Robot control method, mobile robot, intelligent terminal, and linkage control device

Abstract

A robot control method, a mobile robot (300), an intelligent terminal, and a linkage control device (200). The method comprises the following steps: controlling a processing component to acquire target information of a terminal device; on the basis of the target information, generating control information of a mobile robot (300) and / or the terminal device; and on the basis of the control information, controlling the mobile robot (300) or a base station that is associated with the mobile robot (300) to execute a first target instruction and / or controlling the terminal device to execute a second target instruction. The mobile robot (300) can communicate with other intelligent terminals in a home to perform information interaction, so as to implement joint control, thereby bringing users a better living experience and more user friendliness.

Description

Robot control method, mobile robot, intelligent terminal and linkage control device

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] The present disclosure claims priority to Chinese patent applications with application numbers 202410351820.9 filed on March 26, 2024, 202410351481.4 filed on March 26, 2024, 202411025608.X filed on July 29, 2024, and 202411025873.8 filed on July 29, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to the field of smart home technology, and in particular to a robot control method, a mobile robot, a smart terminal, and a linkage control device. Background Art

[0004] With the rapid development of science and technology, smart home technology has gradually become an integral part of family life. Mobile robots, such as sweeping robots, have become a daily fixture in many households, autonomously cleaning floors and alleviating the burden on family members. However, current mobile robots lack the ability to interact with smart home devices, equipment, or other terminals, making them insufficiently intelligent and user-friendly in many application scenarios. Summary of the Invention

[0005] A robot control method, a mobile robot, an intelligent terminal, and a linkage control device are designed to automatically trigger the child lock function of the mobile robot, solving the inconvenience and easy-to-ignore problems of manual operation.

[0006] In the first aspect, the present disclosure proposes a robot control method applied to a mobile robot, wherein the mobile robot communicates with a terminal device, and the mobile robot includes a processing component, and the method includes: controlling the processing component to obtain target information of the terminal device; generating control information of the mobile robot and / or the terminal device based on the target information; and controlling the mobile robot or a base station associated with the mobile robot to execute a first target instruction and / or controlling the terminal device to execute a second target instruction based on the control information.

[0007] In the second aspect, the present disclosure proposes a robot control method, which is applied to a terminal device, and the terminal device communicates with a mobile robot; the method includes: sending target information to the mobile robot so that the mobile robot generates control information of the mobile robot and / or the terminal device based on the target information, and based on the control information, controls the mobile robot or a base station associated with the mobile robot to execute a first target instruction and / or controls the terminal device to execute a second target instruction.

[0008] In the third aspect, the present disclosure proposes a robot control method, which is applied to a linkage control device, which communicates with a terminal device and a mobile robot respectively; the method includes: receiving target information from the terminal device; sending the target information to the mobile robot, so that the mobile robot generates control information of the mobile robot and / or the terminal device based on the target information, and based on the control information, controls the mobile robot or a base station associated with the mobile robot to execute a first target instruction and / or controls the terminal device to execute a second target instruction.

[0009] In a fourth aspect, the present disclosure provides a mobile robot comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the robot control method of the second aspect when executing the computer program.

[0010] In a fifth aspect, the present disclosure provides an intelligent terminal comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the robot control method of the first aspect when executing the computer program.

[0011] In a sixth aspect, the present disclosure provides a linkage control device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the robot control method of the third aspect mentioned above when running the computer program.

[0012] In a seventh aspect, the present disclosure provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the robot control method as described in the first aspect, the second aspect or the third aspect.

[0013] In an eighth aspect, the present disclosure provides a computer program product, comprising a computer program or computer instructions, characterized in that the computer program or the computer instructions are stored in a computer-readable storage medium, a processor of a computer device reads the computer program or the computer instructions from the computer-readable storage medium, and the processor executes the computer program or the computer instructions, so that the computer device executes the robot control method as described in the first, second or third aspect above.

[0014] According to the technical solution of the embodiment of the present disclosure, there are at least the following beneficial effects: the mobile robot of the embodiment of the present disclosure can communicate with other smart terminals in the home, exchange information, and realize joint control, bringing users a better living experience and being more humane.

[0015] Additional aspects and advantages of the present disclosure will be given in part in the description that follows and, in part, will be obvious from the description that follows, or will be learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the technical solution of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the technical solution of the present disclosure and do not constitute a limitation to the technical solution of the present disclosure.

[0017] FIG1 is a schematic structural diagram of a mobile robot provided by one embodiment of the present disclosure;

[0018] FIG2 is a schematic structural diagram of a home linkage system provided by an embodiment of the present disclosure;

[0019] FIG3 is a schematic structural diagram of a door lock provided by one embodiment of the present disclosure;

[0020] FIG4 is a schematic structural diagram of an identity recognition module in the door lock shown in FIG3 ;

[0021] FIG5 is a schematic structural diagram of a home linkage system provided by another embodiment of the present disclosure;

[0022] FIG6 is a schematic diagram of a principle of the home linkage system shown in FIG5 ;

[0023] FIG7 is another schematic diagram of the principle of the home linkage system shown in FIG5;

[0024] FIG8 is a flowchart of a robot control method performed by a door lock according to an embodiment of the present disclosure;

[0025] FIG9 is a flow chart of an embodiment of the robot control method shown in FIG8 ;

[0026] FIG10 is a flow chart of another embodiment of the robot control method shown in FIG8 ;

[0027] FIG11 is a flowchart of a robot control method performed by a mobile robot according to an embodiment of the present disclosure;

[0028] FIG12 is a flowchart of a robot control method for controlling a mobile robot to perform a patrol mission according to an embodiment of the present disclosure;

[0029] FIG13 is a flowchart of sub-steps of step S1220 in the robot control method shown in FIG12 ;

[0030] FIG14 is another flowchart of obtaining the target patrol path in step S1210 of the robot control method shown in FIG12 ;

[0031] FIG15 is a flowchart of a robot control method provided by another embodiment of the present disclosure;

[0032] FIG16 is a flowchart of a robot control method provided by another embodiment of the present disclosure;

[0033] FIG17 is a flowchart of a robot control method provided by another embodiment of the present disclosure;

[0034] FIG18 is a flowchart of a robot control method provided by another embodiment of the present disclosure;

[0035] FIG19 is a flowchart of a robot control method provided by another embodiment of the present disclosure;

[0036] FIG20 is a schematic flow chart of a control method according to an embodiment of the present invention;

[0037] 21 to 22 are schematic diagrams of the curtains according to the embodiment of the present invention;

[0038] 23 and 24 are schematic diagrams of a first cleaning area and a second cleaning area according to an embodiment of the present invention;

[0039] 25 to 28 are schematic flow charts of a control method according to an embodiment of the present invention;

[0040] FIG29 is a schematic diagram of the communication connection between the mobile robot and the terminal device and the electric curtain according to an embodiment of the present invention;

[0041] 30 to 33 are schematic flow charts of a control method according to an embodiment of the present invention;

[0042] FIG34 is a flow chart of a method for controlling a mobile robot according to an embodiment of the present disclosure;

[0043] FIG35 is a diagram showing the module structure provided in an embodiment of the present disclosure;

[0044] FIG36 is a flow chart of a mobile robot provided in an embodiment of the present disclosure;

[0045] FIG37 is a flowchart of determining a second target operating mode according to an embodiment of the present disclosure;

[0046] FIG38 is a flowchart of determining an operating mode according to configuration information provided in an embodiment of the present disclosure;

[0047] FIG39 is a flow chart of a method for controlling a mobile robot according to an embodiment of the present disclosure;

[0048] FIG40 is a flowchart of a robot control method performed by a door lock according to an embodiment of the present disclosure;

[0049] FIG41 is a diagram of a sub-step of controlling the mobile robot to enable the child lock function in step S4020 of the robot control method shown in FIG40 ;

[0050] 42 is another sub-step diagram of controlling the mobile robot to enable the child lock function in step S4020 of the robot control method shown in FIG. 40 ;

[0051] FIG43 is a flowchart of a robot control method performed by a linkage control device according to an embodiment of the present disclosure;

[0052] FIG44 is an overall flow chart of a robot control method provided by another embodiment of the present disclosure;

[0053] FIG45 is an overall flow chart of a robot control method provided by another embodiment of the present disclosure;

[0054] FIG46 is an overall flow chart of a robot control method provided by another embodiment of the present disclosure;

[0055] FIG47 is an overall flow chart of a robot control method provided by another embodiment of the present disclosure;

[0056] FIG48 is a schematic diagram of a controller for executing a robot control method according to an embodiment of the present disclosure;

[0057] FIG49 is a schematic diagram of a device for activating a child lock function for executing a robot control method according to an embodiment of the present disclosure;

[0058] FIG50 is a schematic diagram of a device for activating a child lock function for executing a robot control method according to another embodiment of the present disclosure;

[0059] Figure 51 is a schematic diagram of a child lock function activation device for executing a robot control method provided by another embodiment of the present disclosure. DETAILED DESCRIPTION

[0060] The following describes in detail embodiments of the present disclosure, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present disclosure, and are not to be construed as limiting the present disclosure.

[0061] In the description of the present disclosure, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure.

[0062] In the description of this disclosure, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The terms "first" and "second" are used solely to distinguish technical features and are not to be construed as indicating or implying relative importance, or as implicitly specifying the number or order of the technical features indicated.

[0063] In the description of the present disclosure, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present disclosure based on the specific content of the technical solution.

[0064] With the rapid development of technology, smart home technology has gradually become an integral part of family life. Mobile robots, such as robot vacuums, have become a daily fixture in many households. Robot vacuums are a common household appliance, offering ease of use and automated cleaning capabilities. However, current mobile robots lack the ability to interact with smart home devices, equipment, or other devices, making them insufficiently intelligent and user-friendly in many application scenarios.

[0065] In one embodiment, a robot control method includes:

[0066] The control processing component obtains target information of the terminal device.

[0067] Based on the target information, control information of the mobile robot and / or terminal device is generated. And

[0068] Based on the control information, the mobile robot or the base station associated with the mobile robot is controlled to execute the first target instruction and / or the terminal device is controlled to execute the second target instruction.

[0069] Exemplarily, the above-described robot control method is applied to a mobile robot, such as a sweeping robot, a mopping robot, or other mobile household appliance. The mobile robot can communicate with other terminal devices, such as smart door locks and smart curtains. The mobile robot includes a processing component that exchanges information with the terminal device. The processing component can obtain target information from the terminal device, such as the status of curtains or door locks. After receiving the target information from the terminal device, the mobile robot generates control information for the mobile robot and / or the terminal device based on the target information. The control information can be determined by a preconfigured control policy that describes the relationship between the target information and the corresponding control information. For example, if the target information indicates a need to enable a child lock command, the child lock function of the mobile robot can be enabled according to the child lock enable command. Based on the control information, the mobile robot or a base station associated with the mobile robot is controlled to execute a first target command and / or a second target command. For example, the mobile robot can be controlled to enable the child lock function while a button on the mobile robot is locked. Alternatively, the mobile robot can be controlled to execute a first target command, such as the base station to enable the child lock function while a button on the base station is locked. The terminal device can also be controlled to execute a second target instruction. For example, when the curtain is located in the moving route of the mobile robot, the curtain can be controlled to move.

[0070] The mobile robot disclosed in the present invention can communicate with other smart terminals in the home, exchange information, and realize joint control, thereby bringing users a better living experience and being more humane.

[0071] In some scenarios, children or people unfamiliar with the operation of a robot vacuum cleaner may experience misoperation on the control panel, potentially causing damage to the device or the user. Currently, users rely on manually enabling the child lock function, but this is likely to be forgotten during use, especially for the elderly and children who are unfamiliar with electronic device operation.

[0072] Based on the above situation, the embodiment of the present disclosure proposes a robot control method that can automatically identify special groups such as children and lock the mobile robot to improve the safety and convenience of use.

[0073] The following further describes various embodiments of the mobile robot and home linkage system disclosed herein with reference to the accompanying drawings.

[0074] As shown in FIG1 , FIG1 is a schematic structural diagram of a mobile robot provided by an embodiment of the present disclosure.

[0075] In one embodiment, the mobile robot 300 is provided with a child lock function module 330 , wherein the mobile robot 300 can activate the child lock function through the child lock function module 330 , thereby preventing special objects such as children or pets from misoperating the mobile robot 300 .

[0076] The mobile robot 300 is equipped with at least a child lock function. This function is a safety feature designed to prevent children or pets from accidentally operating the mobile robot 300, potentially causing unexpected movement or behavior, thereby avoiding potential danger. The child lock function can be activated by long-pressing a specific button or performing a series of preset operations. When the child lock function is activated, the mobile robot 300 is locked, and all button and remote control operations are prohibited. The mobile robot 300 can only be used normally after the child lock function is deactivated.

[0077] For example, when the mobile robot 300 turns on the child lock function, the control panel on the mobile robot 300 will be locked, thereby stopping receiving key control instructions, preventing children from accidentally touching the control panel and misoperating the mobile robot 300; or, when the mobile robot 300 turns on the child lock function, the remote control used to control the mobile robot 300 will be locked, thereby stopping receiving remote control instructions, preventing children from accidentally touching the remote control and misoperating the mobile robot 300; or, when the mobile robot 300 turns on the child lock function, the voice trigger device used to control the mobile robot 300 will be locked, thereby stopping generating voice control instructions, preventing children from accidentally speaking and misoperating the mobile robot 300; or, the child lock function can also be achieved by locking other components or ports, which is not specifically limited in the embodiments of the present disclosure. Of course, the above-mentioned implementation method of turning on the child lock function of the mobile robot can also be applied to the base station associated with the mobile robot, that is, the base station associated with the mobile robot can also have the child lock function.

[0078] In one embodiment, the mobile robot 300 may further be provided with a detection module 310 and a first identity recognition module 320 , wherein the detection module 310 is connected to the child lock function module 330 through the first identity recognition module 320 .

[0079] Specifically, the mobile robot 300 can detect environmental information through the detection module 310 and send the environmental information to the first identity recognition module 320. The first identity recognition module 320 can identify the identity recognition information of the identification object in the environmental information to determine whether the identification object is a preset object such as a child or a pet or other special object.

[0080] The detection module 310 can be an image acquisition module, such as a camera. When the mobile robot 300 is powered on, the camera can capture images of the surrounding environment in real time. These images will be transmitted to the processor of the mobile robot 300 for analysis. Alternatively, the detection module 310 can be a sound acquisition module, such as a microphone. When the mobile robot 300 is powered on, the microphone can capture sound signals from the surrounding environment in real time. These sound signals will be transmitted to the processor of the mobile robot 300 for analysis. In addition, the detection module 310 in the embodiment of the present disclosure can also be other types of modules, which are not specifically limited in the embodiment of the present disclosure.

[0081] The first identity recognition module 320 can be an image recognition module that can be integrated into a processor. In the disclosed embodiment, the processor can pre-process the real-time captured image, such as performing noise reduction and contrast enhancement, and then use an image recognition algorithm to analyze the target object, such as a child or pet, in the image. Alternatively, the first identity recognition module 320 can be a sound recognition module that can be integrated into a processor. In the disclosed embodiment, the processor can analyze characteristics such as frequency, volume, and rhythm in the sound signal to identify the voice of a child or pet. For example, characteristics such as a child's crying and laughing and a pet's barking can be used for identification.

[0082] It should be noted that the mobile robot 300 may have a cleaning function, that is, the mobile robot 300 may be a sweeping robot; or, the mobile robot 300 may have a mopping function, that is, the mobile robot 300 may be a mopping robot; or, the mobile robot 300 may have both cleaning and mopping functions, that is, the mobile robot 300 may be an integrated sweeping and mopping robot; or, the mobile robot 300 may be an electronic pet, such as a movable electronic pet dog; the mobile robot 300 may also be in other device forms, which is not specifically limited in the embodiments of the present disclosure.

[0083] It is understandable that the mobile robot 300 may also have functions such as autonomous navigation, patrol monitoring, path planning, and active obstacle avoidance.

[0084] In one embodiment, the mobile robot can also be linked with other home appliances, such as door locks. As shown in FIG2 , FIG2 is a schematic diagram of the structure of a home linkage system provided by an embodiment of the present disclosure.

[0085] In one embodiment, the home linkage system includes but is not limited to a door lock 100 and a mobile robot 300, wherein the door lock 100 communicates directly or indirectly with the mobile robot 300, and wherein the door lock may have an identification function.

[0086] As shown in FIG3 , the door lock 100 includes but is not limited to a wireless communication module 110, a second identity recognition module 120 and a lock body function module 130, wherein the wireless communication module 110 can realize direct or indirect communication between the door lock 100 and the mobile robot 300; in addition, the second identity recognition module 120 can identify the identity of the person entering the house, i.e., the identification object, to identify whether the person entering the house is a child or an adult, or to identify whether the person entering the house is a family member or an outsider; in addition, the lock body function module 130 can realize basic door opening and closing operations, and can also record the information of each door opening and closing, such as the door opening and closing time or the number of door opening and closing times.

[0087] It can be understood that the wireless communication module 110 in the door lock 100 can be a WIFI communication module, a Bluetooth communication module, a 4G or 5G communication module, or other types of communication modules, and the present disclosure does not specifically limit this.

[0088] In addition, it should be noted that, as shown in Figure 4, the second identity recognition module 120 in the door lock 100 can be a face recognition submodule 121, which can perform identity recognition based on a person's facial feature information; it can also be a fingerprint recognition submodule 122, which can use a person's fingerprint features to perform identity authentication. The principle is to classify and compare the fingerprints of the identification object to make a judgment; it can also be a palm vein recognition submodule 123, which can use the property of hemoglobin in human blood to absorb near-infrared light to obtain palm vein images for identity authentication; it can also be a palm print recognition submodule 124, which can perform identity authentication by obtaining the line information on the palm surface. When performing identity authentication, the system will extract the feature value of the palm print and compare it with the pre-stored feature data to confirm the identity; it can also be a voiceprint recognition submodule 125, which can automatically identify the speaker's identity based on the personalized features in the speaker's voice; it can also be an iris recognition submodule 126, which can use the iris features of the human eye to perform identity authentication.

[0089] In addition, as shown in FIG5 , FIG5 is a structural diagram of a home linkage system provided by another embodiment of the present disclosure.

[0090] In one embodiment, the home linkage system includes but is not limited to a door lock 100 , a linkage control device 200 and a mobile robot 300 , wherein the door lock 100 communicates indirectly with the mobile robot 300 through the linkage control device 200 .

[0091] The linkage control device 200 can receive data or instructions sent by the door lock 100 and forward the data or instructions to the mobile robot 300, thereby controlling the mobile robot 300 to turn on the child lock function.

[0092] It should be noted that the linkage control device 200 can be an electronic device independent of the door lock 100 and the mobile robot 300, or it can be combined with the door lock 100 to form a complete device, or it can be combined with the mobile robot 300 to form a complete device. The embodiment of the present disclosure does not specifically limit the setting method of the linkage control device 200.

[0093] In addition, the structural forms of the linkage control device 200 may include but are not limited to the following two:

[0094] The first structural form: As shown in FIG6 , the linkage control device 200 may include but is not limited to an Internet of Things cloud platform 210 , wherein the door lock 100 and the mobile robot 300 are respectively communicatively connected to the Internet of Things cloud platform 210 .

[0095] For the structural form shown in FIG6 , the IoT cloud platform 210 can receive data or instructions sent by the door lock 100 and forward the data or instructions to the mobile robot 300 , thereby controlling the mobile robot 300 to turn on the child lock function.

[0096] It is understandable that the IoT cloud platform 210 may refer to a server, and the embodiment of the present disclosure does not specifically limit the type of the IoT cloud platform 210 .

[0097] The second structural form: As shown in FIG. 7 , the linkage control device 200 may include but is not limited to a relay communication device 220 , wherein the door lock 100 is communicatively connected with the mobile robot 300 via the relay communication device 220 .

[0098] In the structure shown in Figure 7 , the door lock 100 can send data or instructions to the relay communication device 220. The relay communication device 220 can receive the data or instructions sent by the door lock 100 and forward the data or instructions to the mobile robot 300, thereby controlling the mobile robot 300 to activate the child lock function. In other words, Figure 7 shows linkage through a local device, while Figure 6 shows analysis through a cloud device.

[0099] It should be noted that the relay communication device 220 can be a communication box that only has the function of transmitting data or instructions, or it can also have other functions. For example, the relay communication device 220 can be a smart speaker that can establish communication between the door lock 100 and the mobile robot 300, transmit data and instructions, and also have a music playback function. Alternatively, the relay communication device 220 can also be a camera device that can establish communication between the door lock 100 and the mobile robot 300, transmit data and instructions, and also have a monitoring function. The relay communication device 220 can also be other types of devices, which are not specifically limited in the embodiments of the present disclosure.

[0100] It is understandable that the communication method between the door lock 100, the linkage control device 200 and the mobile robot 300 can be a WIFI communication method, a Bluetooth communication method, or other types of communication methods, and the embodiments of the present disclosure do not specifically limit this.

[0101] Based on the hardware structures of the mobile robots and home linkage systems of the above-mentioned embodiments, various embodiments of the robot control method disclosed herein are respectively proposed below.

[0102] As shown in FIG8 , FIG8 is a flowchart of a robot control method performed by a mobile robot provided by an embodiment of the present disclosure; the robot control method can be applied to the mobile robot of the above embodiment, including but not limited to step S810 and step S820.

[0103] Step S810: Obtain a child lock unlock instruction, wherein the child lock unlock instruction is generated after determining that the recognized object is a preset object;

[0104] Step S820: Enable the child lock function according to the child lock enable instruction.

[0105] In one embodiment, the embodiment of the present disclosure can identify the identification object. If it is determined that the identification object is a preset object such as a child or a pet, the embodiment of the present disclosure will automatically turn on the child lock function, solving the inconvenience and easy-to-ignore problems of manual operation, and providing a convenient user experience; it can also automatically trigger the child lock function of the mobile robot, effectively preventing children or pets from misoperating or accidentally triggering the mobile robot, reducing the risk of accidental injury.

[0106] The preset object may be a child, an elderly person, a pet, or a member in a preset member list, and this embodiment of the present disclosure does not specifically limit this.

[0107] It should be noted that the robot control method shown in FIG8 may include but is not limited to the two implementations shown in FIG9 and FIG10 , which are specifically as follows:

[0108] As shown in FIG9 , FIG9 is a flowchart of an embodiment of the robot control method shown in FIG8 , including but not limited to step S910 , step S920 and step S930 .

[0109] Step S910: Acquire environmental information through a detection module of the mobile robot, and extract identity information of the identified object from the environmental information;

[0110] Step S920: Determine that the identified object is a preset object based on the identity recognition information, and generate a child lock unlocking instruction;

[0111] Step S930: Enable the child lock function according to the child lock enable instruction.

[0112] In one embodiment, the embodiment of the present disclosure can be equipped with a detection module on the mobile robot, which detects environmental information of the surrounding environment and extracts identity recognition information of the identified object from the environmental information. Then, the identity recognition information of the identified object is analyzed. If the analysis shows that the identified object is a preset object, the embodiment of the present disclosure will automatically trigger the child lock function of the mobile robot, effectively preventing children or pets from misoperating or accidentally triggering the mobile robot, thereby reducing the risk of accidental injury.

[0113] In one embodiment, the above step S910 may include but is not limited to the following two scenarios:

[0114] The first scenario: a camera is mounted on a mobile robot, and first environmental image information of the surrounding environment is captured by the camera of the mobile robot, and then image feature information of the identified object is extracted from the first environmental image information.

[0115] The second scenario: A microphone is installed on a mobile robot, and the ambient sound information of the surrounding environment is obtained through the microphone of the mobile robot, and the voiceprint feature information of the identified object is extracted from the ambient sound information.

[0116] As shown in FIG. 10 , FIG. 10 is a flow chart of another embodiment of the robot control method shown in FIG. 8 , including but not limited to step S1010 and step S1020 .

[0117] Step S1010: receiving a child lock unlocking instruction from the door lock, wherein the child lock unlocking instruction is generated by the door lock after determining that the identified object is a preset object based on the identity identification information of the identified object.

[0118] Step S1020: Enable the child lock function according to the child lock enable instruction.

[0119] In one embodiment, the disclosed embodiment can link a mobile robot with a door lock. First, the door lock receives identification information of a person entering the house, i.e., an identification target. Then, if the door lock determines based on the identification information that the person entering the house is a pre-set target, such as a child, the door lock responds by controlling the mobile robot to activate the child lock function. The disclosed embodiment fully utilizes the respective characteristics of the door lock and the mobile robot. If the door lock determines based on the identification information that the person entering the house is a child, the child lock function of the mobile robot can be intelligently activated through the linkage control of the door lock and the mobile robot. This solves the inconvenience and easy-to-overlook issues of manual operation and provides a convenient user experience. Furthermore, the mobile robot's child lock function can be automatically triggered, effectively preventing children from misoperating or accidentally triggering the mobile robot, reducing the risk of accidental injury.

[0120] In one embodiment, when the child lock function of the mobile robot is turned on, the control panel on the mobile robot will be locked, thereby stopping receiving button control instructions, preventing children from accidentally touching the control panel and misoperating the mobile robot; or, when the child lock function of the mobile robot is turned on, the remote control used to control the mobile robot will be locked, thereby stopping receiving remote control instructions, preventing children from accidentally touching the remote control and misoperating the mobile robot; or, when the child lock function of the mobile robot is turned on, the voice trigger device used to control the mobile robot will be locked, thereby stopping generating voice control instructions, preventing children from accidentally speaking and misoperating the mobile robot; or, the child lock function can also be achieved by locking other components or ports, and the embodiments of the present disclosure do not specifically limit this.

[0121] In one embodiment, after the child lock function is turned on according to the child lock opening instruction, the embodiment of the present disclosure will also reduce the moving speed of the mobile robot so that the moving speed is lower than or equal to the preset limit speed, thereby reducing potential risks and playing a certain safety protection role.

[0122] The above-mentioned preset speed limit may be pre-set, and the embodiment of the present disclosure does not specifically limit the value of the preset speed limit.

[0123] In one embodiment, after the child lock function is turned on according to the child lock turning-on instruction, the embodiment of the present disclosure will also generate a prompt message through the prompt device of the mobile robot to remind the user, thereby playing a certain safety protection role.

[0124] The prompt information includes sound prompt information or LED prompt information. For example, the mobile robot can emit a prompt sound through a buzzer or a speaker, or the mobile robot can continuously flash an LED to remind the user.

[0125] In one embodiment, after the child lock function is activated according to the child lock activation instruction, the disclosed embodiment will also continuously obtain second environmental image information of the surrounding environment through the mobile robot's detection module and perform real-time analysis. If the second environmental image information determines that the identified object is outside the mobile robot's operating range, indicating that the mobile robot will not currently touch the identified object, the mobile robot will respond by turning off the child lock function. If the second environmental image information determines that the identified object is within the mobile robot's operating range, indicating that the mobile robot may currently touch the identified object, the mobile robot will respond by keeping the child lock function activated. For example, the mobile robot can dynamically adjust the child lock function based on the real-time image analysis results. For example, when a child or pet is detected leaving the robot's operating range, the child lock function can be automatically turned off and normal cleaning can be resumed.

[0126] In one embodiment, after the child lock function is activated according to the child lock activation instruction, the mobile robot will continue to perform the target task, such as cleaning the target. When the mobile robot completes the target task, the child lock function is deactivated. When the target task is completed, the mobile robot will stop running and enter a standby state. The user can turn off the mobile robot by pressing the power button or the on / off button on the remote control.

[0127] As shown in FIG11 , FIG11 is a flowchart of a robot control method performed by a mobile robot provided by an embodiment of the present disclosure; the robot control method can be applied to the mobile robot of the above embodiment, including but not limited to step S1110 and step S1120.

[0128] Step S1110: receiving a first target instruction from the linkage control device, wherein the first target instruction is generated by the linkage control device according to the operating status information of the door lock;

[0129] Step S1120: Control the mobile robot to perform the target task according to the first target instruction.

[0130] In one embodiment, the door lock first obtains its own operating status information and transmits it to a linkage control device. The linkage control device then generates a first target instruction based on the door lock's operating status information and transmits the first target instruction to the mobile robot, thereby controlling the mobile robot to perform the corresponding target task. This disclosed embodiment leverages the respective characteristics of the door lock and the mobile robot, combining them through linkage control to form an efficient smart home system. This system enables the mobile robot to automatically perform the corresponding target task based on the door lock's operating status information, thus effectively meeting users' needs for convenience, intelligence, and personalization.

[0131] Regarding the above step S1120, in one embodiment, when the first target instruction is a patrol instruction, the mobile robot is controlled to perform a patrol task, wherein the operating status information corresponding to the patrol instruction indicates that the door lock is in a closed state within the target time range.

[0132] Specifically, first, the door lock will obtain its own operating status information within the target time range and send the operating status information to the linkage control device; then, when the linkage control device determines that the door lock has been in the closed state within the target time range based on the operating status information, the linkage control device will generate a patrol instruction and send it to the mobile robot. Finally, the mobile robot will patrol the room based on the patrol instruction and monitor the room situation.

[0133] It should be noted that the above-mentioned operating status information may refer to the door opening information or door closing information of the door lock; in addition, the above-mentioned target time range is used to characterize the time range of high-frequency opening and closing of the door lock, that is, it can characterize the time range of high-frequency going out of the door by family members.

[0134] In one embodiment, the door lock will obtain its own door opening information or door closing information within the target time range, and send the door opening information or door closing information to the linkage control device; then, the linkage control device will analyze the door opening information or door closing information. If the analysis shows that the door lock has been in a closed state during the high-frequency going-out period, that is, family members still stay at home during the high-frequency going-out period, then it will be considered that there is an abnormal situation. In this regard, the linkage control device will control the mobile robot to patrol the room and monitor the room situation.

[0135] In addition, it should be noted that in order to match the living and working hours of family members, a target time range can be set on weekdays, but not on weekends.

[0136] It is understandable that the target time range can be a fixed period of time every day, for example, it can be fixed to 7 to 9 in the morning every day; it can also be a non-fixed period of time, for example, the target time range on Monday is 7 to 9 in the morning, and the target time range on Tuesday is 8 to 10 in the morning.

[0137] In addition, it can be understood that the target time range can be one or more. For example, the target time range can be from 7:00 to 9:00 in the morning and from 12:00 to 13:00 in the afternoon.

[0138] In addition, as shown in FIG12 , FIG12 is a flowchart of controlling a mobile robot to perform a patrol task in a robot control method provided in an embodiment of the present disclosure, including but not limited to step S1210 and step S1220 .

[0139] Step S1210: Control the mobile robot to patrol the room along the target patrol path;

[0140] Step S1220: During the patrol process, the patrol data of the room is obtained through the detection device carried by the mobile robot, and the patrol data is pushed to the target terminal device.

[0141] In one embodiment, if the door lock remains in the closed state within a target time range, the linkage control device will respond by generating a patrol instruction and sending the patrol instruction to the mobile robot, thereby controlling the mobile robot to trigger a security patrol mode and perform a security patrol in the room along the target patrol path; at the same time, the mobile robot will also push patrol data such as video data or sensor data during the patrol process to users in the emergency contact list.

[0142] In one embodiment, the mobile robot can push patrol data to users in the emergency contact list through the cloud, or send patrol data to the security host, which then pushes the patrol data to users in the emergency contact list through the cloud.

[0143] In addition, as shown in Figure 13, Figure 13 is a sub-step flowchart of step S1220 in the robot control method shown in Figure 12; regarding pushing patrol data to the target terminal device in step S1220, it includes but is not limited to step S1310 and step S1320.

[0144] Step S1310: Generate room alarm event information based on patrol data;

[0145] Step S1320: Push the alarm event information to the target terminal device.

[0146] In one embodiment, during patrol, the mobile robot can analyze and process patrol data detected in real time, such as identifying abnormal behavior, detecting fire, gas leaks and other security events, generating alarm event information, and sending it to the target terminal device of the emergency contact, thereby providing a more intelligent security monitoring service.

[0147] In one embodiment, during a patrol, the mobile robot can send patrol data to a security host, which analyzes and processes the patrol data detected in real time, such as identifying abnormal behavior, detecting fires, gas leaks and other security events, generating alarm event information, and sending it to the target terminal device of the emergency contact, thereby providing a more intelligent security monitoring service.

[0148] In addition, it should be noted that the target patrol path described above may be obtained in a manner including but not limited to the two implementations shown in FIG. 14 or FIG. 15 , which are as follows:

[0149] As shown in FIG14 , FIG14 is a flowchart of obtaining a target patrol path in step S1210 of the robot control method shown in FIG12 ; the process of obtaining the target patrol path includes but is not limited to step S1410 and step S1420 .

[0150] Step S1410: receiving a work and rest time and a work and rest activity area corresponding to the work and rest time;

[0151] Step S1420: determining a target patrol path according to the work and rest time and the work and rest activity area, wherein the target patrol path is a patrol path passing through the work and rest activity area during the work and rest time.

[0152] In one embodiment, the mobile robot can generate a targeted patrol path based on the user's sleep schedule and activity area. Specifically, if the door lock remains closed during the target time range, the linkage control device will generate a patrol command in response and send it to the mobile robot. The mobile robot will also obtain the current time, determine the sleep schedule corresponding to the current time, and determine the target patrol path corresponding to the sleep schedule. The mobile robot will then conduct a safety patrol along the target patrol path within the room, allowing the mobile robot to first patrol the activity area corresponding to the sleep schedule.

[0153] Users can pre-set patrol sequences based on family members' daily routines to further improve patrol efficiency. For example, in the morning before work, family members may spend time in the living room and kitchen; in the evening after returning home, they may spend time in the living room and bedroom. Therefore, if a security patrol is triggered in the morning before work, the mobile robot can first patrol the living room and kitchen; if it is triggered in the evening after returning home, the mobile robot can first patrol the living room and bedroom, allowing the mobile robot to detect any abnormalities as quickly as possible.

[0154] As shown in FIG15 , FIG15 is another flowchart of obtaining the target patrol path in step S1210 of the robot control method shown in FIG12 ; the process of obtaining the target patrol path includes but is not limited to step S1510 and step S1520.

[0155] Step S1510: receiving a room selected area;

[0156] Step S1520: Determine a target patrol path according to the selected area of ​​the room, wherein the target patrol path is a patrol path passing through the selected area of ​​the room.

[0157] In one embodiment, the mobile robot can generate a target patrol path based on user-selected room areas. For example, the user can define different areas on a map displayed by the app and set the patrol order. For example, the user can set the target patrol path to go from living room to bedroom to kitchen, or from kitchen to living room to bedroom.

[0158] Regarding the above-mentioned step S1120, in one embodiment, when the first target instruction is a cleaning instruction, the mobile robot is controlled to perform a cleaning task, wherein the operating status information corresponding to the cleaning instruction represents that the door lock receives a preset operation of a preset family member within a preset time period.

[0159] Specifically, first, the door lock will obtain its own operating status information and send the operating status information to the linkage control device; then, when the linkage control device determines based on the operating status information that the door lock receives a preset operation from a preset family member within a preset time period, the linkage control device will generate a cleaning instruction and send it to the mobile robot. Finally, the mobile robot will clean the room based on the cleaning instruction.

[0160] In one embodiment, the above-mentioned cleaning task can be a whole-house cleaning task or a designated room cleaning task; when the cleaning instruction is a whole-house cleaning task, the linkage control device will control the mobile robot to perform the cleaning task on the whole house according to the whole-house cleaning route; when the cleaning instruction is a designated room cleaning task, the linkage control device will control the mobile robot to navigate to the designated room to perform the cleaning task.

[0161] In addition, as shown in FIG16 , FIG16 is a flowchart of a robot control method provided by another embodiment of the present disclosure; the robot control method also includes but is not limited to step S1610 and step S1620.

[0162] Step S1610: Acquire room information, wherein the room information includes the frequency of use, duration of use, or size of the room;

[0163] Step S1620: Adjust the cleaning parameters of the mobile robot according to the room information.

[0164] In one embodiment, the mobile robot of the present disclosure adjusts cleaning parameters based on room information. The room information may include at least one of the frequency of room use, duration of use, or size. The cleaning parameters of the mobile robot may include travel speed, suction strength, brush speed, cleaning duration, and the like.

[0165] In one embodiment, rooms that have not been used for a long time can be set to a low-frequency cleaning mode to reduce energy consumption and maintenance costs; while rooms that are frequently used require more intensive cleaning to ensure indoor hygiene. The frequency of room use can be determined based on the frequency of door opening and closing.

[0166] In one embodiment, for rooms that are used for a long time, the mobile robot's speed can be reduced, or the mobile robot's suction strength can be increased, or the mobile robot's brush speed can be increased, or the mobile robot's cleaning time can be increased. The room's usage time can be determined based on the time difference between the door opening and closing times.

[0167] In addition, as shown in FIG17 , FIG17 is a flowchart of a robot control method provided by another embodiment of the present disclosure; the robot control method also includes but is not limited to step S1710 and step S1720.

[0168] Step S1710: Obtain historical door opening and closing information of the room, and determine historical usage of the room based on the historical door opening and closing information;

[0169] Step S1720: Predict the usage trend of the room based on historical usage, and determine the cleaning plan of the mobile robot based on the usage trend.

[0170] In one embodiment, the disclosed embodiment can predict the usage trend of a room based on the historical door opening and closing information of the room, and adjust the cleaning plan of the mobile robot in advance accordingly, so as to meet the household cleaning needs more intelligently.

[0171] For example, if the number of historical door openings and closings in a room increases, it indicates that the room is being used more and more frequently. In this case, the cleaning plan of the mobile robot can be adjusted so that the mobile robot cleans the room more frequently.

[0172] It is understandable that the above-mentioned usage trend of the room may be a trend of the frequency of use of the room or a trend of the duration of use of the room, and the embodiments of the present disclosure do not specifically limit this.

[0173] In addition, as shown in FIG18 , FIG18 is a flowchart of a robot control method provided by another embodiment of the present disclosure; the robot control method also includes but is not limited to step S1810 and step S1820.

[0174] Step S1810: Receive identity information of family members;

[0175] Step S1820: Determine the cleaning mode or cleaning plan of the mobile robot according to the identity information.

[0176] In one embodiment, the disclosed embodiment can select a cleaning mode or cleaning plan that is preferred by the family member based on the identity information of the family member identified by the door lock.

[0177] In one embodiment, the mobile robot can adjust its operating mode (e.g., silent mode, normal mode, high-power mode, etc.) or cleaning schedule (e.g., scheduled cleaning, area cleaning, whole-house cleaning, etc.) based on the preferences and needs of different family members. This technical solution helps meet the personalized cleaning needs of different family members and improves the quality of life for the entire family.

[0178] For example, for family members with pets, the sweeping robot can increase the suction power to pick up pet hair when cleaning the room; and for family members who are prone to allergies, the sweeping robot can adopt a more detailed cleaning strategy when cleaning the room.

[0179] In addition, as shown in FIG19 , FIG19 is a flowchart of a robot control method provided by another embodiment of the present disclosure; the robot control method also includes but is not limited to step S1910 and step S1920.

[0180] Step S1910: Receive the home time and activity patterns of family members;

[0181] Step S1920: Determine the cleaning route of the mobile robot based on the time spent at home and activity patterns.

[0182] In one embodiment, the mobile robot can also intelligently avoid family members based on their schedules and activity patterns, minimizing disruptions. For example, if a family member is home in the afternoon and primarily spends time in the living room, the mobile robot will navigate to that room to clean, avoiding the family member. This technical solution helps meet the personalized cleaning needs of different family members, improving the quality of life for the entire family.

[0183] In addition, as shown in FIG20 , FIG20 is a flow chart of a robot control method provided by another embodiment of the present disclosure; the robot control method further includes:

[0184] Step S3, when it is determined based on the state of the curtain and the set cleaning route of the mobile robot 300 that the curtain does not hinder the movement of the mobile robot 300, controlling the mobile robot 300 to move along the set cleaning route;

[0185] In step S5, when it is determined that the curtains are blocking the movement of the mobile robot 300 according to the state of the curtains and the set cleaning route of the mobile robot 300, the mobile robot 300 is controlled to change the set cleaning route to avoid the curtains, or the curtains are controlled to move out of the first cleaning area 500 corresponding to the set cleaning route.

[0186] The above control method can determine the cleaning route of the mobile robot 300 according to the state of the curtain and the set cleaning route of the mobile robot 300, thereby avoiding to a certain extent the mobile robot 300 hitting the curtain during the cleaning process and damaging the curtain and the mobile robot 300.

[0187] Specifically, in one embodiment, when the mobile robot 300 is first started or instructed by the user, the mobile robot 300 will perform a comprehensive scan of the room to create a map of the room. The mobile robot 300 includes a control device 1, and the set cleaning route is a cleaning route planned in real time by the control device 1 based on map information and obstacles. Referring to FIG24 c, the first cleaning area 500 corresponding to the set cleaning route is the three-dimensional spatial area covered by the mobile robot 300 when traveling along the set cleaning route. This three-dimensional spatial area can be composed of the ground area cleaned by the mobile robot 300 and the overhead area covered by the mobile robot 300 at a height H.

[0188] In one embodiment, the map of the room can also be obtained by downloading it from the Internet by the mobile robot 300. In one embodiment, the map of the room can also be sent to the mobile robot 300 by the terminal device, and the terminal device is connected to the mobile robot 300 for communication.

[0189] In one embodiment, when the curtains obstruct the movement of the mobile robot 300 , the control device 1 may change the set cleaning route or control the movement of the curtains.

[0190] Optionally, the mobile robot 300 includes but is not limited to a sweeping robot, a mopping robot, or a vacuuming robot.

[0191] In conjunction with FIG25 , the control method further includes:

[0192] Step S1, obtaining the status of the curtain.

[0193] In some embodiments, referring to FIG. 26 , step S1 includes:

[0194] Step S11, acquiring an image of the curtain;

[0195] Step S13: determining the state of the curtain according to the image of the curtain, where the state of the curtain includes at least one of the position of the curtain, the open / close state, and the distance between the bottom of the curtain and the ground.

[0196] In the above embodiment, by acquiring an image of the curtain, the state of the curtain can be identified, and the mobile robot 300 can be controlled to perform different operations according to the state of the curtain, thereby improving the cleaning efficiency near the curtain.

[0197] Specifically, the control device 1 is electrically connected to an image processing unit, which is electrically connected to a camera. The camera can capture images of the surrounding environment in real time. The image processing unit can obtain the environmental image captured by the camera, identify the image of the curtain from the image of the surrounding environment, and extract the features of the curtain based on the image of the curtain, thereby obtaining the state of the curtain. The control device 1 can obtain the state of the curtain from the image processing unit. Optionally, before identifying the image of the curtain, the image processing unit pre-processes the captured image of the surrounding environment, for example, by denoising, adjusting brightness and contrast to eliminate irrelevant information in the image, thereby highlighting the features of the curtain. Optionally, before extracting the features of the curtain, the image processing unit applies a machine learning algorithm to classify the pre-processed image of the surrounding environment to identify the image of the curtain. Exemplarily, the machine learning algorithm can be a machine learning algorithm that has been pre-trained using a large number of curtain and non-curtain images, such as a convolutional neural network (CNN).

[0198] Specifically, the position of the curtain may be a corresponding position in the room map, the switch state may be open or closed, and the distance between the bottom of the curtain and the ground may be greater than, equal to, or less than the height of the mobile robot 300. For example, the curtain may be a sliding curtain and / or a lifting curtain, as shown in FIG21 , FIG21 a shows a double-open sliding curtain with the switch state closed, FIG21 b shows a double-open sliding curtain with the switch state open, FIG21 c shows a lifting curtain with the switch state closed, and FIG21 d shows a lifting curtain with the switch state open.

[0199] It is understood that a sliding curtain can include multiple intermediate states besides open and closed. In these intermediate states, the area of ​​the window exposed by the curtain varies. In the open state, the area of ​​the window exposed by the curtain is the largest, completely exposing the window; in the closed state, the area of ​​the window exposed by the curtain is the smallest (which can be considered equal to zero), completely blocking the window; and in the intermediate states, the area of ​​the window exposed by the curtain is between the maximum and minimum areas. For example, as shown in FIG22 , FIG22 a and FIG22 b illustrate two intermediate states of a double-opening sliding curtain.

[0200] It is understood that the liftable curtain can include multiple intermediate states besides open and closed. In these intermediate states, the distance between the bottom of the curtain and the ground varies. In the closed state, the distance between the bottom of the curtain and the ground is the smallest; in the open state, the distance between the bottom of the curtain and the ground is the largest; and in the intermediate states, the distance between the bottom of the curtain and the ground is between the maximum and minimum distances. For example, as shown in FIG. 22 , FIG. 22 c illustrates an intermediate state of the liftable curtain.

[0201] In certain embodiments, referring to FIG. 27 , the control method includes:

[0202] Step S2, judging whether the curtain is located in the first cleaning area 500 according to the state of the curtain;

[0203] Step S3a, when the curtain is outside the first cleaning area 500, determining that the curtain does not hinder the movement of the mobile robot 300;

[0204] In step S5a, when the curtain is located in the first cleaning area 500 , it is determined that the curtain obstructs the movement of the mobile robot 300 .

[0205] In the above embodiment, by judging whether the curtain is located in the first cleaning area 500 , it is determined whether the curtain obstructs the movement of the mobile robot 300 , so as to subsequently control the mobile robot 300 to perform different operations and improve the cleaning efficiency near the curtain.

[0206] Specifically, when the state of the curtain is open or closed and the distance between the bottom of the curtain and the ground is greater than the height of the mobile robot 300, the control device 1 can determine that the curtain is located outside the first cleaning area 500 and does not hinder the mobile robot 300 from moving along the originally set cleaning route; when the state of the curtain is closed or in an intermediate state and the distance between the bottom of the curtain and the ground is less than or equal to the height of the mobile robot 300, the control device 1 can determine that the curtain is located in the first cleaning area 500 and hinders the mobile robot 300 from moving along the originally set cleaning route.

[0207] In some embodiments, the curtain includes an electric curtain 4, which is capable of communicating with the mobile robot 300. Referring to FIG. 25 , step S5 includes:

[0208] Step S51 , when the mobile robot 300 cannot obtain control of the electric curtain 4 , controlling the mobile robot 300 to change the set cleaning route to avoid the electric curtain 4 ;

[0209] In step S53 , when the mobile robot 300 obtains the control right of the electric curtain 4 , the mobile robot 300 controls the electric curtain 4 to move out of the first cleaning area 500 corresponding to the set cleaning route.

[0210] Specifically, referring to Figure 29, the mobile robot 300 can be connected to the electric curtain 4 and the terminal device 3 via wireless communication. Wireless communication methods include but are not limited to WIFI, Bluetooth, infrared, ZigBee, mobile communication network, etc.

[0211] Specifically, the electric curtain 4 may include a drive, a controller and a communication module. The controller is electrically connected to the drive and the communication module. The drive (such as a motor) can be connected to the curtain. The controller can control the curtain to be in an open state, a closed state or any intermediate state according to instructions.

[0212] When the mobile robot 300 is started or the user instructs, the control device 1 sends the detected curtain position to the terminal device 3 to request the user to confirm the curtain type. If the window type is electric curtain 4, the user can set whether the mobile robot 300 has control over the electric curtain 4.

[0213] In the above embodiment, upon obtaining control, the control device 1 can send control instructions to the electric curtain 4. Based on the control instructions received by the communication module, the controller controls the electric curtain 4 to move out of the first cleaning area 500, allowing the mobile robot 300 to clean the first cleaning area 500 along the set cleaning route. This improves cleaning efficiency near the curtain and, to a certain extent, avoids cleaning blind spots caused by curtain obstruction. Furthermore, the linkage between the electric curtain 4 and the mobile robot 300 achieves a certain degree of automation and intelligence in household cleaning.

[0214] In the above embodiment, if mobile robot 300 does not have control authority, that is, if the user has configured cleaning device 2 to not have control authority over electric curtain 4, indicating that mobile robot 300 has not obtained user authorization to control the electric curtain, control device 1 can modify the cleaning route to avoid the curtain. Therefore, when mobile robot 300 detects that electric curtain 4 is obstructing its movement, it modifies the cleaning route to avoid electric curtain 4, thereby reducing the risk of electric curtain 4 becoming entangled by mobile robot 300 and protecting electric curtain 4 and mobile robot 300 from damage.

[0215] In some embodiments, referring to FIG. 30 , step S53 includes:

[0216] Step S531: When the mobile robot 300 obtains control of the electric curtain 4 and needs to control the electric curtain 4 to move out of the first cleaning area 500 corresponding to the set cleaning route, a moving request is sent to the terminal device 3;

[0217] Step S533 , receiving a confirmation instruction from the terminal device 3 in response to the moving-out request, and controlling the electric curtain 4 to move out of the first cleaning area 500 corresponding to the set cleaning route according to the confirmation instruction;

[0218] Step S535 , receiving a cancellation instruction in response to the removal request from the terminal device 3 , and controlling the mobile robot 300 to change the set cleaning route to avoid the electric curtain 4 according to the cancellation instruction.

[0219] Thus, the situation of the electric curtain 4 can be processed according to the user's selection.

[0220] Specifically, when the mobile robot 300 obtains control of the electric curtain 4 and determines that the electric curtain 4 hinders the movement, opening the electric curtain 4 may cause the user's personal space to be exposed, and closing the electric curtain 4 may also cause the light to suddenly dim and affect the user's normal life. Therefore, when the electric curtain 4 needs to be moved, the control device 1 sends a removal request to the terminal device 3 to allow the user to confirm whether to control the electric curtain 4 to move out of the first cleaning area 500 corresponding to the set cleaning route.

[0221] Optionally, the terminal device 3 may include but is not limited to smart phones, tablet computers, smart home controllers and smart wearable devices (such as smart watches, smart helmets, smart glasses, etc.), personal computers, servers, etc.

[0222] After receiving the removal request, terminal device 3 can prompt the user via a push notification or pop-up window, which includes confirmation and cancellation options for moving the electric curtain 4. After the user selects the confirmation option on terminal device 3 and confirms the request, terminal device 3 can send a confirmation instruction to mobile robot 300. After the user selects the cancellation option on terminal device 3 and confirms the request, terminal device 3 can send a cancellation instruction to mobile robot 300. Upon mobile robot 300 receiving the confirmation instruction, control device 1 can send a control signal to electric curtain 4. Electric curtain 4 receives the control signal, and the controller controls the drive element to move the curtain. Upon mobile robot 300 receiving the cancellation instruction, control device 1 can control mobile robot 300 to change its set cleaning route to avoid electric curtain 4.

[0223] In the above embodiment, before controlling the movement of the electric curtain 4, a request is sent to the user to confirm that the electric curtain 4 is to be moved (the moving electric curtain 4 may include an open state and a closed state, as well as any intermediate state between the open state and the closed state). This can improve the adaptability of the mobile robot 300 to different scenarios, protect user privacy and the user's normal life, and thus enhance the user experience.

[0224] In an optional embodiment, the control method includes:

[0225] Receive timing instructions and periodic cleaning instructions from terminal device 3;

[0226] The mobile robot 300 is controlled to perform a cleaning operation according to the timing instruction and the periodic cleaning instruction.

[0227] Specifically, the timing instruction is a specific cleaning time set by the user, and the regular cleaning instruction is a cleaning frequency set by the user. The terminal device 3 is communicatively connected to the mobile robot 300, and the user can set the time period for the mobile robot 300 to clean and the cleaning frequency of the mobile robot 300 (i.e., how often the cleaning is performed) through the application software in the terminal device 3. For example, the user can set the mobile robot 300 to start performing cleaning operations at ten o'clock this morning. For another example, the user can set the mobile robot 300 to perform cleaning operations three times a week. The control device 1 can control the mobile robot 300 to start according to the timing instruction and regular cleaning instruction set by the user, so that the mobile robot 300 performs the cleaning operation. During the cleaning process, the mobile robot 300 can clean according to the set cleaning route. Optionally, the mobile robot 300 may include a control panel, and the user can set the specific cleaning time or cleaning frequency through the control panel of the mobile robot 300.

[0228] In the above embodiment, corresponding operations are performed according to the timing instructions and the periodic cleaning instructions, which can improve the intelligence level of the mobile robot 300 and enhance the user experience.

[0229] In some embodiments, the first cleaning area 500 includes a second cleaning area 501 corresponding to the electric curtain 4. Referring to FIG. 31 and FIG. 23 to FIG. 24 , the control method includes:

[0230] Step S55 , after the mobile robot 300 completes cleaning the second cleaning area 501 , the electric curtain 4 is controlled to reset.

[0231] Specifically, please refer to Figures 23 to 24. The second cleaning area 501 is the cleaning area in the first cleaning area 500 corresponding to the electric curtain 4. After the control device 1 controls the electric curtain 4 to move out of the first cleaning area 500, that is, there is no electric curtain 4 in the second cleaning area 501 to hinder the movement of the mobile robot 300, the control device 1 controls the mobile robot 300 to clean the second cleaning area 501. After cleaning is completed, the control device 1 sends a control signal to the electric curtain 4 through the communication connection to reset the electric curtain 4 to its original state.

[0232] For example, in the case where the electric curtain 4 is a double-opening sliding curtain, in one embodiment, FIG23a shows that the switch state of the electric curtain 4 is closed, and the distance between the bottom of the curtain and the ground is less than the height H of the mobile robot 300, that is, the electric curtain 4 is located in the first cleaning area 500, that is, the electric curtain 4 is blocking the movement of the mobile robot 300. The control device 1 controls the electric curtain 4 to open so that the electric curtain 4 moves out of the first cleaning area 500. FIG23c shows the second cleaning area 501 within the first cleaning area 500 after the electric curtain 4 moves out of the first cleaning area 500. The control device 1 controls the mobile robot 300 to clean the second cleaning area 501. After cleaning, the control device 1 controls the electric curtain 4 to return to its original state, that is, controls the electric curtain 4 to close. In one embodiment, FIG23 b shows that the switch state of the electric curtain 4 is in the intermediate state, and the distance between the bottom of the curtain and the ground is less than the height H of the mobile robot 300, that is, the electric curtain 4 is located in the first cleaning area 500, that is, the electric curtain 4 is blocking the movement of the mobile robot 300. The control device 1 controls the electric curtain 4 to open so that the electric curtain 4 moves out of the first cleaning area 500. FIG4 c shows the second cleaning area 501 within the first cleaning area 500 after the electric curtain 4 moves out of the first cleaning area 500. The control device 1 controls the mobile robot 300 to clean the second cleaning area 501. After cleaning is completed, the control device 1 controls the electric curtain 4 to return to its original state, that is, controls the electric curtain 4 to move to its original intermediate state.

[0233] For example, in the case where the electric curtain 4 is a single-opening push-pull curtain, in one embodiment, Figure e of Figure 23 shows that the switch state of the electric curtain 4 is closed, and the distance between the bottom of the curtain and the ground is less than the height H of the mobile robot 300, that is, the electric curtain 4 is located in the first cleaning area 500, that is, the electric curtain 4 is blocking the movement of the mobile robot 300. The control device 1 controls the electric curtain 4 to open so that the electric curtain 4 moves out of the first cleaning area 500. Figure g of Figure 23 shows the second cleaning area 501 within the first cleaning area 500 after the electric curtain 4 moves out of the first cleaning area 500. The control device 1 controls the mobile robot 300 to clean the second cleaning area 501. After cleaning is completed, the control device 1 controls the electric curtain 4 to return to its original state, that is, controls the electric curtain 4 to close. In one embodiment, FIG23(f) shows that the switch state of the electric curtain 4 is in the intermediate state, and the distance between the bottom of the curtain and the ground is less than the height H of the mobile robot 300, that is, the electric curtain 4 is located in the first cleaning area 500, that is, the electric curtain 4 is blocking the movement of the mobile robot 300. The control device 1 controls the electric curtain 4 to open so that the electric curtain 4 moves out of the first cleaning area 500. FIG23(g) shows the second cleaning area 501 within the first cleaning area 500 after the electric curtain 4 moves out of the first cleaning area 500. The control device 1 controls the mobile robot 300 to clean the second cleaning area 501. After cleaning is completed, the control device 1 controls the electric curtain 4 to return to its original state, that is, controls the electric curtain 4 to move to its original intermediate state.

[0234] It is understood that the first cleaning area 500 will be different depending on the type of curtain. For example, as shown in FIG23 d , if the electric curtain 4 is a double-opening sliding curtain, the two curtains will form two first curtain areas 401. The first cleaning area 500 does not include the first curtain area 401. For example, as shown in FIG23 h , if the electric curtain 4 is a single-opening sliding curtain, each curtain will form one first curtain area 401. The first cleaning area 500 does not include the first curtain area 401.

[0235] For example, as shown in FIG24 , FIG24 a shows that when the electric curtain 4 is a lifting curtain, the switch state of the electric curtain 4 is closed, and the distance between the bottom of the curtain and the ground is less than the height H of the mobile robot 300, that is, the electric curtain 4 is located in the first cleaning area 500, that is, the electric curtain 4 is blocking the movement of the mobile robot 300. The control device 1 controls the electric curtain 4 to open so that the electric curtain 4 moves out of the first cleaning area 500. FIG24 b shows the second cleaning area 501 within the first cleaning area 500 after the electric curtain 4 moves out of the first cleaning area 500. The control device 1 controls the mobile robot 300 to clean the second cleaning area 501. After cleaning is completed, the control device 1 controls the electric curtain 4 to return to its original state, that is, controls the electric curtain 4 to close.

[0236] It can be understood that, as shown in Figure c of Figure 24, when the electric curtain 4 is a lifting curtain, the first cleaning area 500 includes a ground area and an overhead area.

[0237] In the above embodiment, after cleaning the cleaning area corresponding to the electric curtain 4, the electric curtain 4 is controlled to reset so that the electric curtain 4 returns to its original state, thereby improving the cleaning efficiency and user experience.

[0238] In some embodiments, referring to FIG. 32 , step S5 includes:

[0239] In step S051 , when the curtain is a manual curtain and the curtain blocks the movement of the mobile robot 300 , the mobile robot 300 is controlled to change the set cleaning route to avoid the manual curtain.

[0240] In the above embodiment, by controlling the mobile robot 300 to avoid the manual curtain, the risk of the manual curtain being entangled by the mobile robot 300 can be reduced, so that the manual curtain and the mobile robot 300 are not damaged.

[0241] Specifically, when the mobile robot 300 is started, if the manual curtain is in a closed state and the distance between the bottom of the manual curtain and the ground is less than or equal to the height of the mobile robot 300, it indicates that the curtain has invaded the first cleaning area 500 corresponding to the set cleaning route, and the control device 1 controls the mobile robot 300 to avoid the manual curtain.

[0242] In certain embodiments, referring to FIG. 33 , the control method includes:

[0243] Step S01, when a curtain is detected, a curtain type request signal is sent to the terminal device 3;

[0244] Step S03: receiving a control instruction from the terminal device 3 in response to the curtain type request signal, and determining the curtain type according to the control instruction. The curtain types include electric curtains 4 and manual curtains.

[0245] Specifically, when the mobile robot 300 is started or instructed by the user, the control device 1 detects the curtain and then sends a curtain type request signal to the terminal device 3 via wireless communication to allow the user to confirm the curtain type.

[0246] After receiving the request signal, terminal device 3 can prompt the user via a push notification or pop-up window, including the curtain type selection. After the user confirms the selection on terminal device 3, terminal device 3 can send a control instruction containing the curtain type to the mobile robot. The mobile robot receives the control instruction and then obtains the curtain type.

[0247] In the above embodiment, by confirming the curtain type from the user, the mobile robot 300 can perform different operations according to different curtain types when cleaning the curtain area, thereby improving the cleaning efficiency.

[0248] FIG34 is a flowchart of a method for controlling a mobile robot according to an embodiment of the present disclosure.

[0249] As an example, as shown in FIG34 , the control method of the mobile robot includes:

[0250] S3401, obtaining the user's physiological status information.

[0251] S3402: The physiological state information indicates that the user's current behavior state is a first preset state, and a first target working mode corresponding to the first preset state is determined.

[0252] S3403, controlling the mobile robot to operate based on the first target operating mode.

[0253] For example, the mobile robot may be a mobile household cleaning appliance such as a sweeping robot, a mopping robot, or a mobile air purifier. A user may wear a smartwatch or wristband device to collect physiological parameters of the user, such as heart rate and movement status. Based on the collected physiological parameters, physiological state information of the user is obtained, such as sleep status, illness status, learning status, and movement status. When the physiological state information indicates that the user's current behavioral state is a first preset state, a first target operating mode corresponding to the first preset state is determined, and the mobile robot is controlled to operate based on the first target operating mode.

[0254] The control method of the mobile robot disclosed in the present invention can correspond the working mode of the mobile robot to the current behavior state of the user, and can adaptively adjust the working mode of the mobile robot according to the user's behavior state, which is more in line with user needs.

[0255] As an example, the physiological state information indicates that the user's current behavioral state is a first preset state, and determining the first target working mode corresponding to the first preset state includes: if the current time corresponding to the physiological state information is within the target time period, and the physiological state information indicates that the user's current behavioral state is the first preset state, determining the first target working mode corresponding to the first preset state, wherein the current behavioral state includes at least one of the current sleeping state, the current illness state, the current learning state, and the current exercise state.

[0256] Exemplarily, the target time period can be combined with the user's daily habitual behaviors such as sleeping, running, and studying. The target time period can be obtained based on the user's previous historical data, or it can be set by the user. For example, the target time period can be a sleep time period preset by the user, for example, from 11 pm to 8 am. When the current time is within the range of the target time period, the detected physiological state information indicates that the user's current sleep state is a first preset state, then the Internet of Things cloud platform determines the first target working mode corresponding to the first preset state. The first preset state can be a sleep state, a light sleep state, a deep sleep state, etc. The present disclosure can determine different working modes of mobile robots according to the depth of the sleep state, and is more adaptable.

[0257] Exemplarily, after determining the first target operating mode corresponding to the first preset state, the Internet of Things cloud platform generates a control instruction according to the first target operating mode, sends the control instruction to the mobile robot, and controls the mobile robot to operate according to the first target operating mode to reduce the impact of the mobile robot on the user's sleep.

[0258] Exemplarily, for example, if the current behavior state is the current sleeping state, the working mode of the mobile robot is controlled to stop working according to the current sleeping state of the user, so as to reduce the impact of the mobile robot on the user's sleep.

[0259] For example, if the current behavior state is the current sick state, in order to ensure that the user has a resting environment when sick, the working mode of the mobile robot can also be controlled to stop working to reduce the impact of the mobile robot on the user.

[0260] For example, if the current behavior state is the current learning state, in order to ensure a quiet learning environment, the working mode of the mobile robot can be controlled to stop working. Of course, the mobile robot can also be controlled to clean other rooms first to ensure the user's learning environment.

[0261] Exemplarily, for example, if the current behavior state is the current motion state, such as the running state, the working mode of the mobile robot can be controlled to be the on working mode.

[0262] The control method of the mobile robot disclosed in the present invention can utilize the biometric technology of smart watches or bracelets, such as heart rate monitoring and motion detection, to infer the user's sleep state or activity state, and automatically control the working mode of the mobile robot through the Internet of Things cloud platform, reducing the noise generated by mobile robots and other equipment at night, improving the user's sleep quality, and saving energy.

[0263] FIG35 is a diagram showing the module structure of an embodiment of the present disclosure.

[0264] As shown in Figure 35, the biometric monitoring module can be a smartwatch. The biometric monitoring module is responsible for monitoring the user's physiological parameters, such as heart rate and movement status, through the smartwatch or wristband. It also includes submodules such as sensor data acquisition, preprocessing, and preliminary analysis. The data processing and analysis module receives data from the biometric monitoring module. It analyzes and processes the data, leveraging a pretrained deep learning network to infer the user's sleep state. The IoT cloud platform is responsible for receiving and processing commands from the smartwatch or wristband. Based on the user's sleep state, it sends control commands to smart home devices such as the robot vacuum cleaner. This module manages and coordinates interactions between different smart home devices. The wireless communication module is responsible for data transmission between the smartwatch or wristband and the IoT cloud platform, ensuring timely and accurate transmission of commands and data. The smart device control module is the control unit of the robot vacuum cleaner, receiving commands from the IoT cloud platform. Based on these commands, it adjusts its operating mode, such as stopping, changing the cleaning path, or reducing the fan speed. These modules work together to form a closed-loop control system that automatically adjusts home devices based on the user's physiological state, optimizing the smart home environment.

[0265] It should be noted that the data processing and analysis module can be deployed on a watch or on an IoT cloud platform (smart home platform).

[0266] The mobile robot may be a sweeping robot. The control method of the mobile robot will be described in detail below using the sweeping robot as an example.

[0267] FIG36 is a flowchart of a cleaning robot according to an embodiment of the present disclosure.

[0268] As shown in Figure 36, the biometric technology of a smart watch or bracelet is used to monitor the user's heart rate and exercise status, and data analysis is used to infer whether the user is in a sleeping state. When the user is detected to be sleeping, the smart watch sends a command to the sweeping robot through the IoT cloud platform; after receiving the command, the sweeping robot stops working or adjusts its working mode, such as avoiding cleaning the bedroom or reducing the fan speed, to reduce the noise generated by the sweeping robot and other equipment at night, improve the user's sleep quality, and save energy.

[0269] As an example, determining the first target operating mode corresponding to the first preset state includes: determining the first target operating mode corresponding to the first preset state according to a spatial position relationship between the mobile robot and the user.

[0270] For example, the noise impact on the user will vary depending on the spatial relationship between the mobile robot and the user. For example, when the user and the robot vacuum cleaner are in the same room, the user is most affected by the robot vacuum cleaner's noise. The farther the robot vacuum cleaner is from the user, the less impact the user experiences. The present disclosure also determines the first target operating mode of the mobile robot when the user is asleep, taking into account the spatial relationship between the mobile robot and the user.

[0271] As an example, the first preset state includes at least one of a falling asleep or light sleep state, a deep sleep state, and a sleep-awakening state; the first target operating mode includes at least one of a stop operating mode, a fan speed reduction mode, and a cleaning path change mode; and determining the first target operating mode corresponding to the first preset state based on a spatial positional relationship between the mobile robot and the user includes:

[0272] When the first preset state is a sleeping state or a light sleeping state, and the spatial position relationship indicates that the mobile robot and the user are in the same space, determining that the first target operating mode corresponding to the first preset state is a stop operating mode;

[0273] When the first preset state is a deep sleep state and the spatial position relationship indicates that the mobile robot and the user are in the same space, determining that the first target operating mode corresponding to the first preset state is a fan speed reduction mode;

[0274] When the first preset state is the sleep-wake-up state and the spatial position relationship indicates that the mobile robot and the user are in the same space, the first target working mode corresponding to the first preset state is determined to be a changing cleaning path mode so that the mobile robot leaves the space where the user is.

[0275] Exemplarily, the present disclosure can divide the user's sleep state into three types, namely, falling asleep or light sleep state, deep sleep state and sleep wake-up state. Different sleep states correspond to different first target working modes. When the user is in the falling asleep or light sleep state, and the spatial position relationship indicates that the mobile robot and the user are in the same space, a quiet sleeping environment is required, and the first target working mode is determined to be the stop working mode. When the user is in the deep sleep state, and the spatial position relationship indicates that the mobile robot and the user are in the same space, the user is in deep sleep and is not easily disturbed by the outside world. The noise of the mobile robot can be reduced, and the first target working mode is determined to be the fan speed reduction mode. When the user is in the sleep wake-up state, and the spatial position relationship indicates that the mobile robot and the user are in the same space, the user is about to wake up, and the first target working mode can be determined to be the change cleaning path mode to make the mobile robot leave the space where the user is.

[0276] The present disclosure can adaptively adjust the operating mode of a mobile robot based on the depth of a user's sleep state. Of course, in addition to the above control strategy, users can also adjust the operating mode corresponding to each sleep state according to their own needs. For example, if a user has high requirements for the environmental conditions during sleep, they can configure the first target operating mode to be the stop mode regardless of the sleep depth.

[0277] As an example, the IoT cloud platform communicates with a biometric monitoring device, the physiological state information includes sleep state information, and the sleep state information is obtained by at least one of the following methods:

[0278] Through the trained deep learning network, the physiological parameters collected by the biometric monitoring device are analyzed and processed to obtain sleep status information;

[0279] Receive sleep state information from a biometric monitoring device, wherein the sleep state information is obtained by the biometric monitoring device through analysis and processing of physiological parameters using a trained deep learning network.

[0280] For example, a biometric monitoring device can be a smartwatch or wristband worn by a user, collecting physiological parameters. The data processing and analysis module receives the physiological parameters, analyzes and processes the data, and uses a pre-trained deep learning network to infer the user's sleep state. The data processing and analysis module can be deployed on the biometric monitoring device or on an IoT cloud platform.

[0281] For example, if deployed on an IoT cloud platform, the IoT cloud platform receives the biometric parameters and, through a trained deep learning network, analyzes and processes the physiological parameters collected by the biometric monitoring device to obtain sleep state information. If deployed on a biometric monitoring device, the biometric monitoring device analyzes and processes the physiological parameters through the trained deep learning network to obtain sleep state information and sends the sleep state information to the IoT cloud platform, which then receives the sleep state information from the biometric monitoring device.

[0282] As an example, as shown in FIG37 , the control method of the mobile robot further includes:

[0283] S3701: If the current time corresponding to the physiological state information is outside the target time period, and the physiological state information indicates that the user's current activity state is a second preset state, determine a second target working mode corresponding to the second preset state.

[0284] S3702, controlling the mobile robot to operate based on a second target operating mode, wherein the second target operating mode includes at least one of starting a sweeping mode, maintaining a current cleaning path mode, and maintaining a current fan speed mode.

[0285] For example, when the current time is not within the sleep period and the physiological state information indicates that the user's current activity state is a second preset state, the IoT cloud platform determines a second target operating mode corresponding to the second preset state, and the IoT cloud platform controls the robot vacuum to operate according to the second target operating mode. The second target operating mode includes at least one of starting a sweeping mode, maintaining a current cleaning path mode, and maintaining a current fan speed mode. For example, when a user is out during the day, the smartwatch detects that the user is active and automatically sends a command to the robot vacuum to start working, maintain the current cleaning path mode, or maintain the current fan speed mode to keep the home clean.

[0286] As an example, as shown in FIG38 , the control method of the mobile robot further includes:

[0287] S3801, receiving working mode configuration information, wherein the working mode configuration information is generated based on a selection operation, and the selection operation is used to select a first target working mode from a first candidate working mode and / or select a second target working mode from a second candidate working mode.

[0288] S3802: Based on the working mode configuration information, set the first target working mode to correspond to the first preset state, and / or set the second target working mode to correspond to the second preset state.

[0289] For example, both the first target operating mode and the second target operating mode can be configured by the user. For example, the user configures the first target operating mode to stop the operating mode and the second target operating mode to start the sweeping mode. When the user is sleeping at night, the smartwatch detects that the user's heart rate and movement status are consistent with the sleep mode and automatically sends a command to the mobile robot through the IoT cloud platform to stop working and avoid making noise. When the user is out during the day, the smartwatch detects that the user is active and automatically sends a command to the mobile robot to start working to keep the home clean.

[0290] As an example, as shown in FIG39 , the range outside the target time period includes a first preset time period, and the control method of the mobile robot further includes:

[0291] S3901, obtain user location information.

[0292] S3902, if the current time corresponding to the physiological state information is within the range of the first preset time period, and the user location information indicates that the user has arrived home, determine that the working mode of the mobile robot is the third target working mode, wherein the third target working mode includes at least one of turning on the sweeping mode, maintaining the current cleaning path mode, and maintaining the current fan speed mode.

[0293] For example, the present disclosure may also obtain the user's location information and control the corresponding mobile robot's operating mode based on the user's location information. It is understood that the first preset time period is the time period when the user returns home from get off work, for example, from 5:00 to 7:00. Of course, the first preset time period can also be set by the user. If the current time is within the range of the first preset time period and the user's location information indicates that the user has arrived home, the IoT cloud platform determines that the mobile robot's operating mode is the third target operating mode. For example, when the user arrives home from get off work, the sweeping robot can be turned on in advance to sweep the floor.

[0294] As an example, the range outside the target time period includes a second preset time period, the physiological state information also includes activity state information, and the control method of the mobile robot further includes:

[0295] If the current time corresponding to the physiological state information is within the range of the second preset time period, the working mode of the sweeping robot is determined to be the fourth target working mode based on the sleep state information and the activity state information, wherein the fourth target working mode includes turning on at least one of the sweeping mode and the voice broadcast mode.

[0296] For example, it can be understood that the first preset time period may be the time period when the user wakes up in the morning, and the sweeping robot is also equipped with a voice announcement device. When the current time falls within the second preset time period, the IoT cloud platform determines that the sweeping robot's operating mode is a fourth target operating mode based on the sleep state information and the activity state information. The fourth target operating mode includes at least one of the following: sweeping mode or voice announcement mode. Of course, both fourth target operating modes can be selected.

[0297] As an example, determining the working mode of the mobile robot as the fourth target working mode based on the sleep state information and the activity state information includes: when the sleep state information represents that the user has changed from a sleep state to a wakeful state, and the activity state information represents that the user has started to act, determining the working mode of the mobile robot as the fourth target working mode; wherein, when the fourth target working mode includes turning on the voice broadcast mode, the voice broadcast content includes the most recent sleep status and health advice.

[0298] Exemplarily, within the first preset time period, the sleep state information represents that the user has changed from a sleep state to a wakeful state, that is, the user is awake, and the activity state information represents that the user has started to act. For example, the user can be detected by a smartwatch when getting out of bed, or other gestures or movements. At this time, the Internet of Things cloud platform determines that the working mode of the sweeping robot is the fourth target working mode. The fourth target working mode includes turning on the sweeping mode and turning on the voice broadcast mode. When the fourth target working mode includes turning on the voice broadcast mode, the voice broadcast content includes the most recent sleep status and health advice. It can be understood that after waking up in the morning and moving around, for example, detecting the user getting out of bed, the sweeping robot is automatically turned on and voice broadcast is implemented.

[0299] As an example, a smartwatch or wristband can have wake-up detection, using the smartwatch or wristband's sensors to detect user activity, such as gestures or movement, to determine whether the user is awake. This function can distinguish between different user states, such as sleeping, awake, and active. When the smartwatch or wristband detects that the user has woken up, it automatically sends instructions to the robot vacuum through the IoT cloud platform. These instructions may include activating the robot vacuum's voice broadcast function and transmitting relevant sleep data. After receiving the instructions, the robot vacuum activates its built-in speech synthesis module. Based on the sleep data provided by the smartwatch or wristband, it synthesizes and broadcasts the most recent sleep status and health recommendations.

[0300] Of course, users can also choose to enable the wake-up voice announcement feature through the smartphone app. Users can customize the announcement content, such as sleep quality score and recommended daily activity level. Users can also set a preset time period, such as the time they typically wake up in the morning. Combined with activity detection, conditional voice announcements are triggered to ensure information is provided when the user wakes up.

[0301] For example, if a user wakes up during the second preset time period, the smartwatch or wristband's sensors detect the user's activity. The smartwatch or wristband then sends this information to the IoT cloud platform. After receiving this information, the IoT cloud platform sends a command to the robot vacuum cleaner. Upon receiving the command, the robot vacuum cleaner activates its voice announcement function. The robot vacuum cleaner uses its built-in speaker to announce its most recent sleep status and health recommendations. The user then adjusts their lifestyle based on the recommendations or seeks further health advice.

[0302] Through this integration and automation process, the system can provide more proactive and considerate services, organically combining users' daily activities and health monitoring, and further enhancing the intelligence and user experience of the smart home system.

[0303] Based on the various embodiments of the robot control method executed by the mobile robot in the above-mentioned various embodiments, various embodiments of the robot control method executed by the door lock of the present disclosure are respectively proposed below.

[0304] As shown in Figure 40, Figure 40 is a flowchart of a robot control method performed by a door lock provided by an embodiment of the present disclosure; the robot control method can be applied to the door lock of the above embodiment, including but not limited to step S4010 and step S4020.

[0305] Step S4010: receiving identification information of an identification object;

[0306] Step S4020: Determine that the identified object is a preset object based on the identity recognition information, and control the mobile robot to enable the child lock function.

[0307] In one embodiment, the door lock first receives identification information from a person entering the home, i.e., an identification target. Then, if the door lock determines based on the identification information that the identified person is a pre-set target, such as a child, the door lock responds by controlling a mobile robot to activate the child lock function. This disclosed embodiment leverages the respective characteristics of the door lock and the mobile robot. If the door lock determines based on the identification information that the identified person is a pre-set target, the mobile robot's child lock function can be intelligently activated through coordinated control of the door lock and the mobile robot. This eliminates the inconvenience and potential for overlooking manual operation, providing a convenient user experience. Furthermore, the mobile robot's child lock function can be automatically triggered, effectively preventing the pre-set target from misoperating or accidentally triggering the mobile robot, reducing the risk of accidental injury.

[0308] It should be noted that the above-mentioned identity recognition information can be the facial information of the identification object, the fingerprint information of the identification object, the palm vein information of the identification object, the palm print information of the identification object, the voice print information of the identification object, or the iris information of the identification object. The embodiments of the present disclosure do not make specific limitations on this.

[0309] For example, the door lock can scan or photograph the face of the identification object to obtain a facial image; then, perform feature extraction on the facial image to obtain facial feature information of the identification object; then, compare the facial feature information with the pre-stored feature information of multiple members to determine the identity information corresponding to the identification object. If the facial feature information of the identification object is consistent with the pre-stored feature information of a preset object, it can be determined that the identification object is the preset object.

[0310] It is worth noting that the specific implementation methods and technical effects of the robot control method executed by the door lock in the embodiment of the present disclosure can refer to the specific implementation methods and technical effects of the robot control method executed by the mobile robot in any of the above embodiments.

[0311] In addition, as shown in Figure 41, Figure 41 is a sub-step diagram of controlling the mobile robot to turn on the child lock function in step S4020 of the robot control method shown in Figure 40; regarding the above-mentioned step S1410 of controlling the mobile robot to turn on the child lock function, it includes but is not limited to step S4110 and step S4120.

[0312] Step S4110: Get the current door opening time;

[0313] Step S4120: When the current door opening time is within the preset time period, control the mobile robot to turn on the child lock function.

[0314] In one embodiment, the disclosed embodiment can set a time period for the linkage triggering of the child lock function to take effect, specifically as follows: first, the door lock will receive the identity recognition information of the identified object, and will also obtain the current door opening time of the identified object; then, when the door lock determines that the identified object is a preset object based on the identity recognition information, the door lock will also determine whether the current door opening time is within the preset time period. If the current door opening time is within the preset time period, that is, the current door opening time is within the time period when the child lock function is effective, then the door lock will respond to control the mobile robot to turn on the child lock function.

[0315] It should be noted that by setting a preset time period, the child lock function can be flexibly controlled. Parents can activate the child lock function of the mobile robot during appropriate time periods based on their specific needs and family schedules to ensure the safety of the preset object.

[0316] It is understandable that the preset time period can be a fixed time period, for example, it can be fixed from 7 pm every day to 7 am the next day; it can also be a non-fixed time period, for example, the preset time period from Monday to Friday is from 7 pm every day to 7 am the next day, and the preset time period on Saturday and Sunday is all day.

[0317] In addition, it is understandable that the preset time period in a day can be one or more, and the embodiments of the present disclosure do not specifically limit this.

[0318] In addition, it should be noted that, in order to match the preset time for the object to go home after class, the preset time for the object to go home after class can be used as the preset time period.

[0319] In addition, as shown in Figure 42, Figure 42 is another sub-step diagram of controlling the mobile robot to turn on the child lock function in step S4020 of the robot control method shown in Figure 40; regarding the above-mentioned step S1120 of controlling the mobile robot to turn on the child lock function, it includes but is not limited to step S4210 and step S4220.

[0320] Step S4210: Obtain preset identity information corresponding to the preset member list;

[0321] Step S4220: When the identity recognition information is consistent with the preset identity information, control the mobile robot to enable the child lock function.

[0322] In one embodiment, the disclosed embodiment can add restrictions to the preset member list, as follows: first, the door lock will receive the identity recognition information of the identification object; then, when the door lock determines that the identification object is in the preset member list based on the identity recognition information, the door lock will respond and control the mobile robot to turn on the child lock function.

[0323] It should be noted that the preset member list can be determined based on information about preset target members. Specifically, one or more preset target members can be determined based on the ages of multiple preset target members to generate the preset member list. For example, younger preset targets can be included in the preset member list.

[0324] Alternatively, the preset member list can also be set by the parents themselves. For example, the parents can include those with more mischievous personalities in the preset member list, or can include those who often touch the mobile robot while at home in the preset member list.

[0325] In one embodiment, the transmission path of the instruction for controlling the mobile robot to enable the child lock function in step S4020 may include but is not limited to the following two transmission scenarios:

[0326] The first transmission scenario: the door lock generates a child lock opening command and sends the child lock opening command directly to the mobile robot. The child lock opening command is used to control the mobile robot to open the child lock function.

[0327] The second transmission scenario: the door lock generates a child lock opening command and sends the child lock opening command to the linkage control device. Then, the linkage control device sends the child lock opening command to the mobile robot. The child lock opening command is used to control the mobile robot to turn on the child lock function.

[0328] Based on the various embodiments of the robot control method executed by the mobile robot or the door lock in the above-mentioned various embodiments, various embodiments of the robot control method executed by the linkage control device of the present disclosure are respectively proposed below.

[0329] As shown in Figure 43, Figure 43 is a flowchart of a robot control method performed by a linkage control device provided by an embodiment of the present disclosure; the robot control method can be applied to the linkage control device of the above embodiment, including but not limited to step S4310 and step S4320.

[0330] Step S4310: receiving a child lock unlocking instruction from the door lock, wherein the child lock unlocking instruction is generated by the door lock after determining that the identified object is a preset object based on the identity identification information of the identified object;

[0331] Step S4320: Send the child lock opening instruction to the mobile robot, and control the mobile robot to open the child lock function through the child lock opening instruction.

[0332] In one embodiment, the door lock first receives identification information of an object to be recognized. Then, when the door lock determines that the object to be recognized is a preset object based on the identification information, the door lock generates a child lock unlocking instruction in response and transmits the instruction to a linkage control device. The linkage control device then transmits the instruction to the mobile robot, thereby controlling the mobile robot to activate the child lock function. This disclosed embodiment fully utilizes the respective characteristics of the door lock and the mobile robot. If the door lock determines that the object to be recognized is a preset object based on the identification information, the child lock function of the mobile robot can be intelligently activated through the linkage control of the door lock, the linkage control device, and the mobile robot. This eliminates the inconvenience and easy-to-overlook issues of manual operation and provides a convenient user experience. Furthermore, the child lock function of the mobile robot can be automatically triggered, effectively preventing the preset object from misoperating or accidentally triggering the mobile robot, thereby reducing the risk of accidental injury.

[0333] It is worth noting that the specific implementation methods and technical effects of the robot control method executed by the linkage control device in the embodiment of the present disclosure can refer to the specific implementation methods and technical effects of the robot control method executed by the door lock or mobile robot in any of the above embodiments.

[0334] Based on the robot control methods of the above-mentioned various embodiments, overall embodiments of the robot control method disclosed herein are respectively proposed below.

[0335] As shown in FIG44 , FIG44 is an overall flow chart of a robot control method provided by an embodiment of the present disclosure; the flow includes but is not limited to the following steps S4410 , S4420 and S4430 .

[0336] Step S4410: The sweeping robot captures images of the surrounding environment in real time and recognizes the images;

[0337] Step S4420: Among the images captured in real time, at least one image is confirmed to identify a child or a pet;

[0338] Step S4430: Turn on the child lock function and lock the control panel of the sweeper.

[0339] In one embodiment, the robot control method includes but is not limited to the following steps:

[0340] 1. Start the intelligent robot: You can start the robot by pressing the power button on the robot or the switch button on the remote control.

[0341] 2. Real-time image capture: After the robot is powered on, it uses its onboard camera to capture real-time images of its surroundings. These images are then transmitted to the robot's processor for analysis.

[0342] 3. Image analysis: The processor pre-processes the real-time captured image, such as noise reduction and contrast enhancement, and then uses image recognition algorithms to analyze target objects such as children or pets in the image.

[0343] 4. Enable Child Lock: When the robot detects a child or pet in the image, it will automatically activate the Child Lock feature. This locks the robot's control panel to prevent children or pets from accidentally triggering the panel and causing misoperation.

[0344] 5. Robot Cleaning: While the Child Lock function is on, the robot will continue to perform cleaning tasks. When the cleaning task is completed, the robot will automatically turn off the Child Lock function and unlock the control panel.

[0345] 6. End of cleaning: When the cleaning task is completed, the robot will stop running and enter standby mode. The user can turn off the robot by pressing the power button or the on / off button on the remote control.

[0346] As shown in FIG45 , FIG45 is an overall flow chart of a robot control method provided by another embodiment of the present disclosure; the flow includes but is not limited to the following steps S4510 and S4520.

[0347] Step S4510: The door lock detects that the person entering the house is a child;

[0348] Step S4520: Enable the child lock function of the sweeper through the IoT cloud platform.

[0349] In one embodiment, when someone enters a room, the door lock performs identity verification, such as using facial or fingerprint recognition technology, to confirm the entrant's identity and determine whether it is a child. Once the door lock confirms the entrant is a child, it sends a signal to the robot vacuum via the wireless communication module, triggering the robot vacuum's child lock function to activate. Once the child lock function is activated, the robot vacuum's control panel is locked, preventing children from operating the touch panel, preventing misoperation and accidental triggering.

[0350] As shown in FIG46 , FIG46 is an overall flow chart of a robot control method provided by another embodiment of the present disclosure; the flow includes but is not limited to the following steps S4610 and S4620.

[0351] Step S4610: The door lock system detects that the person entering the house is a child within a preset time period;

[0352] Step S4620: Enable the child lock function of the sweeper through the IoT cloud platform.

[0353] In one embodiment, parents can set the time period during which the child lock function is active through the door lock app or settings interface. This can be set to a specific time period throughout the day, such as 8 PM to 7 AM, which is the time between when a child returns home from school and when they leave for school the next day. The child lock function of the robot vacuum will only be activated during this time period and if the person entering the house is a child.

[0354] By setting a preset time period, you can flexibly control when the child lock function takes effect. Parents can activate the child lock function of the robot vacuum during appropriate time periods based on their specific needs and family schedules to ensure the safety of their children.

[0355] As shown in FIG47 , FIG47 is an overall flow chart of a robot control method provided by another embodiment of the present disclosure; the flow includes but is not limited to the following steps S4710 and S4720.

[0356] Step S4710: The door lock system detects that the person entering the house is a preset child;

[0357] Step S4720: Enable the child lock function of the sweeping robot via the IoT cloud platform.

[0358] In one embodiment, parents can preset restrictions on adding children to the child list, ensuring that only children on the preset child list can trigger the child lock function. For example, younger children can be added to the list. This allows older children or family members to freely operate the robot vacuum when needed, improving convenience and flexibility.

[0359] The robot control method of the disclosed embodiment has the following technical effects: 1. Child safety protection: The child lock function is triggered by identity recognition to ensure the safety of children at home. Only children who have passed identity verification can trigger the child lock to unlock, preventing children from misoperating or accidentally triggering the sweeping robot, reducing the risk of accidental injury. 2. Improved user experience: The automatic activation of the child lock function does not require manual operation, providing a convenient user experience, avoiding the problem of manual operation and forgetting to open the child lock, and improving user convenience and satisfaction.

[0360] Based on the robot control methods of the above-mentioned embodiments, various embodiments of the controller, door lock, mobile robot, linkage control device, home linkage system, child lock function activation device, computer-readable storage medium and computer program product disclosed in the present invention are proposed below.

[0361] As shown in Figure 48, Figure 48 is a schematic diagram of a controller for executing a robot control method provided by one embodiment of the present disclosure. The controller 400 implemented in the present disclosure includes: a processor 410, a memory 420, and a computer program stored in the memory 420 and executable on the processor 410. Figure 48 uses one processor 410 and one memory 420 as an example.

[0362] The processor 410 and the memory 420 may be connected via a bus or other means. FIG48 takes the bus connection as an example.

[0363] The memory 420 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs and non-transitory computer executable programs. In addition, the memory 420 may include a high-speed random access memory and may also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 420 may optionally include a memory 420 remotely located relative to the processor 410, and these remote memories 420 may be connected to the controller 400 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0364] Those skilled in the art will understand that the device structure shown in FIG48 does not constitute a limitation on the controller 400, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0365] In the controller 400 shown in FIG48 , the processor 410 can be used to call the robot control program stored in the memory 420 to implement the robot control method described above. Specifically, the non-transitory software program and instructions required to implement the robot control method of the above embodiment are stored in the memory 420 and, when executed by the processor 410, perform the robot control method of the above embodiment.

[0366] It is worth noting that since the controller 400 of the embodiment of the present disclosure can execute the robot control method of any of the above embodiments, the specific implementation methods and technical effects of the controller 400 of the embodiment of the present disclosure can refer to the specific implementation methods and technical effects of the robot control method of any of the above embodiments.

[0367] In addition, an embodiment of the present disclosure also provides a mobile robot, which includes the controller of the above embodiment, and the mobile robot can execute the robot control method of the above embodiment through the controller, for example, execute the method steps in Figures 8 to 39 described above.

[0368] It is worth noting that since the mobile robot of the embodiment of the present disclosure includes the controller of the above embodiment, and the controller of the above embodiment can execute the robot control method of any of the above embodiments, the specific implementation methods and technical effects of the mobile robot of the embodiment of the present disclosure can refer to the specific implementation methods and technical effects of the robot control method of any of the above embodiments.

[0369] In addition, an embodiment of the present disclosure also provides an intelligent terminal, which includes the controller of the above embodiment, and the intelligent terminal can execute the robot control method of the above embodiment through the controller, for example, execute the method steps in Figures 40 to 42 described above.

[0370] It is worth noting that since the door lock of the embodiment of the present disclosure includes the controller of the above embodiment, and the controller of the above embodiment can execute the robot control method of any of the above embodiments, the specific implementation methods and technical effects of the smart terminal of the embodiment of the present disclosure can refer to the specific implementation methods and technical effects of the robot control method of any of the above embodiments.

[0371] In addition, an embodiment of the present disclosure also provides a linkage control device, which includes the controller of the above embodiment, and the linkage control device can execute the robot control method of the above embodiment through the controller, for example, execute the method steps in Figure 43 described above.

[0372] It is worth noting that since the linkage control device of the embodiment of the present disclosure includes the controller of the above-mentioned embodiment, and the controller of the above-mentioned embodiment can execute the robot control method of any of the above-mentioned embodiments, the specific implementation methods and technical effects of the linkage control device of the embodiment of the present disclosure can refer to the specific implementation methods and technical effects of the robot control method of any of the above-mentioned embodiments.

[0373] In addition, an embodiment of the present disclosure also provides a home linkage system, which includes at least the smart terminal and mobile robot of the above-mentioned embodiment, and may also include a linkage control device, and the home linkage system can execute the robot control method of the above-mentioned embodiment, for example, execute the method steps in Figures 45 to 47 described above.

[0374] It is worth noting that since the home linkage system of the embodiment of the present disclosure includes the door lock, linkage control device and mobile robot of the above-mentioned embodiment, and the door lock, linkage control device and mobile robot of the above-mentioned embodiment can execute the robot control method of any of the above-mentioned embodiments, the specific implementation methods and technical effects of the home linkage system of the embodiment of the present disclosure can refer to the specific implementation methods and technical effects of the robot control method of any of the above-mentioned embodiments.

[0375] In addition, as shown in Figure 49, another embodiment of the present disclosure also provides a child lock function startup device, including but not limited to a first receiving unit 510 and a child lock activation unit 520, wherein the first receiving unit 510 is used to obtain a child lock activation instruction; the child lock activation unit 520 is used to activate the child lock function according to the child lock activation instruction.

[0376] In addition, as shown in Figure 50, an embodiment of the present disclosure also provides a child lock function activation device, including but not limited to a second receiving unit 610 and an identification linkage unit 620, wherein the second receiving unit 610 is used to receive the identity recognition information of the identification object; the identification linkage unit 620 is used to determine that the identification object is a preset object based on the identity recognition information, and control the mobile robot to turn on the child lock function.

[0377] In addition, as shown in Figure 51, another embodiment of the present disclosure also provides a child lock function starting device, including but not limited to a third receiving unit 710 and an instruction forwarding unit 720, wherein the third receiving unit 710 is used to receive a child lock opening instruction from a door lock, wherein the child lock opening instruction is generated by the door lock after determining that the identified object is a preset object based on the identity recognition information of the identified object; the instruction forwarding unit 720 is used to send the child lock opening instruction to the mobile robot, and control the mobile robot to turn on the child lock function through the child lock opening instruction.

[0378] It is worth noting that since the child lock function activation device of the embodiment of the present disclosure can execute the robot control method of any of the above-mentioned embodiments, the specific implementation methods and technical effects of the child lock function activation device of the embodiment of the present disclosure can refer to the specific implementation methods and technical effects of the robot control method of any of the above-mentioned embodiments.

[0379] In addition, one embodiment of the present disclosure further provides a computer-readable storage medium storing computer-executable instructions for executing the above-described robot control method. For example, the method steps described in Figures 8 to 47 above are executed.

[0380] It is worth noting that since the computer-readable storage medium of the embodiment of the present disclosure can execute the robot control method of any of the above-mentioned embodiments, the specific implementation methods and technical effects of the computer-readable storage medium of the embodiment of the present disclosure can refer to the specific implementation methods and technical effects of the robot control method of any of the above-mentioned embodiments.

[0381] In addition, one embodiment of the present disclosure further provides a computer program product, including a computer program or computer instructions, wherein the computer program or computer instructions are stored in a computer-readable storage medium, and a processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium and executes the computer program or computer instructions, causing the computer device to perform the above-described robot control method. Exemplarily, the method steps described above in Figures 8 to 47 are performed.

[0382] It is worth noting that since the computer program product of the embodiments of the present disclosure can execute the robot control method of any of the above embodiments, the specific implementation methods and technical effects of the computer program product of the embodiments of the present disclosure can refer to the specific implementation methods and technical effects of the robot control method of any of the above embodiments.

[0383] Those skilled in the art will appreciate that all or some of the steps and systems in the method disclosed above can be implemented as software, firmware, hardware, and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, and the computer-readable medium can include computer storage media (or non-transitory media) and communication media (or temporary media). As known to those skilled in the art, the term computer storage media is included in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data) and is volatile and non-volatile, removable, and non-removable. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory, or other memory technology, CD-ROM, digital versatile disks (DVD), or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage, or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0384] The above is a specific description of the preferred implementation of the present disclosure, but the present disclosure is not limited to the above implementation. Technical personnel familiar with the art can also make various equivalent modifications or substitutions under the shared conditions that do not violate the spirit of the present disclosure. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present disclosure.

Claims

1. A robot control method, wherein: Applied to a mobile robot, the mobile robot communicating with a terminal device, the mobile robot including a processing component, the method comprising: Controlling the processing component to obtain target information of the terminal device; generating control information for the mobile robot and / or the terminal device based on the target information; and Based on the control information, the mobile robot or a base station associated with the mobile robot is controlled to execute a first target instruction and / or the terminal device is controlled to execute a second target instruction.

2. The method according to claim 1, wherein The target information includes a child lock activation instruction, the control information includes activating a child lock function, and generating control information of the mobile robot and / or the terminal device based on the target information includes: Obtaining a child lock unlocking instruction through the terminal device, wherein the child lock unlocking instruction is generated after determining that the identified object is a preset object; The child lock function is enabled according to the child lock enabling instruction.

3. The method according to claim 2, wherein: The terminal device includes a door lock, and obtaining the child lock opening instruction through the terminal device includes one of the following: Acquiring environmental information through a detection module of the mobile robot, extracting identity information of an identified object from the environmental information, determining that the identified object is a preset object based on the identity information, and generating a child lock unlocking instruction; A child lock opening instruction is received from a door lock, wherein the door lock communicates with the mobile robot, and the child lock opening instruction is generated by the door lock after determining that the identified object is a preset object based on the identity identification information of the identified object.

4. The method according to claim 3, wherein: Acquiring environmental information through the detection module of the mobile robot and extracting identity information of the identified object from the environmental information may include one of the following: capturing first environmental image information of the surrounding environment through a camera of the mobile robot, and extracting image feature information of an identified object from the first environmental image information; Ambient sound information of the surrounding environment is acquired through the microphone of the mobile robot, and voiceprint feature information of the identified object is extracted from the ambient sound information.

5. The method according to claim 2, wherein: The step of enabling the child lock function according to the child lock enabling instruction includes one of the following: Locking a control panel on the mobile robot, wherein the control panel in the locked state stops generating key control instructions; Locking the remote control corresponding to the mobile robot, wherein the remote control in the locked state stops generating remote control commands; The voice triggering device of the mobile robot is locked, wherein the voice triggering device in the locked state stops generating voice control instructions.

6. The method according to claim 2, wherein: After the child lock function is enabled according to the child lock enabling instruction, the method further includes one of the following: reducing the moving speed of the mobile robot so that the moving speed is lower than or equal to a preset limit speed; The prompting device of the mobile robot generates a prompting message to remind the user, wherein the prompting message includes a sound prompting message or an LED prompting message.

7. The method according to claim 2, wherein: After the child lock function is enabled according to the child lock enabling instruction, the method further includes one of the following: Acquiring second environment image information through the detection module of the mobile robot; When it is determined according to the second environmental image information that the identified object is outside the operating range of the mobile robot, disabling the child lock function; When it is determined according to the second environmental image information that the identified object is within the operating range of the mobile robot, the child lock function is kept turned on.

8. The method according to claim 2, wherein: After the child lock function is enabled according to the child lock enabling instruction, the method further includes: While the child lock function is on, continue to execute the target task; When the mobile robot completes the target task, the child lock function is turned off.

9. The method according to claim 1, wherein The terminal device includes a door lock, and the mobile robot further communicates with the door lock through a linkage control device; the control information includes a task instruction, and controlling the mobile robot or a base station associated with the mobile robot to execute a first target instruction based on the control information includes: receiving a first target instruction from the linkage control device, wherein the first target instruction is generated by the linkage control device according to the operating status information of the door lock; The mobile robot is controlled to perform a target task according to the first target instruction.

10. The method according to claim 9, wherein: The controlling the mobile robot to perform the target task according to the first target instruction includes: When the first target instruction is a patrol instruction, the mobile robot is controlled to perform a patrol task, wherein the operating status information corresponding to the patrol instruction indicates that the door lock is in a closed state within a target time range.

11. The method according to claim 10, wherein: The controlling the mobile robot to perform a patrol mission comprises: Controlling the mobile robot to patrol the room along a target patrol path; During the patrol process, the patrol data of the room is obtained through the detection device carried by the mobile robot, and the patrol data is pushed to the target terminal device.

12. The method according to claim 11, wherein Pushing the patrol data to the target terminal device includes: generating alarm event information of the room according to the patrol data; Push the alarm event information to the target terminal device.

13. The method according to claim 11, wherein The target patrol path is obtained by one of the following steps: Receiving a work and rest time and a work and rest activity area corresponding to the work and rest time, and determining a target patrol path according to the work and rest time and the work and rest activity area, wherein the target patrol path is a patrol path passing through the work and rest activity area under the work and rest time; A room selected area is received, and a target patrol path is determined according to the room selected area, wherein the target patrol path is a patrol path passing through the room selected area.

14. The method according to claim 9, wherein The controlling the mobile robot to perform the target task according to the first target instruction includes: When the first target instruction is a cleaning instruction, the mobile robot is controlled to perform a cleaning task, wherein the operating status information corresponding to the cleaning instruction represents that the door lock receives a preset operation from a preset family member within a preset time period.

15. The method according to claim 14, wherein The method further comprises: Acquire room information, wherein the room information includes the frequency of use, duration of use, or size of the room; The cleaning parameters of the mobile robot are adjusted according to the room information.

16. The method according to claim 14, wherein The method further comprises: Obtain historical door opening and closing information of the room, and determine historical usage of the room based on the historical door opening and closing information; A usage trend of the room is predicted based on the historical usage, and a cleaning plan of the mobile robot is determined based on the usage trend.

17. The method according to claim 14, wherein: The method further comprises: Receive identification information of family members; A cleaning mode or a cleaning plan of the mobile robot is determined according to the identity information.

18. The method according to claim 14, wherein The method further comprises: Receiving family members’ time at home and activity patterns; The cleaning route of the mobile robot is determined according to the time spent at home and the activity pattern.

19. The method according to claim 1, wherein The processing component includes a detection module, the target information includes a state of the curtain, and the state of the curtain is obtained by the detection module of the mobile robot. The method further includes: When it is determined based on the state of the curtain and the set cleaning route of the mobile robot that the curtain does not hinder the movement of the mobile robot, controlling the mobile robot to move along the set cleaning route; When it is determined based on the state of the curtain and the set cleaning route of the mobile robot that the curtain obstructs the movement of the mobile robot, the mobile robot is controlled to change the set cleaning route to avoid the curtain, or the curtain is controlled to move out of the first cleaning area corresponding to the set cleaning route.

20. The method according to claim 19, wherein The method further comprises: acquiring an image of the curtain; The state of the curtain is determined according to the image of the curtain, where the state of the curtain includes at least one of a position of the curtain, an open / closed state, and a distance between a bottom of the curtain and the ground.

21. The method according to claim 19, wherein The method further comprises: determining, according to the state of the curtain, whether the curtain is located in the first cleaning area; When the curtain is outside the first cleaning area, determining that the curtain does not hinder the movement of the mobile robot; In a case where the curtain is located within the first cleaning area, it is determined that the curtain obstructs the movement of the mobile robot.

22. The method according to claim 19, wherein The curtain includes an electric curtain, and the electric curtain is communicatively connected to the mobile robot. When it is determined based on the state of the curtain and the set cleaning route of the mobile robot that the curtain obstructs the movement of the mobile robot, controlling the mobile robot to change the set cleaning route to avoid the curtain, or controlling the curtain to move out of a first cleaning area corresponding to the set cleaning route includes: In the case where the mobile robot cannot obtain control of the electric curtain, controlling the mobile robot to change the set cleaning route to avoid the electric curtain; When the mobile robot obtains control of the electric curtain, the electric curtain is controlled to move out of the first cleaning area corresponding to the set cleaning route.

23. The method according to claim 22, wherein When the mobile robot obtains control of the electric curtain, controlling the electric curtain to move out of the first cleaning area corresponding to the set cleaning route includes: When the mobile robot obtains control of the electric curtain and needs to control the electric curtain to move out of the first cleaning area corresponding to the set cleaning route, sending a moving request to the terminal device; receiving a determination instruction from the terminal device in response to the removal request, and controlling the electric curtain to move out of the first cleaning area corresponding to the set cleaning route according to the determination instruction; A cancellation instruction in response to the removal request from the terminal device is received, and according to the cancellation instruction, the mobile robot is controlled to change the set cleaning route to avoid the electric curtain.

24. The method according to claim 22, wherein The first cleaning area includes a second cleaning area corresponding to the electric curtain, and the method further includes: After the mobile robot completes cleaning the second cleaning area, the electric curtain is controlled to reset.

25. The method according to claim 19, wherein When it is determined based on the state of the curtain and the set cleaning route of the mobile robot that the curtain obstructs the movement of the mobile robot, controlling the mobile robot to change the set cleaning route to avoid the curtain, or controlling the curtain to move out of a first cleaning area corresponding to the set cleaning route includes: In a case where the curtain is a manual curtain and the curtain obstructs the movement of the mobile robot, the mobile robot is controlled to change the set cleaning route to avoid the manual curtain.

26. The method according to claim 19, wherein The method further comprises: When the curtain is detected, a curtain type request signal is sent to the terminal device; A control instruction is received from the terminal device in response to the curtain type request signal, and the curtain type is determined according to the control instruction, where the curtain type includes electric curtain and manual curtain.

27. The method according to claim 1, wherein The terminal device includes an Internet of Things cloud platform, the mobile robot further communicates with the Internet of Things cloud platform, the target information further includes physiological status information of the user, and the method further includes: Obtaining user's physiological status information; The physiological state information indicates that the user's current behavior state is a first preset state, and a first target working mode corresponding to the first preset state is determined; The mobile robot is controlled to operate based on the first target operating mode.

28. The method according to claim 27, wherein The physiological state information indicates that the user's current behavior state is a first preset state, and determining a first target operating mode corresponding to the first preset state includes: If the current time corresponding to the physiological state information is within the target time period, and the physiological state information indicates that the user's current behavior state is a first preset state, determine a first target working mode corresponding to the first preset state, wherein the current behavior state includes at least one of the current sleeping state, the current illness state, the current learning state, and the current exercise state.

29. The method according to claim 28, wherein The determining of the first target operating mode corresponding to the first preset state includes: A first target operating mode corresponding to the first preset state is determined according to a spatial position relationship between the mobile robot and the user.

30. The method according to claim 29, wherein The first preset state includes at least one of a falling asleep or light sleep state, a deep sleep state, and a sleep-awakening state; the first target working mode includes at least one of a stop working mode, a fan speed reduction mode, and a cleaning path change mode; and determining the first target working mode corresponding to the first preset state according to the spatial position relationship between the mobile robot and the user includes: When the first preset state is a sleeping state or a light sleeping state, and the spatial position relationship indicates that the mobile robot and the user are in the same space, determining that a first target operating mode corresponding to the first preset state is the stop operating mode; When the first preset state is a deep sleep state and the spatial position relationship indicates that the mobile robot and the user are in the same space, determining that a first target operating mode corresponding to the first preset state is the fan speed reduction mode; When the first preset state is the sleep-wake-up state and the spatial position relationship indicates that the mobile robot and the user are in the same space, the first target working mode corresponding to the first preset state is determined to be the changed cleaning path mode, so that the mobile robot leaves the space where the user is.

31. The method of claim 27, wherein: The terminal device further includes a biometric monitoring device, the physiological state information includes sleep state information, and a method for obtaining the sleep state information includes at least one of the following: The trained deep learning network is used to analyze and process the physiological parameters collected by the biometric monitoring device to obtain sleep state information; Receive sleep state information from the biometric monitoring device, wherein the sleep state information is obtained by the biometric monitoring device through analyzing and processing the physiological parameters using a trained deep learning network.

32. The method of claim 28, wherein: The method further comprises: if the current time corresponding to the physiological state information is outside the range of the target time period, and the physiological state information indicates that the user's current activity state is a second preset state, determining a second target working mode corresponding to the second preset state; The mobile robot is controlled to operate based on the second target operating mode, wherein the second target operating mode includes at least one of starting a sweeping mode, maintaining a current cleaning path mode, and maintaining a current fan speed mode.

33. The method according to claim 32, wherein The method further comprises: receiving operating mode configuration information, wherein the operating mode configuration information is generated based on a selection operation, the selection operation being used to select the first target operating mode from a first candidate operating mode and / or to select the second target operating mode from a second candidate operating mode; Based on the working mode configuration information, the first target working mode is set to correspond to the first preset state, and / or the second target working mode is set to correspond to the second preset state.

34. The method of claim 27, wherein: The range outside the target time period includes a first preset time period, and the method further includes: Get user location information; If the current time corresponding to the physiological state information is within the range of a first preset time period, and the user location information indicates that the user has arrived home, the working mode of the mobile robot is determined to be a third target working mode, wherein the third target working mode includes at least one of turning on a sweeping mode, maintaining a current cleaning path mode, and maintaining a current fan speed mode.

35. The method of claim 31 , wherein: The target time period includes a second preset time period, the physiological state information further includes activity state information, and the method further includes: If the current time corresponding to the physiological state information is within the range of a second preset time period, the working mode of the mobile robot is determined to be a fourth target working mode based on the sleep state information and the activity state information, wherein the fourth target working mode includes turning on at least one of a sweeping mode and a voice broadcast mode.

36. The method according to claim 35, wherein The determining, based on the sleep state information and the activity state information, that the operating mode of the mobile robot is a fourth target operating mode includes: When the sleeping state information indicates that the user has changed from a sleeping state to a waking state, and the activity state information indicates that the user has started to act, determining that the operating mode of the mobile robot is a fourth target operating mode; Among them, when the fourth target working mode includes turning on the voice broadcast mode, the voice broadcast content includes the most recent sleep status and health advice.

37. A robot control method, wherein: Applied to a terminal device, the terminal device communicates with a mobile robot; the method comprises: Send target information to the mobile robot so that the mobile robot generates control information of the mobile robot and / or the terminal device based on the target information, and controls the mobile robot or the base station associated with the mobile robot to execute a first target instruction and / or controls the terminal device to execute a second target instruction based on the control information.

38. A robot control method, wherein: Applied to a linkage control device, the linkage control device communicates with a terminal device and a mobile robot respectively; the method includes: receiving target information from the terminal device; The target information is sent to the mobile robot so that the mobile robot generates control information of the mobile robot and / or the terminal device based on the target information, and controls the mobile robot or the base station associated with the mobile robot to execute the first target instruction and / or controls the terminal device to execute the second target instruction based on the control information.

39. A mobile robot, wherein: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the robot control method according to any one of claims 1 to 36 when executing the computer program.

40. An intelligent terminal, wherein: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the robot control method according to claim 37 when executing the computer program.

41. A linkage control device, wherein: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the robot control method according to claim 38 when executing the computer program.

42. A computer-readable storage medium, wherein: Computer-executable instructions are stored, and the computer-executable instructions are used to execute the robot control method according to any one of claims 1 to 38.

43. A computer program product comprising a computer program or computer instructions, wherein: The computer program or the computer instructions are stored in a computer-readable storage medium, the processor of the computer device reads the computer program or the computer instructions from the computer-readable storage medium, and the processor executes the computer program or the computer instructions, so that the computer device executes the robot control method as described in any one of claims 1 to 38.

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