Task execution method of smart home object dragging system and object dragging platform

Abstract

The invention relates to a task execution method of a smart home object dragging system and an object dragging platform. The intelligent household object dragging system comprises an object dragging platform, a cleaning robot and a user terminal. The object dragging platform receives a target work task issued by the user terminal. Receiving a first map of the current environment of the cleaning robot under the condition of combining with the cleaning robot; according to the first map, verifying a second map corresponding to the target work task to obtain a map verification result; under the condition that the map verification result is that verification is passed, the cleaning robot is controlled to carry the object dragging platform to execute the target work task; wherein the object dragging platform is used for bearing household objects related to the target work task. In this way, the cleaning robot can be controlled to carry the household objects related to the target work task to reach the area corresponding to the second map for operation, and therefore the operation requirement of a user for a certain household area is met.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a task execution method and a towing platform for a smart home towing system. Background Art

[0002] A cleaning robot is a device that can move autonomously and perform specific tasks. Specifically, a cleaning robot can use technologies such as sensors, control systems, and navigation systems to perceive the environment, plan paths, and perform work tasks.

[0003] In the home work scenario, users may have work needs for a certain area of ​​the home, such as fixed-point humidification, transportation of household items, and whole-house patrols. How to achieve these work needs through cleaning robots has become an urgent problem to be solved in this field. Summary of the invention

[0004] Based on this, it is necessary to provide a task execution method and a towing platform for a smart home towing system to address the above technical issues, which can meet the user's operational needs for a certain home area.

[0005] In a first aspect, the present application provides a task execution method of a smart home towing system, wherein the smart home towing system includes a towing platform, a cleaning robot, and a user terminal. The method is applied to the towing platform, and the method includes:

[0006] Receiving the target work task sent by the user terminal;

[0007] In the case of combining with the cleaning robot, receiving a first map of the current environment of the cleaning robot;

[0008] According to the first map, verifying the second map corresponding to the target work task to obtain a map verification result;

[0009] When the map verification result is passed, the cleaning robot is controlled to carry the towing platform to perform the target work task; wherein the towing platform is used to carry household objects related to the target work task.

[0010] In one embodiment, the target work task is issued to the towing platform based on the second map by the user terminal in response to a task selection operation performed by the user on a control page of the towing platform;

[0011] Correspondingly, the second map is a map displayed by default in the control page of the towing platform; or, the second map is a map selected by the user from a plurality of maps stored in the towing platform.

[0012] In one embodiment, the default displayed map is the map used by the cleaning robot for the current or most recent work task; or, the default displayed map is the map used by the towing platform for the most recent work task.

[0013] In one embodiment, verifying the second map corresponding to the target work task according to the first map to obtain a map verification result includes:

[0014] Performing a consistency check on the identification information corresponding to the first map and the identification information corresponding to the second map to obtain an identification check result;

[0015] A map verification result for the second map is determined according to the identification verification result.

[0016] In one embodiment, determining a map verification result of the second map according to the identification verification result includes:

[0017] In the case where the identification verification result is consistent, if the target work task includes task execution information, the task execution information is verified according to the first map to obtain an execution information verification result; wherein the task execution information includes at least one of a task execution area, an execution order between different task execution areas, a task execution point, and an execution order between different task execution points;

[0018] In a case where the execution information verification result is verification passed, it is determined that the map verification result for the second map is verification passed.

[0019] In one embodiment, after verifying the task execution information according to the first map and obtaining the execution information verification result, the method further includes:

[0020] When the execution information verification result is a verification failure, the execution information verification result is sent to the user terminal so that the user terminal outputs a first prompt message to the user; wherein the first prompt message is used to prompt an abnormality, or to prompt the user to change the task execution information or the target work task.

[0021] In one embodiment, determining a map verification result of the second map according to the identification verification result includes:

[0022] In the case where the identification verification result is consistent, if the target work task does not include task execution information, it is determined that the map verification result is verified passed.

[0023] In one embodiment, after obtaining the identification verification result, the method further includes:

[0024] When the identification verification result is inconsistent, the identification verification result is sent to the user terminal so that the user terminal outputs a second prompt message to the user; wherein the second prompt message is used to prompt an abnormality, or to prompt the user to change the second map, target work task, or instruct the cleaning robot to carry the towing platform to move to the area corresponding to the second map.

[0025] In a second aspect, the present application further provides a task execution method of a smart home towing system, wherein the smart home towing system includes a towing platform, a cleaning robot and a user terminal, and the method is applied to the cleaning robot, and the method includes:

[0026] After the towing platform receives the target work task sent by the user terminal, when the cleaning robot and the towing platform are combined, the cleaning robot sends a first map of the current environment to the towing platform, so that the towing platform verifies the second map corresponding to the target work task according to the first map to obtain a map verification result;

[0027] When the map verification result is that the verification is passed, the towing platform is carried to perform the target work task based on the control of the towing platform; wherein the towing platform is used to carry household objects related to the target work task.

[0028] In a third aspect, the present application further provides a task execution method of a smart home towing system, wherein the smart home towing system includes a towing platform, a cleaning robot and a user terminal, and the method is applied to the user terminal, and the method includes:

[0029] sending a target work task to the towing platform, so that the towing platform, when combined with the cleaning robot, verifies a second map corresponding to the target work task according to a received first map of the current environment of the cleaning robot, obtains a map verification result, and controls the cleaning robot to carry the towing platform to perform the target work task if the map verification result is a verification pass;

[0030] The towing platform is used to carry household items related to the target work task.

[0031] In one embodiment, sending the target work task to the towing platform includes:

[0032] In response to a task selection operation performed by a user on a control page of the towing platform, a target work task is sent to the towing platform based on the second map.

[0033] The second map is a map displayed by default in a control page of the towing platform; or the second map is a map selected by a user from a plurality of maps stored in the towing platform.

[0034] In one embodiment, the default displayed map is the map used by the cleaning robot for the current or most recent work task; or, the default displayed map is the map used by the towing platform for the most recent work task.

[0035] In one embodiment, before sending the target work task to the towing platform, the method further includes:

[0036] The target work task is generated in response to the user's operation of selecting task execution information based on the second map; wherein the task execution information includes at least one of the task execution area, the execution order between different task execution areas, the task execution point and the execution order between different task execution points.

[0037] In one embodiment, if the target work task includes the task execution information, the map verification result includes the execution information verification result, and after sending the target work task to the towing platform, the method further includes:

[0038] When the execution information verification result is verification failure, receiving the execution information verification result sent by the towing platform;

[0039] The first prompt information is output to the user; wherein the first prompt information is used to prompt an abnormality, or to prompt the user to change the task execution information or the target work task.

[0040] In one embodiment, the map verification result includes a logo verification result, and after sending the target work task to the towing platform, the method further includes:

[0041] When the identification verification result is inconsistent, receiving the identification verification result sent by the towing platform;

[0042] The second prompt information is output to the user; wherein the second prompt information is used to prompt an abnormality, or to prompt the user to change the second map, target work task, or to instruct the cleaning robot to carry the towing platform to move to the area corresponding to the second map.

[0043] In a fourth aspect, the present application further provides a towing platform, comprising a loading platform, a memory and a processor, wherein the loading platform is used to carry household items related to a target work task; the memory stores a computer program, and the processor implements the steps of the method of the first aspect when executing the computer program.

[0044] In a fifth aspect, the present application further provides a cleaning robot, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method of the second aspect when executing the computer program.

[0045] In a sixth aspect, the present application further provides a user terminal, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method of the third aspect when executing the computer program.

[0046] In the seventh aspect, the present application also provides a smart home towing system, comprising the towing platform described in the fourth aspect, the cleaning robot described in the fifth aspect, and the user terminal described in the sixth aspect.

[0047] The present application provides a smart home towing system, which includes a towing platform, a cleaning robot and a user terminal. The towing platform can receive a target work task issued by the user terminal; and when combined with the cleaning robot, the second map corresponding to the target work task is verified according to a first map of the current environment of the cleaning robot. If the verification passes, the cleaning robot is controlled to carry the towing platform to perform the target work task. The towing platform can carry household objects related to the target work task. In this way, the cleaning robot can be controlled to carry the household objects related to the target work task to the area corresponding to the second map to perform the operation, thereby realizing the user's whole-house air purification, fixed-point humidification, transportation of household items, and whole-house patrol and other operation requirements for a certain family area, and by verifying the map, it can be ensured that the towing platform smoothly performs the target work task. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1A An application environment diagram of a task execution method of a smart home dragging system in one embodiment;

[0049] Figure 1B This is a schematic diagram of the structure of a combination of a towing platform and a cleaning robot in one embodiment;

[0050] Figure 1C is a schematic structural diagram of a cleaning robot, a mopping platform, and a household object combination in one embodiment;

[0051] Figure 2 It is a flowchart of a task execution method of a smart home dragging system in one embodiment;

[0052] Figure 3 A schematic diagram of a process for obtaining a map verification result in one embodiment;

[0053] Figure 4 A schematic diagram of a process for determining a map verification result for a second map in one embodiment;

[0054] Figure 5 It is a flowchart of a task execution method of a smart home dragging system in another embodiment;

[0055] Fig. 6A This is a schematic diagram of a control page of a towing platform in one embodiment;

[0056] Figure 6B A schematic diagram of an interface for changing a map in an embodiment;

[0057] Figure 7 A schematic diagram of a process of prompting a user of a verification result in one embodiment;

[0058] Figure 8 A schematic diagram of an interface for editing a map in one embodiment;

[0059] Fig. 9 A schematic diagram of a process of prompting a user of a verification result in one embodiment;

[0060] Fig.10 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment.

[0061] Reference numerals:

[0062] 100, towing platform; 110, first electrode sheet; 120, first combining member; 130, movable supporting structure; 131, supporting leg; 132, universal wheel;

[0063] 200, cleaning robot; 210, second electrode sheet; 220, second combining member;

[0064] 300, household items;

[0065] 400. User terminal. DETAILED DESCRIPTION

[0066] 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.

[0067] The task execution method of the smart home dragging system provided in the embodiment of the present application can be applied to Figure 1AIn the application environment shown. Among them, the user terminal 400, the cleaning robot 200 and the towing platform 100 can communicate wirelessly, and the cleaning robot 200 and the towing platform 100 can also communicate by wire. Among them, the user terminal 400 can be but not limited to various personal computers, laptops, smart phones, tablet computers, etc., the cleaning robot 200 is an intelligent cleaning robot with path planning, movement and obstacle avoidance functions, and can independently complete cleaning tasks such as sweeping and mopping. The cleaning robot 200 includes but is not limited to a sweeping robot, a mopping robot and a sweeping and mopping robot. The towing platform 100 is a device independent of the cleaning robot 200, which can be used to carry household objects. The towing platform 100 and the cleaning robot 200 are both located in a home indoor environment. The household objects can be intelligent household objects with specific functions, such as cameras, humidifiers and air purifiers, etc., or the household objects can be ordinary household objects to be moved, such as tableware, paper towels, umbrellas and towels.

[0068] It should be noted that, since the towing platform 100 does not have the ability to move autonomously, it needs to be combined with the cleaning robot 200 so that the cleaning robot 200 can carry the towing platform 100 to move and perform work tasks.

[0069] The process of combining the object-hauling platform 100 and the cleaning robot 200 is described below.

[0070] See also Figure 1B The towing platform 100 includes a carrying platform and a side shell connected to the carrying platform. A first electrode sheet 110 is arranged inside the side shell, and a first coupling member 120 is arranged at the bottom of the carrying platform, and the first coupling member 120 is a snap-on member; a second electrode sheet 210 is arranged at the side of the cleaning robot 200, and a second coupling member 220 is arranged at the top, and the second coupling member 220 is a snap-on hole; the cleaning robot 200 can move to the area where the towing platform 100 is located by receiving the combination instruction sent by the towing platform 100, dock with the towing platform 100, and realize electrical connection through the contact between the first electrode sheet 110 and the second electrode sheet 210. After the docking is completed, the towing platform 100 lowers the first coupling member 120 and automatically combines with the second coupling member 220 of the cleaning robot 200, and the combination of the towing platform 100 and the cleaning robot 200 is realized based on the snap-on fixation of the snap-on member and the snap-on hole.

[0071] In addition, the towing platform 100 and the cleaning robot 200 can be disassembled by controlling the separation of the card connector and the card connector hole. After the disassembly, the cleaning robot 200 can perform the cleaning task independently, and the disassembly process will not be described in detail in this application.

[0072] Specifically, the combined state of the towing platform 100 and the cleaning robot 200 can be seen in Figure 1C , Figure 1C A structural schematic diagram of a combination of a cleaning robot 200, a towing platform 100 and a household object 300 is provided, wherein the cleaning robot 200 and the towing platform 100 are combined, and the household object 300 is placed on the towing platform 100.

[0073] Optional, such as Figure 1B As shown, the towing platform 100 further includes a movable support structure 130 connected to the carrying platform, and the movable support structure 130 may specifically include a support leg 131 and a universal wheel 132 located at the end of the support leg 131. When the cleaning robot 200 moves with the towing platform 100, the movable support structure 130 has the following advantages: it greatly reduces the resistance encountered by the cleaning robot 200 in the process of moving the towing platform 100, making the towing platform 100 easier to be driven by the cleaning robot 200, and the movement of the towing platform 100 is more flexible and smooth, which not only improves the flexibility of the towing platform 100, but also improves the moving efficiency of the cleaning robot 200, and reduces the energy consumption and wear of the cleaning robot 200; when the cleaning robot 200 moves with the towing platform 100, the towing platform 100 is easier to keep stable, reducing the shaking caused by complex road conditions such as bumps or uneven ground, reducing the risk of accidents caused by bumps or collisions, and improving the stability of the entire device. When the user moves the towing platform 200 by himself, the movable supporting structure 131 makes the moving process more labor-saving for the user.

[0074] Optionally, a base station corresponding to the cleaning robot 200 may also be provided in the same environment, and the base station is used to charge the cleaning robot 200 and the towing platform 100 carried by the cleaning robot 200, and to collect dust and / or change water for the cleaning robot 200. For example, the base station may be a charging base station, a dust collection base station, or a water change base station, etc.

[0075] It should be noted that before executing the task execution method provided in the embodiment of the present application, an application for controlling the towing platform 100 can be deployed in the user terminal 400, and the user can use the application to bind the towing platform 100. Furthermore, the towing platform 100 synchronizes and saves the map information saved by the cleaning robot 200 bound to the application. The map information includes the identification ID number (Identification Number) corresponding to the map and the serial number information corresponding to each room area in the map. If there are multiple floors in the home environment, or the area of ​​the home environment is large, the cleaning robot 200 will save multiple maps, and each map will have a unique identification ID number.

[0076] It should be noted that the map information saved by the cleaning robot 200 is obtained by scanning and mapping the home environment in advance through environmental sensors (such as lidar, visual sensors); since the towing platform 100 does not have environmental sensors, it is necessary to synchronize and save the map information saved or newly created by the cleaning robot 200 in order to perform the target work tasks.

[0077] It should be noted that the map stored in the towing platform 100 may be stored in a controller inside the towing platform 100 , or may be stored in a cloud server corresponding to the towing platform 100 .

[0078] In one embodiment, Figure 2 As shown, a task execution method of a smart home towing system is provided, and the method is applied to a towing platform 100 as an example for explanation, and includes the following steps:

[0079] S201, receiving a target work task sent by a user terminal.

[0080] Exemplarily, the user terminal 400 may send the target work task to the towing platform 100 , and the towing platform 100 receives the target work task sent by the user terminal 400 .

[0081] Among them, the target work tasks include collaborative work tasks and transport work tasks. Collaborative work tasks are work tasks that need to be performed when the household object 300 includes smart household objects with specific functions, including whole-house collaborative tasks, designated area collaborative tasks, fixed-point collaborative tasks, etc. For example, if the household object 300 includes a camera, the collaborative work tasks include whole-house patrol, designated area patrol, fixed-point patrol, etc.; transport work tasks are work tasks that need to be performed to transport ordinary household objects when the household object 300 includes ordinary household objects to be moved.

[0082] In an optional implementation, the target work task is issued to the towing platform 100 based on the second map by the user terminal 400 in response to the task selection operation performed by the user on the control page of the towing platform 100; accordingly, the second map is the map displayed by default on the control page of the towing platform 100; or, the second map is a map selected by the user from multiple maps stored in the towing platform 100.

[0083] Specifically, when the user opens the control page of the tow platform 100 in the application, the control page can display the map saved by the tow platform 100. The user can generate a target work task in the user terminal 400 based on the default map displayed in the control page or the selected map, and the task selection operation acting on the control page, and send the target work task to the tow platform 100.

[0084] In an optional embodiment, the default displayed map is the map used by the cleaning robot 200 to perform the current or most recent work task; or, the default displayed map is the map used by the towing platform 100 to perform the most recent work task.

[0085] It can be understood that the map used by the cleaning robot 200 for the current or most recent work task is the map used by the cleaning robot 200 when performing the cleaning work task alone. The map can be synchronized to the towing platform 100 and the user terminal 400 through wireless communication between the cleaning robot 200, the towing platform 100 and the user terminal 400; the map used by the towing platform 100 for the most recent work task is the map used by the towing platform 100 for the most recent control of the cleaning robot 200 to carry the towing platform 100 to perform the work task. The map used by the cleaning robot 200 for the current or most recent work task may be the same as or different from the map used by the towing platform 100 for the most recent work task.

[0086] S202, when combined with the cleaning robot, receiving a first map of the current environment of the cleaning robot.

[0087] Exemplarily, if the cleaning robot 200 and the towing platform 100 have been combined after the towing platform 100 receives the target work task, the step of receiving a first map of the current environment of the cleaning robot 200 is performed.

[0088] If the cleaning robot 200 and the towing platform 100 are not combined after the towing platform 100 receives the target work task, the combination process is first performed, and then the step of receiving the first map of the current environment of the cleaning robot 200 is performed.

[0089] When combined with the cleaning robot 200, the towing platform 100 sends instruction information to the cleaning robot 200, instructing the cleaning robot 200 to send a first map to the towing platform 100, so that the cleaning robot 200 sends the first map of the current environment to the towing platform 100, and further, the towing platform 100 receives the first map of the current environment sent by the cleaning robot 200; or, when combined with the cleaning robot 200, the cleaning robot 200 directly sends the first map to the towing platform 100, and the towing platform 100 receives the first map sent by the cleaning robot 200.

[0090] It should be noted that before and during movement, the cleaning robot 200 will use the environmental sensors of the cleaning robot 200 to confirm the current environment, and use the stored map corresponding to the current environment for positioning and path planning. This map is the first map of the current environment of the cleaning robot 200.

[0091] Since the towing platform 100 does not have an environmental sensor, it is necessary to use the positioning function of the cleaning robot 200 to confirm the position of the towing platform 100. Figure 1B As shown, when the towing platform 100 and the cleaning robot 200 are combined, the towing platform 100 is located on the top of the cleaning robot 200, and the current position of the cleaning robot 200 is the current position of the towing platform 100. Therefore, when the towing platform 100 and the cleaning robot 200 are combined, the first map of the current environment of the cleaning robot 200 is the map of the current environment of the towing platform 100.

[0092] S203: Verify the second map corresponding to the target work task according to the first map to obtain a map verification result.

[0093] It should be noted that before controlling the cleaning robot 200 to carry the towing platform 100 to perform the target work task, the towing platform 100 needs to confirm the consistency between the map of its current environment (i.e., the first map) and the second map corresponding to the target work task issued by the user, so as to smoothly perform the target work task; for example, if the cleaning robot 200 and the towing platform 100 are in a multi-floor home environment, the second map corresponding to the target work task issued by the user is the map of the second floor, and the cleaning robot 200 and the towing platform 100 are currently in the first floor, the towing platform 100 cannot perform the target work task in the current environment; therefore, it is necessary to verify the second map corresponding to the target work task based on the first map.

[0094] Exemplarily, by comparing the similarity of the environmental features in the first map and the second map, the second map corresponding to the target work task can be verified according to the first map to obtain a map verification result. The map verification result is verification passed or verification failed. For example, if the similarity between the first map and the second map is greater than a preset threshold, the map verification result is verification passed; if the similarity between the first map and the second map is less than or equal to the preset threshold, the map verification result is verification failed.

[0095] S204, when the map verification result is verified to be passed, the cleaning robot is controlled to carry the towing platform to perform the target work task.

[0096] For example, when the map verification result is verified to be passed, the towing platform 100 can send a movement instruction to the cleaning robot 200 to control the cleaning robot 200 to carry the towing platform 100 to perform the target work task. The towing platform 100 is used to carry household objects related to the target work task.

[0097] In the task execution method of the above-mentioned smart home towing system, the towing platform can receive the target work task issued by the user terminal; and when combined with the cleaning robot, the second map corresponding to the target work task is verified according to the first map of the current environment of the cleaning robot. If the verification passes, the cleaning robot is controlled to carry the towing platform to execute the target work task. The towing platform can carry household objects related to the target work task. In this way, the cleaning robot can be controlled to carry the household objects related to the target work task to the area corresponding to the second map to perform the operation, thereby realizing the user's whole-house air purification, fixed-point humidification, transportation of household items, and whole-house patrol and other operational needs for a certain family area, and by verifying the map, it can be ensured that the towing platform smoothly executes the target work task.

[0098] In some optional implementations, see Figure 3 , Figure 3 A schematic diagram of a process for obtaining a map verification result is provided. The map verification result can be determined by comparing the identification information corresponding to the map. In step S203, the following steps are specifically included:

[0099] S301, performing consistency check on identification information corresponding to the first map and identification information corresponding to the second map to obtain an identification check result.

[0100] It should be noted that, since each map has corresponding unique identification information after the cleaning robot 200 creates the map, the consistency of the first map and the second map can be verified by comparing the identification information of the first map with the identification information of the second map.

[0101] Exemplarily, the identification information of the map may be a unique identification ID number corresponding to the map.

[0102] Specifically, if the identification information corresponding to the first map is consistent with the identification information corresponding to the second map, the identification verification result is consistent; if the identification information corresponding to the first map is inconsistent with the identification information corresponding to the second map, the identification verification result is inconsistent.

[0103] S302: Determine a map verification result for the second map according to the identification verification result.

[0104] Furthermore, the map verification result of the second map can be determined based on the identification verification result. For example, if the identification verification result is inconsistent, the map verification result of the second map is determined to be failed; if the identification verification result is consistent, the map verification result of the second map can be directly determined to be passed; further verification can also be performed, for example, verifying whether the serial number information corresponding to each room area in the second map is consistent with the serial number information corresponding to each room area in the first map, and then determining whether the map verification result of the second map is passed.

[0105] In the embodiment of the present application, by comparing the identification information of the maps to determine whether the first map is consistent with the second map, the efficiency of map verification can be improved, thereby improving the efficiency of executing the target work task.

[0106] In some optional implementations, see Figure 4 , Figure 4 A flowchart for determining the map verification result of the second map is provided. When the verification result is consistent, the task execution information can be verified to determine the map verification result of the second map. In step S302, the following steps are specifically included:

[0107] S401: When the identification verification result is consistent, if the target work task includes task execution information, the task execution information is verified according to the first map to obtain the execution information verification result.

[0108] Exemplarily, the task execution information may include at least one of the task execution area, the execution order between different task execution areas, the task execution point and the execution order between different task execution points; wherein the task execution area may be each room area in the second map, or it may be an area specified by the user in the second map; the execution order between different task execution areas is the order in which the towing platform specified by the user in the second map arrives at each task execution area to perform the target work task; the task execution point may be a specific coordinate point specified by the user in the second map.

[0109] Optionally, the user can set the task execution information when performing the task selection operation on the control page of the towing platform. For example, each area in the entire second map can be used as the task execution area, or a part of the area in the second map can be used as the task execution area. Furthermore, the user can also set the execution order of each task execution area. Similarly, the user can set one or more task execution points in the second map and set the execution order between the task execution points.

[0110] Exemplarily, if the user does not set the task execution information, it is assumed that the cleaning robot 200 needs to reach all areas in the second map, and the area execution order follows the preset or default execution order.

[0111] It should be noted that before the cleaning robot 200 docks and merges with the towing platform 100, the cleaning robot 200 will move to the area where the towing platform 100 is located according to the merger instruction. During the movement of the cleaning robot 200, since the positions of furniture, objects or other obstacles in the home environment may change at any time, the cleaning robot 200 will use environmental sensors to scan the current environment in real time and update the environmental information in the first map in real time. Therefore, when the identification verification results are consistent, there may be some differences in the environmental information in the first map and the second map. If the target work task includes task execution information, the towing platform 100 also needs to verify the task execution information based on the latest environmental information in the first map.

[0112] For example, the cleaning robot 200 and the towing platform 100 are currently located on the first floor of the home environment, and the second map is also a map corresponding to the first floor of the home environment. When the user sends the target work task to the towing platform based on the second map, the task execution information is included. Assuming that the task execution information includes the room area with room number 1 and the room area with room number 2 that the towing platform can reach in the second map, the execution order of the room areas is to move to room number 1 first and then to room number 2.

[0113] At this time, the towing platform 100 confirms again whether there are obstacles in the path of the room number 1 or the room number 2 that the cleaning robot 200 carrying the towing platform 100 is about to go to based on the latest environmental information in the first map. If there are obstacles, it means that the cleaning robot 200 cannot reach the room number 1 or the room number 2, and thus, the execution information verification result is determined to be failed. If there are no obstacles, it means that the cleaning robot 200 can reach the room number 1 or the room number 2, and thus, the execution information verification result is determined to be passed.

[0114] S402: When the result of the execution information verification is that the verification is passed, determine that the result of the map verification of the second map is that the verification is passed.

[0115] Exemplarily, when the execution information verification result is passed, it means that the cleaning robot 200 can carry the towing platform 100 to the area corresponding to the second map, and then the map verification result of the second map is determined to be passed.

[0116] In an embodiment of the present application, the first map is used to verify the task execution information in the target task to determine whether the cleaning robot can successfully reach the task execution area or task execution point corresponding to the second map, or whether it can execute the target work task according to the execution order between different task execution areas, so that the final map verification result can more accurately reflect whether the cleaning robot can execute the target work task, avoid misjudgment, and smoothly execute the target work task.

[0117] Further, after step S401, that is, after verifying the task execution information according to the first map and obtaining the execution information verification result, the embodiment of the present application provides a processing method when the execution information verification result is verification failure, and the specific implementation process is as follows:

[0118] When the execution information verification result is a verification failure, the execution information verification result is sent to the user terminal so that the user terminal outputs a first prompt message to the user; wherein the first prompt message is used to prompt an abnormality, or prompt the user to change the task execution information or the target work task.

[0119] Exemplarily, when the execution information verification result is a verification failure, the execution information verification result is sent to the user terminal, so that the user terminal outputs a first prompt message to the user to prompt the user that the task execution is abnormal so that the user can handle the abnormality, for example, the user can view the specific obstacles in the environment where the cleaning robot 200 is located and remove the obstacles. Alternatively, the user is prompted to change the task execution information or the target work task, for example, the user can be prompted to change the task execution area or task execution point in the second map.

[0120] When the second prompt information is used to prompt the user to change the task execution information, and the user changes the task execution information in the second map, for example, after changing the task execution area or the task execution point, the first map continues to be used to verify the changed task execution information. Only when the execution information verification result passes, the map verification result of the second map is considered to have passed the verification.

[0121] In the embodiment of the present application, when the execution information verification result is a verification failure, a prompt message can be sent to the user to prompt the user to perform corresponding processing to ensure that the towing platform 100 can successfully perform the target work task.

[0122] In some optional implementations, when the identification verification result is consistent, if the target work task does not include task execution information, it can be understood that after the user selects the second map, the target work task is executed in the execution order between each area of ​​the second map as the task execution area and the default task execution area. At this time, the map verification result can be directly determined as passed.

[0123] In some optional implementations, when the identification verification result is inconsistent, the identification verification result is sent to the user terminal so that the user terminal outputs a second prompt message to the user; wherein the second prompt message is used to prompt an abnormality, or prompt the user to change the second map, target work task, or instruct the cleaning robot to carry the towing platform and move to the area corresponding to the second map.

[0124] For example, when the identification verification result is inconsistent, it can be understood that when the first map does not match the second map, the identification verification result can be sent to the user terminal so that the user terminal prompts the user that the execution status of the target work task is abnormal so that the user can handle the abnormality, for example, the user can manually move the cleaning robot 200 and the towing platform 100 to the area corresponding to the second map. Alternatively, the identification verification result is sent to the user terminal so that the user terminal prompts the user to change the second map or the target work task so that the second map matches the first map; or prompts the user to instruct the cleaning robot 200 to carry the towing platform 100 to move to the area corresponding to the second map.

[0125] When the second prompt information is used to prompt the user to change the second map, and the user has changed the second map, the first map is continued to be used to verify the replaced second map. Based on the re-issuance of the target work task after the second map is replaced, if the target work task does not include task execution information, the map verification result can be determined based on the identification information corresponding to the first map and the identification information corresponding to the second map to determine whether the verification is passed. If the target work task includes task execution information, then when the identification verification result is consistent, the task execution information is continued to be verified based on the first map to obtain the execution information verification result, and then the map verification result of the second map is determined based on the execution information verification result.

[0126] In an embodiment of the present application, when the first map and the second map are inconsistent, the identification verification result is sent to the user terminal for the user to process, thereby avoiding the inability to execute the target work task due to the inconsistency between the first map and the second map.

[0127] In some optional implementations, see Figure 5 , Figure 5 A flowchart of another task execution method of a smart home mopping system is provided. The method is applied to a cleaning robot and specifically includes the following steps:

[0128] S501, after the towing platform receives the target work task sent by the user terminal, when the cleaning robot and the towing platform are combined, the cleaning robot sends a first map of the current environment to the towing platform, so that the towing platform verifies the second map corresponding to the target work task according to the first map to obtain a map verification result.

[0129] S502: When the map verification result is that the verification is passed, the towing platform is carried to perform the target work task based on the control of the towing platform.

[0130] The towing platform is used to carry household items related to the target work task.

[0131] The specific process of the above steps can be found in the description of the implementation of the above method. The implementation principles and technical effects are similar and will not be repeated here.

[0132] In some optional implementations, the present application embodiment provides another task execution method of a smart home drag and drop system, which is applied to a user terminal, and the specific implementation process is as follows:

[0133] The user terminal sends the target work task to the towing platform 100, so that the towing platform 100, when combined with the cleaning robot 200, verifies the second map corresponding to the target work task according to the received first map of the current environment of the cleaning robot 200 to obtain a map verification result; and when the map verification result is that the verification is passed, the cleaning robot 200 is controlled to carry the towing platform 100 to perform the target work task; wherein the towing platform 100 is used to carry household objects 300 related to the target work task.

[0134] In the embodiment of the present application, the user terminal interacts with the towing platform so that the towing platform controls the cleaning robot to carry the towing platform to perform the target work task when the map verification result is verified. The target work task can be initiated at the user terminal, which improves the convenience of issuing the target work task.

[0135] In some optional implementations, see Figure 7 , Figure 7 A flow chart of sending a target work task to a towing platform is provided. The user terminal sends the target work task to the towing platform 100, and specifically includes the following steps:

[0136] In response to a task selection operation performed by a user on a control page of the towing platform, a target work task is sent to the towing platform based on the second map.

[0137] The second map is a default map displayed in the control page of the towing platform; or, the second map is a map selected by the user from multiple maps stored in the towing platform. Further, the default map is a map used by the cleaning robot for the current or most recent task; or, the default map is a map used by the towing platform for the most recent task.

[0138] For example, see Fig. 6A , Fig. 6A A control page diagram of a towing platform is provided. Fig. 6A The map displayed by default in the control page of the towing platform is shown; Fig. 6A The control page of the towing platform shown also includes work tasks that can be performed by the towing platform, including "return to base station" and "cruise"; if the user acts on the default displayed map and the task selection operation is to select the "cruise" work task, then the default displayed map is the second map, and the target work task is the cleaning robot 200 carrying the towing platform 100 to cruise in the area corresponding to the second map.

[0139] It should be noted that the executable work tasks displayed on the control page of the towing platform will be different depending on the household objects carried by the towing platform.

[0140] Optionally, before issuing the target work task, the user can also select one of the multiple maps stored in the drag platform through the control page of the drag platform to Fig. 6A The map displayed on the control page shown is changed. The process of changing the map is described in detail below:

[0141] For example, see Figure 6B , Figure 6B A schematic diagram of a map changing interface is provided, which displays multiple maps stored in the drag platform (i.e., map 1 and map Figure 2 ), users can click Fig. 6A In the drag platform control page, enter the map area displayed Figure 6B interface to change the displayed map; Figure 6B As shown in the figure, Map 1 shows "in use", which means that Map 1 is the current default map. Users can select a map Figure 2 , change the map displayed on the control page of the towing platform from Map 1 to Map Figure 2 ; You can also click on Create a New Map to instruct the cleaning robot 200 to carry the towing platform 100 to move in the current environment, so that the environmental sensor of the cleaning robot 200 scans the environment and then re-establishes a map. Optionally, the user can change the map displayed on the control page of the towing platform from Map 1 to the newly created map.

[0142] If the map displayed on the control page of the towing platform is changed to Figure 2 If the user acts on the location displayed on the control page Figure 2 In this case, if the task selection operation is to select the work task of "return to base station", the map selected by the user from the multiple maps stored in the towing platform will be Figure 2 That is the second map, and the target work task is the work task of the cleaning robot 200 carrying the towing platform 100 to return to the base station in the area corresponding to the second map.

[0143] In the embodiment of the present application, the user terminal is connected to the towing platform through communication, and the user can perform task selection operations in the user terminal. The user terminal can send the target work task to the towing platform, thereby realizing the control of the towing platform through the user terminal and improving the convenience of controlling the towing platform.

[0144] In some optional implementations, before the user terminal sends the target work task to the towing platform, the user terminal may also perform the following operations:

[0145] In response to the user's operation of selecting task execution information based on the second map, a target work task is generated; wherein the task execution information includes at least one of a task execution area, an execution order between different task execution areas, a task execution point, and an execution order between different task execution points.

[0146] Exemplarily, the user can select only the second map on the control page of the towing platform, or after selecting the second map, continue to select the task execution area or task execution point in the areas and coordinate points contained in the second map, and determine the execution order between different task execution areas based on the order in which the user selects the task execution areas, and determine the execution order between different task execution points based on the order in which the user selects the task execution points. Then, the target work task is generated based on the second map and the task execution information. The generated target work task includes not only the second map, but also the task execution information corresponding to the second map.

[0147] For example, see Fig. 6A The map displayed in the control page of the towing platform includes task execution areas A, B and C, and task execution points 1, 2 and 3. For example, if the user can select the task execution information in the displayed map by selecting areas A and B in sequence, the task execution areas are areas A and B, and the execution order of the task execution areas is area A->area B; if the user can select the task execution information in the displayed map by selecting points 1 and 2 in sequence, the task execution points are points 1 and 2, and the execution order of the task execution points is point 1->point 2.

[0148] In an embodiment of the present application, a method is provided for a user to set task execution information on a control page of a towing platform in a user terminal, so that the target work task determined by the user is more detailed, thereby improving the accuracy of setting the target work task.

[0149] In some optional implementations, after the user terminal sends the target work task to the towing platform 100, if the execution information verification result is that the verification fails, see Figure 7 , Figure 7 A flowchart for prompting a user of a verification result is provided, which specifically includes the following steps:

[0150] S701: When the execution information verification result is verification failure, receive the execution information verification result sent by the towing platform.

[0151] S702: Output first prompt information to the user.

[0152] The first prompt information is used to prompt an abnormality, or to prompt the user to change the task execution information or the target work task.

[0153] For example, see Figure 8 , Figure 8 A schematic diagram of an interface for editing a map is provided. For example, if the first prompt information is used to prompt the user to change the task execution information, the user can click Figure 6B Click the Edit button in Map 1 to Figure 8 The interface for editing Map 1 is shown. To edit or change the mission execution information, you can edit or change the mission execution area through "Restricted Area Settings" and edit or change the mission execution point through "Edit Points".

[0154] In an embodiment of the present application, when the execution information verification result is a verification failure, a first prompt message can be output to the user so that the user can perform corresponding processing to avoid the problem of the target work task being unable to be executed.

[0155] In some optional implementations, after the user terminal sends the target work task to the towing platform 100, if the identification verification result is inconsistent, see Fig. 9 , Fig. 9 A flowchart for prompting a user of a verification result is provided, which specifically includes the following steps:

[0156] S901: When the identification verification result is inconsistent, receive the identification verification result sent by the towing platform.

[0157] S902: Output second prompt information to the user.

[0158] Furthermore, since the received identification verification result is inconsistent, it is necessary to output a second prompt message to the user. The second prompt message is used to prompt an abnormality, or to prompt the user to change the second map, target work task, or instruct the cleaning robot to carry the towing platform to move to the area corresponding to the second map.

[0159] For example, see Figure 6B If the first prompt information is used to prompt the user to change the second map, the user can enter the Figure 6B The interface shown replaces the second map.

[0160] In an embodiment of the present application, when the identification verification result is inconsistent, a second prompt message can be output to the user so that the user can perform corresponding processing to avoid the problem of the target work task being unable to be executed.

[0161] In some optional implementations, an embodiment of the present application provides a towing platform 100, which includes a loading platform, a memory, and a processor; wherein the loading platform is used to carry household items related to the target work task; the memory stores a computer program, and when the processor executes the computer program, the steps of the method applied to the towing platform 100 in any of the above embodiments are implemented.

[0162] In some optional implementations, an embodiment of the present application provides a cleaning robot 200, which includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the steps of the method applied to the cleaning robot 200 in any of the above embodiments.

[0163] In some optional implementations, an embodiment of the present application provides a user terminal, the user terminal includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the steps of the method applied to the user terminal in any of the above embodiments are implemented.

[0164] In some optional implementations, an embodiment of the present application provides a smart home towing system, which includes the towing platform 100 described in the above embodiment, the cleaning robot 200 described in the above embodiment, and the user terminal described in the above embodiment, so as to enable the cleaning robot 200 to carry the towing platform 100 to perform the target work task.

[0165] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned 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 does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can 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 to be 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.

[0166] 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.10 As 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 task execution method of a smart home drag system 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.

[0167] Those skilled in the art will understand that Fig.10 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.

[0168] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0169] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods 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.

[0170] 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.

[0171] The above-described 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 task execution method of a smart home dragging system, characterized in that: The smart home towing system includes a towing platform, a cleaning robot and a user terminal. The method is applied to the towing platform, and the method includes: Receiving the target work task sent by the user terminal; In the case of combining with the cleaning robot, receiving a first map of the current environment of the cleaning robot; According to the first map, verifying the second map corresponding to the target work task to obtain a map verification result; When the map verification result is passed, the cleaning robot is controlled to carry the towing platform to perform the target work task; wherein the towing platform is used to carry household objects related to the target work task.

2. The method according to claim 1, characterized in that The target work task is issued by the user terminal to the towing platform based on the second map in response to a task selection operation performed by the user on the control page of the towing platform; Correspondingly, the second map is a default map displayed in the control page of the towing platform; Alternatively, the second map is a map selected by the user from a plurality of maps stored in the towing platform.

3. The method according to claim 2, characterized in that The default displayed map is the map used by the cleaning robot for the current or most recent work task; or, the default displayed map is the map used by the towing platform for the most recent work task.

4. The method according to claim 1, characterized in that: The verifying, based on the first map, the second map corresponding to the target work task to obtain a map verification result includes: Performing a consistency check on the identification information corresponding to the first map and the identification information corresponding to the second map to obtain an identification check result; A map verification result for the second map is determined according to the identification verification result.

5. The method according to claim 4, characterized in that The determining, according to the identification verification result, a map verification result of the second map includes: In the case where the identification verification result is consistent, if the target work task includes task execution information, the task execution information is verified according to the first map to obtain an execution information verification result; wherein the task execution information includes at least one of a task execution area, an execution order between different task execution areas, a task execution point, and an execution order between different task execution points; In a case where the execution information verification result is verification passed, it is determined that the map verification result for the second map is verification passed.

6. The method according to claim 5, characterized in that After verifying the task execution information according to the first map and obtaining the execution information verification result, the method further includes: When the execution information verification result is a verification failure, the execution information verification result is sent to the user terminal so that the user terminal outputs a first prompt message to the user; wherein the first prompt message is used to prompt an abnormality, or to prompt the user to change the task execution information or the target work task.

7. The method according to claim 4, characterized in that The determining, according to the identification verification result, a map verification result of the second map includes: In the case where the identification verification result is consistent, if the target work task does not include task execution information, it is determined that the map verification result is verified passed.

8. The method according to any one of claims 4 to 7, characterized in that: After obtaining the identification verification result, the method further includes: When the identification verification result is inconsistent, the identification verification result is sent to the user terminal so that the user terminal outputs a second prompt message to the user; wherein the second prompt message is used to prompt an abnormality, or to prompt the user to change the second map, target work task, or instruct the cleaning robot to carry the towing platform to move to the area corresponding to the second map.

9. A task execution method of a smart home dragging system, characterized in that: The smart home towing system includes a towing platform, a cleaning robot and a user terminal. The method is applied to the cleaning robot, and the method includes: After the towing platform receives the target work task sent by the user terminal, when the cleaning robot and the towing platform are combined, the cleaning robot sends a first map of the current environment to the towing platform, so that the towing platform verifies the second map corresponding to the target work task according to the first map to obtain a map verification result; When the map verification result is that the verification is passed, the towing platform is carried to perform the target work task based on the control of the towing platform; wherein the towing platform is used to carry household objects related to the target work task.

10. A task execution method of a smart home dragging system, characterized in that: The smart home towing system includes a towing platform, a cleaning robot and a user terminal. The method is applied to the user terminal, and the method includes: sending a target work task to the towing platform, so that the towing platform, when combined with the cleaning robot, verifies a second map corresponding to the target work task according to a received first map of the current environment of the cleaning robot, obtains a map verification result, and controls the cleaning robot to carry the towing platform to perform the target work task if the map verification result is a verification pass; The towing platform is used to carry household items related to the target work task.

11. The method according to claim 10, characterized in that The sending of the target work task to the towing platform includes: In response to a task selection operation performed by a user on a control page of the towing platform, sending a target work task to the towing platform based on the second map; The second map is a map displayed by default in a control page of the towing platform; or the second map is a map selected by a user from a plurality of maps stored in the towing platform.

12. The method according to claim 11, characterized in that The default displayed map is the map used by the cleaning robot for the current or most recent work task; or, the default displayed map is the map used by the towing platform for the most recent work task.

13. The method according to claim 10, characterized in that Before sending the target work task to the towing platform, the method further includes: The target work task is generated in response to the user's operation of selecting task execution information based on the second map; wherein the task execution information includes at least one of the task execution area, the execution order between different task execution areas, the task execution point and the execution order between different task execution points.

14. The method according to claim 13, characterized in that If the target work task includes the task execution information, the map verification result includes the execution information verification result, and after sending the target work task to the towing platform, the method further includes: When the execution information verification result is verification failure, receiving the execution information verification result sent by the towing platform; Outputting first prompt information to the user; wherein, the first prompt information is used to prompt an abnormality, or to prompt the user to change the task execution information or the target work task.

15. The method according to claim 10, characterized in that The map verification result includes a mark verification result. After sending the target work task to the towing platform, the method further includes: When the identification verification result is inconsistent, receiving the identification verification result sent by the towing platform; Output a second prompt message to the user; wherein the second prompt message is used to prompt an abnormality, or prompt the user to change the second map, target work task, or instruct the cleaning robot to carry the towing platform and move to the area corresponding to the second map.

16. A towing platform, comprising a loading platform, a memory and a processor, characterized in that: The loading platform is used to carry household items related to the target work task; the memory stores a computer program, and the processor implements the steps of any one of claims 1 to 8 when executing the computer program.

17. A cleaning robot, comprising a memory and a processor, characterized in that: The memory stores a computer program, and when the processor executes the computer program, the steps of the method according to claim 9 are implemented.

18. A user terminal, comprising a memory and a processor, characterized in that: The memory stores a computer program, and when the processor executes the computer program, the steps of the method according to any one of claims 10 to 15 are implemented.

19. A smart home dragging system, characterized in that: It comprises the towing platform according to claim 16, the cleaning robot according to claim 17 and the user terminal according to claim 18.

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