself can also set the functional task and its triggering time and / or triggering condition to generate the target instruction.

[0081] Optionally, the user sends the mobile work instruction to the terminal, client or server through relevant operations (such as tapping a function button of the APP, inputting voice into a smart speaker, etc.), and the terminal or client itself can also set the functional task and its trigger time and / or trigger conditions to generate the target instruction.

[0082] Specifically, the towing platform 200 can respond to the moving work instruction based on the local controller, and control the towing platform 200 to move under the guidance of the moving work instruction, so as to perform the target work. In addition to the local controller of the towing platform 200, the terminal, client or server connected to the towing platform 200 can also respond to the moving work instruction to perform the above steps, and this embodiment does not limit this.

[0083] When the towing platform 200 carries household objects, the cleaning robot 100 can move with the household objects through the towing platform 200, thereby performing target tasks such as transportation, monitoring, humidification or purification; when the towing platform 200 does not carry household objects, the cleaning robot 100 can also move with the towing platform 200, thereby performing target tasks such as charging the towing platform 200. It is understandable that the moving work instruction corresponds to the towing platform 200 needing to move under the driving of the cleaning robot 100 to perform the target work.

[0084] For example, the towing platform 200 carries a household object, a humidifier, and the towing platform 200 responds to the moving work instruction, which is used to instruct the towing platform 200 to use the humidifier to perform the target work of mobile humidification under the drive of the cleaning robot 100. Therefore, when the towing platform 200 and the cleaning robot 100 are combined, the towing platform 200 can be controlled to move under the drive of the cleaning robot 100, so that the cleaning robot 100, the towing platform 200 and the humidifier can cooperate to perform the target work.

[0085] In the above embodiment, in response to the moving work instruction, the towing platform 200 is controlled to move under the drive of the cleaning robot 100 to perform the target work corresponding to the moving work instruction; wherein the towing platform 200 is used to carry household objects. This embodiment utilizes the moving function of the cleaning robot 100, uses the cleaning robot 100 to drive the towing platform 200 to move, and the towing platform 200 can carry household objects, and then the cleaning robot 100 cooperates with the towing platform 200 and / or the household objects to perform the target work, thereby realizing the diversity of the work content performed by the cleaning robot 100.

[0086] In order to smoothly perform the target work for different application scenarios, based on the above embodiments, in one embodiment, the current state between the towing platform 200 and the cleaning robot 100 can be determined first, and then different steps can be performed based on the different current states, such as Figure 4 As shown, the following steps are included:

[0087] S401, obtaining the current state between the towing platform and the cleaning robot.

[0088] Before controlling the towing platform 200 to move driven by the cleaning robot 100, the terminal, client, server or towing platform 200 can first obtain the current state between the towing platform 200 and the cleaning robot 100; wherein, the current state is combination or separation, and the towing platform 200 and the cleaning robot 100 can automatically combine and separate without manual combination or separation.

[0089] Specifically, the towing platform 200 can directly detect the current status between itself and the cleaning robot 100, and the terminal, client or server can receive the current status detected and sent by the cleaning robot 100 or the towing platform.

[0090] It should be noted that the towing platform 200 or the cleaning robot 100 can periodically detect and send the status between the towing platform 200 and the cleaning robot 100, or detect and send the current status between the towing platform 200 and the cleaning robot 100 after receiving the moving work instruction.

[0091] S402, when the current state is the combined state, controlling the object-carrying platform to move under the drive of the cleaning robot.

[0092] In other words, if the current state is combined, the terminal, client, server or a local controller of the towing platform 200 controls the towing platform 200 to move under the drive of the cleaning robot 100 .

[0093] For example, when the server receives the moving work instruction sent by the client, based on the result of the latest detection status reported regularly by the towing platform 200, when it is confirmed that the current state is combined, the moving work instruction is sent to the towing platform 200, and the towing platform 200 sends a moving notification to the cleaning robot 100 according to the moving work instruction, and the towing platform 200 moves under the drive of the cleaning robot 100.

[0094] S403: When the current state is separation, a merge instruction is sent to the cleaning robot, so that the cleaning robot moves to the area to which the towing platform belongs and merges with the towing platform.

[0095] In other words, if the current state is separation, a merge command is sent to the cleaning robot 100 so that the cleaning robot 100 moves to the area where the towing platform 200 belongs and merges with the towing platform 200.

[0096] For example, when the server receives the moving work instruction sent by the client, based on the result of the latest detection status reported regularly by the towing platform 200, when it is confirmed that the current state is separation, it sends a merging instruction to the cleaning robot 100 to instruct the cleaning robot 100 to merge with the towing platform 200.

[0097] For another example, when the towing platform 200 receives the moving work instruction sent by the terminal, the towing platform 200 detects that the current state between it and the cleaning robot 100 is separation, and the towing platform 200 sends a merging instruction to the cleaning robot 100 via wireless communication (such as Bluetooth or WIFI).

[0098] Further, the cleaning robot 100 determines the area to which the towing platform belongs, moves to the area to which the towing platform belongs, and thus merges with the towing platform 200. The area to which the towing platform belongs represents the approximate location of the towing platform 200, and refers to a smaller area of ​​the towing platform in a home indoor environment.

[0099] For example, when the towing platform 200 uploads its own positioning information to the server in real time, the cleaning robot 100 directly obtains the area to which the towing platform belongs from the server. Alternatively, the cleaning robot 100 obtains the location information of the towing platform 200 from the room map stored in the internal memory, thereby determining the area to which the towing platform belongs.

[0100] For another example, the cleaning robot 100 keeps moving in an indoor household scene while identifying the towing platform 200. When the towing platform 200 is identified at a close distance, it is determined that the cleaning robot 100 has moved to the area to which the towing platform 200 belongs.

[0101] Specifically, the cleaning robot 100 and the towing platform 200 are provided with matching coupling parts for combining the cleaning robot 100 with the towing platform 200. Figure 5 As shown, the first coupling member 110 of the cleaning robot 100 and / or the second coupling member 210 of the towing platform 200 may be components that can be driven to move, the first coupling member 110 of the cleaning robot 100 may be a snap-in hole set at the top of the cleaning robot 100, and the second coupling member 210 of the towing platform 200 may be a snap-in member set at the bottom of the towing platform 200, so that the snap-in member of the towing platform 200 moves downward so that the snap-in member can be snap-into the snap-in hole. When the coupling members are successfully coupled, the cleaning robot 100 and the towing platform 200 are successfully combined.

[0102] Before being combined with the towing platform 200, the cleaning robot 100 also needs to be docked with the towing platform 200. The docking process of the cleaning robot 100 and the towing platform 200 may include: the cleaning robot 100 receives an infrared signal sent by the towing platform 200 in the area to which the towing platform belongs, the cleaning robot 100 continues to move toward the towing platform 200 through the received infrared signal, and is positioned and matched with the towing platform 200 through the docking piece until it is electrically connected with the towing platform 200. Among them, the cleaning robot 100 and the towing platform 200 can be electrically connected through the electrode sheets of the two.

[0103] In this embodiment, the current state between the towing platform 200 and the cleaning robot 100 is obtained. If the current state is combined, the towing platform 200 is controlled to move under the drive of the cleaning robot 100. If the current state is separated, a combination instruction is sent to the cleaning robot 100, so that the cleaning robot 100 moves to the area to which the towing platform 200 belongs and combines with the towing platform 200. By first detecting the current state between the towing platform 200 and the cleaning robot 100, it is ensured that the towing platform 200 and the cleaning robot 100 are automatically docked and combined, and then the towing platform 200 is controlled to move under the drive of the cleaning robot 100, so as to perform the target work, thereby ensuring the rationality of equipment control and smoothly performing the target work in different scenarios.

[0104] In order to accurately detect the current state between the towing platform 200 and the cleaning robot 100, based on the above embodiment, in one embodiment, the above S401 can be implemented by at least one of the following two detection methods:

[0105] (1) Acquire the triggering status of the detection device on the towing platform 200 and / or the cleaning robot 100, and determine the current status between the towing platform 200 and the cleaning robot 100 according to the triggering status.

[0106] Among them, when the trigger state of the detection device is triggered, the current state is combined.

[0107] The detection device may be a micro switch or a photoelectric switch, and the detection device is automatically triggered when the combined piece of the towing platform 200 and the combined piece of the cleaning robot 100 are automatically combined.

[0108] Taking the detection device as a photoelectric switch, and the photoelectric switch is set on the towing platform 200 as an example, when the second combination member 210 of the towing platform 200 moves to the maximum stroke until the detection device is blocked, it indicates that the second combination member 210 is fully extended from the towing platform 200. At this time, the detection device is triggered and sends an electrical signal, indicating that the first combination member 110 and the second combination member 210 of the towing platform 200 are in place, and the terminal, client, server or towing platform 200 receives the corresponding electrical signal to determine that the combination is successful.

[0109] In other words, the terminal, client, server or towing platform 200 determines the triggering state of the detection device by receiving the corresponding electrical signal, and then when the detection device is triggered, determines that the current state between the towing platform 200 and the cleaning robot 100 is combined, and when the detection device is not triggered, determines that the current state between the towing platform 200 and the cleaning robot 100 is separated.

[0110] (2) Acquire the connection status between the first electrode sheet on the towing platform 200 and the second electrode sheet on the cleaning robot 100 , and determine the current status between the towing platform 200 and the cleaning robot 100 according to the connection status.

[0111] Among them, when the connection state is connected, the current state is integrated.

[0112] During the process of combining the towing platform 200 and the cleaning robot 100, when the first electrode sheet on the first combining component 110 of the towing platform 200 and the second electrode sheet on the second combining component 210 of the cleaning robot 100 are in contact, the first electrode sheet and the second electrode sheet are electrically connected, indicating that the first combining component 110 and the second combining component 210 are combined in place, and the terminal, client, server or towing platform 200 obtains the state of achieving electrical connection and determines that the combination is successful.

[0113] Among them, the towing platform 200 can determine whether the electrodes of the cleaning robot 100 and the towing platform 200 are in contact through the voltage changes collected by the ADC (Analog-to-Digital Converter), or detect whether the electrodes are in contact based on the high and low levels of the chip I / O (Input / Output) pins, and identify the device type of the electrically connected device.

[0114] In other words, the terminal, client, server or towing platform 200 determines the connection state between the first electrode sheet and the second electrode sheet, and then determines that the current state between the towing platform 200 and the cleaning robot 100 is combined when they are connected, and determines that the current state between the towing platform 200 and the cleaning robot 100 is separated when they are not connected.

[0115] Optionally, after the first electrode sheet and the second electrode sheet are electrically connected, wired communication and information exchange can be performed through a physical channel.

[0116] Optionally, when the first electrode sheet is connected to the second electrode sheet, the object-dragging platform 200 and the cleaning robot 100 can transmit electricity based on the electrode sheets to achieve mutual charging.

[0117] Optionally, the cleaning robot 100 may also determine the current state between the cleaning robot 100 and the towing platform 200 through the above detection method, and then send the current state to the terminal, client, server or towing platform 200.

[0118] In this embodiment, the towing platform 200 or the cleaning robot 100 can adopt one or more detection methods to detect the current state between the towing platform 200 and the cleaning robot 100, so as to improve the accuracy of the detection result. In addition, when the detection device or electrode sheet is damaged and causes a detection failure, the current state between the towing platform 200 and the cleaning robot 100 can also be detected by a detection method without a failure, so as to improve the reliability of the combined detection.

[0119] In order to improve the stability of the household object, the towing platform 200 and the cleaning robot 100 in collaboratively executing the target work, based on the above embodiments, in one embodiment, the household object 300 is a smart home object with specific functions, and the smart home object is communicatively connected with the towing platform 200. The communication connection is implemented based on a communication interface, and the communication interface can be a wired interface. The wired communication can be achieved by contacting the third electrode sheet of the smart home object and the fourth electrode sheet of the towing platform 200, or it can be a wireless interface. This embodiment does not limit this.

[0120] When the towing platform 200 and the cleaning robot 100 are combined, in response to the moving work instruction, the towing platform 200 is controlled to move under the drive of the cleaning robot 100. Further, the towing platform 200 sends the moving work instruction to the household object 300 through the communication interface between the towing platform 200 and the household object 300 to control the household object 300 to start working; or, the towing platform 200 generates a household object work instruction for the household object 300 based on the moving work instruction, and then sends the household object work instruction to the household object through the communication interface between the towing platform 200 and the household object to control the household object to start working.

[0121] Specifically, executing the target work corresponding to the mobile work instruction can be achieved through any of the following two working methods:

[0122] (1) When the object-pulling platform 200 starts to move under the drive of the cleaning robot 100 , the household object 300 is controlled to start working through the communication interface between the object-pulling platform 200 and the household object 300 .

[0123] For example, the household object is a camera, and the target work corresponding to the mobile work instruction is whole-house monitoring. When the towing platform 200 starts to move under the drive of the cleaning robot 100, the camera is controlled to start recording through the communication interface, so that the camera records the household indoor environment in the moving path during the movement of the cleaning robot 100 to perform the target work of monitoring.

[0124] (2) When the object-pulling platform 200 is driven by the cleaning robot 100 to move to a target location or a target room, the household object 300 is controlled to start working through the communication interface between the object-pulling platform 200 and the household object 300.

[0125] For example, the household object 300 is a humidifier, and the target work corresponding to the mobile work instruction is humidifying a designated area. When the towing platform 200 is driven by the cleaning robot 100 to move to the target position, the humidifier is controlled to start humidification through the communication interface, so that the humidifier humidifies the designated area at the target position; when the towing platform 200 is driven by the cleaning robot 100 to move to the target room, the humidifier is controlled to start humidification through the communication interface, and the towing platform 200 can also keep moving in the target room driven by the cleaning robot 100, so that the humidifier performs mobile humidification in the target room.

[0126] It should be noted that the target location or target room may be a target location or target room selected by a user on a room map in a dedicated application (Application, app) of the cleaning robot on a mobile terminal.

[0127] It is understandable that the towing platform 200 can control the working state of the household object 300 in real time based on the communication interface between the household object 300, such as controlling the household object 300 to start or stop working, and controlling the household object 300 to change the working mode.

[0128] Therefore, in this embodiment, the towing platform 200 can control the household object 300 to maintain a working state during the movement through the communication interface between the household object 300, and can also control the household object 300 to maintain a working state at the target location or target room, thereby realizing real-time control over the working state and working mode of the household object 300. It can not only execute the target work according to the different needs of the users, but also quickly respond to the problems encountered in the execution of the target work and perform subsequent operations, which is conducive to improving the diversity of the target work and improving the efficiency of executing the target work.

[0129] Based on the above embodiments, in one embodiment, the above device control method further includes: obtaining a work instruction and determining the type of the work instruction; when the type of the work instruction is an on-site work type, responding to the on-site work instruction, controlling the household object 300 to start working through the communication interface between the towing platform 200 and the household object 300; and responding to a mobile work instruction when the type of the work instruction is a mobile work type.

[0130] It can be understood that the in-situ work instruction is different from the move work instruction. The move work instruction is used to instruct the towing platform 200 to control the household object 300 to start working when it moves under the drive of the cleaning robot 100, while the in-situ work instruction is used to instruct the towing platform 200 to directly control the household object 300 to start working at the original place, where the original place is the location of the towing platform 200. At this time, the towing platform 200 does not need to move. Therefore, before executing the in-situ work instruction, there is no need to judge the current state between the towing platform 200 and the cleaning robot 100.

[0131] For example, the household object 300 is an air purifier, and the target work corresponding to the in-situ work instruction is air purification. When the towing platform 200 responds to the in-situ work instruction, the air purifier is controlled to start working through the communication interface, so that the air purifier performs air purification in the in-situ.

[0132] Therefore, in this embodiment, the towing platform 200 can control the household object to keep working in place through the communication interface between the towing platform 200 and the household object 300. When the household object cannot be remotely controlled through the terminal, client or server, the towing platform 200 can be controlled through the terminal, client or server, and the towing platform 200 then controls the household object 300 to work, thereby realizing remote control of the household object 300 and improving the diversity of target work and the convenience of user use.

[0133] Based on the above embodiments, in one embodiment, before controlling the home object 300 to start working, the terminal, client, server or object-pulling platform 200 may send a self-check instruction to the home object 300. The self-check instruction is used to instruct the home object 300 to check whether it can work normally; if the home object 300 can work normally, the home object 300 is controlled to start working.

[0134] A self-check instruction may be sent to the household object 300 via a communication interface between the towing platform 200 and the household object 300. Accordingly, the household object 300 receives the self-check instruction and performs a self-check according to the self-check instruction.

[0135] Furthermore, when the household object detects that it can work normally, it feeds back a normal working notification to the towing platform 200 to control the household object 300 to start working; and when it cannot work normally, it feeds back an abnormal working notification to the towing platform 200, so that the towing platform 200 can report a fault after receiving the abnormal working notification.

[0136] Among them, the fault reporting process can directly issue a fault alarm through voice, buzzer and / or status light, or send an abnormal notification to the terminal and / or cleaning robot 100 so that the user and / or cleaning robot 100 can perform subsequent operations.

[0137] Therefore, in order to avoid the problem that the target work cannot be performed normally due to a malfunction of a household object, before executing the target work, the household object 300 is first instructed to perform a self-check, and then the target work corresponding to the mobile work instruction is executed if the self-check passes. This can fit the actual application scenario and improve the reliability of the device control method.

[0138] In order to further enhance the diversity of functions of the towing platform 200 , based on the above embodiments, in one embodiment, the towing platform 200 can also be controlled to supply power to household objects.

[0139] For example, the towing platform 200 has a battery that can store electrical energy, and the towing platform 200 has a wireless charging function. When the towing platform 200 carries household items, the electromagnetic wireless charging function can be used to supply power to the household items.

[0140] Optionally, a third electrode sheet is provided on the household object 300. When the towing platform 200 carries the household object 300, the fourth electrode sheet on the towing platform 200 is connected to the third electrode sheet on the household object 300, and then the towing platform 200 can supply power to the household object 300 through the electrode sheet.

[0141] In this embodiment, since the towing platform 200 can supply power to the household object 300, the household object 300 does not need to rely on the mains power and can be moved to any position to perform the target work under the drive of the cleaning robot 100 through the towing platform 200, thereby improving the working flexibility of the household object 300.

[0142] Optionally, since the towing platform 200 and the cleaning robot 100 are integrated, the towing platform 200 and the cleaning robot 100 can also supply power to each other through the electrode sheets, and the cleaning robot 100 can also supply power to household objects through the towing platform 200 to maintain the coordinated operation of the cleaning robot 100, the towing platform 200 and the household objects.

[0143] Based on the above embodiment, in one embodiment, before the object-carrying platform 200 is driven by the cleaning robot 100 to move, Figure 6 As shown, the above device control method also includes:

[0144] S601, determining whether the current power of the towing platform and / or the cleaning robot meets a preset power condition.

[0145] The towing platform 200 can obtain the current power level based on the built-in controller, and then compare the current power level with the preset power level condition.

[0146] Optionally, the towing platform 200 directly sends the acquired current power to the terminal, client or server, and the terminal, client or server compares the current power with a preset power condition.

[0147] Specifically, the cleaning robot 100 may also send the current power obtained based on the built-in controller to the terminal, client, server or towing platform, and the terminal, client, server or towing platform compares the current power with the preset power condition.

[0148] S602: If the requirements are not met, the towing platform is controlled to move to the base station for charging under the drive of the cleaning robot.

[0149] For example, when the current power of the towing platform 200 does not meet the preset power condition, the towing platform 200 can send a low power notification to the cleaning robot 100 to instruct the cleaning robot 100 to drive the towing platform 200 to move toward the base station. After the cleaning robot 100 docks with the base station, the base station can be used to charge the towing platform 200.

[0150] For another example, when the terminal determines that the current power of the cleaning robot 100 does not meet the preset power condition, it can send a low power notification to the towing platform 200 to instruct the towing platform 200 to control the household objects to stop working, and the cleaning robot 100 drives the towing platform 200 to move to the base station for charging.

[0151] Optionally, when a preset power condition is met, the towing platform 200 is directly controlled to move under the drive of the cleaning robot 100 to perform the target task.

[0152] It should be noted that the above example can be applied to the scenario where the cleaning robot 100 and the towing platform 200 supply power to each other, that is, when the current power of the towing platform 200 or the cleaning robot 100 does not meet the preset power condition, the power supply to the other party is stopped, and the towing platform 200 or the cleaning robot 100 is controlled to go to the base station for charging.

[0153] In this embodiment, it is determined whether the current power of the towing platform 200 and / or the cleaning robot 100 meets the preset power condition. If not, the towing platform 200 is controlled to move to the base station for charging under the drive of the cleaning robot 100. The power of the towing platform 200 and the cleaning robot 100 can be monitored in real time, and the towing platform 200 and the cleaning robot 100 can automatically go to the base station for charging when the power is insufficient, without manual operation, which is conducive to improving the intelligent level of the towing platform 200 and the cleaning robot 100.

[0154] In one embodiment, Figure 7 As shown, an optional device control method applied to the towing platform 200 is provided, comprising the following steps:

[0155] S701, receiving a mobile work instruction, and obtaining a current state between the towing platform and the cleaning robot according to the mobile work instruction.

[0156] The towing platform 200 can detect the current status between itself and the cleaning robot 100 through a detection device and / or a charging electrode.

[0157] S702: When the current state is separation, a merge instruction is sent to the cleaning robot, so that the cleaning robot moves to the area to which the towing platform belongs and merges with the towing platform.

[0158] S703, when the current state is the combination, sending a moving notification to the cleaning robot, so that the dragging platform moves under the drive of the cleaning robot.

[0159] S704, when the cleaning robot starts to move or moves to a target location / target room, the household object is controlled to start working through the communication interface between the cleaning robot and the household object.

[0160] Optionally, before controlling the household object to start working, the towing platform 200 sends a self-check instruction to the household object to receive a self-check pass notification fed back by the household object.

[0161] Optionally, during the process of controlling the operation of the household object, the towing platform 200 supplies power to the household object.

[0162] In one embodiment, a device control method of a cleaning robot 100 is provided, comprising: when the towing platform 200 responds to a moving work instruction, controlling the cleaning robot 100 to drive the towing platform 200 to move so as to perform a target work corresponding to the moving work instruction.

[0163] Based on the above embodiments, in one embodiment, the current state between the cleaning robot 100 and the object-dragging platform 200 can be determined first, and then different steps can be performed based on the different current states, such as Figure 8 As shown, the above device control method also includes:

[0164] S801, receiving a movement notification when the current state between the towing platform and the cleaning robot is a combination.

[0165] S802, when the current state is separation, receiving a merging instruction, and controlling the cleaning robot to move to the area to which the towing platform belongs according to the merging instruction, so that the cleaning robot is merged with the towing platform.

[0166] Based on the above embodiments, in one embodiment, the device control method further includes: when the current power of the cleaning robot and / or the towing platform does not meet the preset power condition, driving the towing platform to move to the base station for charging.

[0167] Optionally, the cleaning robot 100 can obtain the current power level based on the built-in controller, and then compare the current power level with the preset power level condition. When it is determined that its own power level does not meet the preset power level condition, it can directly drive the towing platform to move to the base station for charging.

[0168] The specific process of the above steps can be found in the description of the above method embodiment. The implementation principles and technical effects are similar and will not be repeated here.

[0169] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0170] Based on the same inventive concept, the embodiment of the present application also provides a cleaning robot 100 and a towing platform 200 for implementing the above-mentioned device control method. The implementation solution for solving the problem provided is similar to the implementation solution recorded in the above-mentioned method. Therefore, the specific limitations in the one or more cleaning robot 100 and towing platform 200 embodiments provided below can refer to the limitations on the device control method above, and will not be repeated here.

[0171] In one embodiment, a towing platform 200 is provided. Fig. 9 As shown, the second device control device 220 is included, wherein the second device control device 220 includes:

[0172] The second device control module 221 is used to respond to the moving work instruction and move under the drive of the cleaning robot 100 to perform the target work corresponding to the moving work instruction.

[0173] The object-carrying platform 200 is used to carry household objects.

[0174] In one embodiment, Fig. 9 On the basis of Fig.10 As shown, the second device control module 221 may include:

[0175] The state acquisition unit 2211 is used to acquire the current state between the towing platform 200 and the cleaning robot 100 .

[0176] The movement control unit 2212 is used to control the object-carrying platform 200 to move under the drive of the cleaning robot 100 when the current state is the combined state.

[0177] In one embodiment, Fig. 9 On the basis of Fig.11 As shown, the second device control device 220 may include:

[0178] The second device integration module 222 is used to send an integration instruction to the cleaning robot 100 , so that the cleaning robot 100 moves to the area where the towing platform 200 belongs and integrates with the towing platform 200 .

[0179] In one embodiment, the state acquisition unit 2211 can be specifically used to detect whether the detection device on the towing platform 200 is triggered, obtain the trigger state of the detection device on the towing platform 200 and / or the cleaning robot 100, and determine the current state between the towing platform 200 and the cleaning robot 100 according to the trigger state; and / or, obtain the connection state between the first electrode sheet on the towing platform 200 and the second electrode sheet on the cleaning robot 100, and determine the current state between the towing platform 200 and the cleaning robot 100 according to the connection state; wherein, when the trigger state of the detection device is triggered, the current state is combined, and when the connection state is connected, the current state is combined.

[0180] In one embodiment, the household object 300 is in communication with the towing platform 200. Fig.10 On the basis of Fig.12 As shown, the second device control module 221 further includes:

[0181] The working control unit 2213 is used to control the household object 300 to start working when the towing platform 200 starts to move under the drive of the cleaning robot 100, through the communication interface between the towing platform 200 and the household object 300; or, when the towing platform 200 moves to the target position or target room under the drive of the cleaning robot 100, control the household object 300 to start working through the communication interface between the towing platform 200 and the household object 300.

[0182] In one embodiment, the second device control device 220 further includes a self-check confirmation module, which is used to send a self-check instruction to the household object, wherein the self-check instruction is used to indicate whether the household object can perform a self-check normally.

[0183] In one embodiment, the second device control device 220 further includes a power supply module, and the power supply module is used to control the towing platform 200 to supply power to the household object 300 .

[0184] In one embodiment, the second device control device 220 further includes a charging module, which is used to determine whether the current power of the towing platform 200 and / or the cleaning robot 100 meets a preset power condition, and if not, controls the towing platform 200 to move to the base station for charging under the drive of the cleaning robot 100.

[0185] In one embodiment, the second device control module 220 is further used to obtain a work instruction and determine the type of the work instruction; when the type of the work instruction is an on-site work type, in response to the on-site work instruction, the household object 300 is controlled to start working through the communication interface between the towing platform 200 and the household object 300; when the type of the work instruction is a mobile work type, a mobile work instruction is responded to.

[0186] In one embodiment, a cleaning robot 100 is provided. Fig.13 As shown, the first device control device 120 is included, wherein the first device control device 120 includes:

[0187] The first device control module 121 is used to control the cleaning robot 100 to drive the towing platform 200 to move when the towing platform 200 responds to the moving work instruction, so as to perform the target work corresponding to the moving work instruction.

[0188] The object-carrying platform 200 is used to carry household objects.

[0189] In one embodiment, Fig.13 On the basis of Fig.14 As shown, the first device control device 120 further includes:

[0190] The notification receiving module 122 is used to receive a movement notification when the current state between the towing platform 200 and the cleaning robot 100 is a combination.

[0191] In one embodiment, Fig.14 On the basis of Fig.15 As shown, the first device control device 120 may include:

[0192] The first device combining module 123 is used to receive a combining instruction when the current state is separation, and control the cleaning robot 100 to move to the area where the towing platform 200 belongs according to the combining instruction, so that the cleaning robot 100 is combined with the towing platform 200.

[0193] In one embodiment, the first device control module 120 is further configured to drive the towing platform 200 to move to the base station for charging when the current power level of the towing platform 200 and / or the cleaning robot 100 does not meet a preset power condition.

[0194] Each module in the cleaning robot 100 and the towing platform 200 can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of the processor in the cleaning robot 100 and the towing platform 200 in the form of hardware, or can be stored in the memory in the cleaning robot 100 and the towing platform 200 in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0195] In one embodiment, a smart home system is provided, including a cleaning robot 100 and a towing platform 200, a terminal, a client, or a server; the terminal, the client, the server, or the towing platform 200 responds to a moving work instruction and controls the towing platform 200 to move under the drive of the cleaning robot 100 to perform a target work corresponding to the moving work instruction.

[0196] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.16As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a device control method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse, etc.

[0197] Those skilled in the art will understand that Fig.16 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0198] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps of the above-mentioned device control method when executing the computer program.

[0199] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned device control method are implemented.

[0200] In one embodiment, a computer program product is provided, comprising a computer program, which implements the steps of the above-mentioned device control method when executed by a processor.

[0201] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0202] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0203] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A device control method, characterized in that: The method comprises: In response to the moving work instruction, the towing platform is controlled to move under the driving of the cleaning robot to perform the target work corresponding to the moving work instruction; Wherein, the towing platform is used for carrying household objects.

2. The method according to claim 1, characterized in that Before controlling the object-carrying platform to move driven by the cleaning robot, the method further includes: Acquire the current state between the object-dragging platform and the cleaning robot; Accordingly, the controlling the object-carrying platform to move driven by the cleaning robot includes: If the current state is the combination, the object-dragging platform is controlled to move under the drive of the cleaning robot.

3. The method according to claim 2, characterized in that After obtaining the current state between the towing platform and the cleaning robot, the method further includes: If the current state is separation, a merging instruction is sent to the cleaning robot, so that the cleaning robot moves to the area to which the towing platform belongs and merges with the towing platform.

4. The method according to claim 2, characterized in that: The obtaining of the current state between the object-dragging platform and the cleaning robot includes: Acquiring a trigger state of a detection device on the towing platform and / or the cleaning robot, and determining a current state between the towing platform and the cleaning robot according to the trigger state; and / or, Acquire a connection state between a first electrode sheet on the towing platform and a second electrode sheet on the cleaning robot, and determine a current state between the towing platform and the cleaning robot according to the connection state; Wherein, when the trigger state of the detection device is triggered, the current state is combined; when the connection state is connected, the current state is combined.

5. The method according to any one of claims 1 to 4, characterized in that The household object is in communication with the object-pulling platform, and the target work corresponding to the moving work instruction is executed, including: When the object-pulling platform starts to move driven by the cleaning robot, the household object is controlled to start working through the communication interface between the object-pulling platform and the household object; or, When the object-dragging platform moves to a target position or a target room driven by the cleaning robot, the household object is controlled to start working through a communication interface between the object-dragging platform and the household object.

6. The method according to claim 5, characterized in that Before controlling the household object to start working, the method further includes: A self-check instruction is sent to the household object; wherein the self-check instruction is used to indicate whether the household object can perform a self-check normally.

7. The method according to any one of claims 1 to 4, characterized in that The executing the target work corresponding to the mobile work instruction includes: The object-pulling platform is controlled to supply power to the household object.

8. The method according to any one of claims 1 to 4, characterized in that Before controlling the object-carrying platform to move driven by the cleaning robot, the method further includes: Determining whether the current power of the towing platform and / or the cleaning robot meets a preset power condition; When the current power of the towing platform and / or the cleaning robot does not meet the preset power condition, controlling the towing platform to move to the base station for charging under the drive of the cleaning robot; Accordingly, the controlling the object-carrying platform to move driven by the cleaning robot includes: When the current power level of the towing platform and / or the cleaning robot meets a preset power level condition, the towing platform is controlled to move driven by the cleaning robot.

9. The method according to any one of claims 1 to 4, characterized in that: Before responding to the mobile work order, the method further includes: Obtaining a work instruction and determining the type of the work instruction; In case the type of the work order is a mobile work type, respond to the mobile work order.

10. The method according to claim 9, characterized in that The household object is in communication connection with the towing platform. After determining the type of the work instruction, the method further includes: In the case that the type of the work instruction is the on-site work type, in response to the on-site work instruction, the household object is controlled to start working through the communication interface between the towing platform and the household object.

11. A device control method for a cleaning robot, characterized in that: The method comprises: When the towing platform responds to the moving work instruction, the towing platform is driven to move so as to perform the target work corresponding to the moving work instruction; Wherein, the towing platform is used for carrying household objects.

12. The method according to claim 10, characterized in that Before driving the towing platform to move, the method further includes: When the current state between the towing platform and the cleaning robot is a combination, a movement notification is received.

13. The method according to claim 11, characterized in that Before the current state between the object-dragging platform and the cleaning robot is a combination, the method further includes: When the current state is separation, a merging instruction is received, and the cleaning robot is moved to the area to which the towing platform belongs according to the merging instruction, so that the cleaning robot is merged with the towing platform.

14. The method according to any one of claims 11 to 13, characterized in that Before driving the towing platform to move, the method further includes: When the current power of the cleaning robot and / or the towing platform does not meet the preset power condition, the towing platform is driven to move to the base station for charging.

15. A cleaning robot, characterized in that: The device comprises a first device control device, wherein the first device control device comprises: A first device control module is used to drive the towing platform to move when the towing platform responds to the moving work instruction, so as to perform the target work corresponding to the moving work instruction; Wherein, the towing platform is used for carrying household objects.

16. A smart home system, characterized in that: It comprises the cleaning robot and the object-dragging platform as claimed in claim 15, as well as a terminal, a client and a server.

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