Granted Patent B2

US 12,397,416 · App. 17/565,889 · Granted Aug 26, 2025

Inventors: Xiao-Qing William Huang (Shanghai, CN); ZhanChao Zhang (Shanghai, CN); Shikui Ma (Shanghai, CN); Bin Wang (Shanghai, CN); Guanghua Yang (Shanghai, CN)

Assignee: CloudMinds Robotics Co., Ltd.

B25J9/163

Abstract

Claims (65)

1. A robot control method, wherein the method comprises:

obtaining a first control instruction of a robot;

determining a behavior blueprint corresponding to the first control instruction, wherein the behavior blueprint comprises a plurality of blueprint nodes connected according to a target sequence; and

executing preset functions corresponding to the blueprint nodes according to the target sequence; wherein

the preset functions corresponding to the blueprint nodes comprise an atomic API ability, a meta skill and a task skill, wherein the atomic API ability is used for characterizing a specific function executed by the robot through a component, the meta skill is used for characterizing a function of an execution unit of the robot, the task skill is used for characterizing a function of user-oriented execution of a target task by the robot, the robot comprises one or a plurality of execution units, and each execution unit comprises one or a plurality of components;

wherein the task skill comprises a behavior skill; the behavior skill comprises one or a plurality of action skills; each action skill comprises one or a plurality of the meta skills; and each meta skill comprises one or a plurality of the atomic API abilities;

wherein there are a plurality of the behavior blueprints, and the method further comprises: performing nested calls of the plurality of the behavior blueprints.

2. The method according to claim 1 , wherein the behavior blueprint comprises a first blueprint node and one or a plurality of first candidate blueprint nodes connected after the first blueprint node according to the target sequence; and the executing the preset functions corresponding to the blueprint nodes according to the target sequence comprises:

executing, if there is one first candidate blueprint node, a preset function corresponding to the first candidate blueprint node after executing a preset function corresponding to the first blueprint node.

3. The method according to claim 2 , wherein the behavior blueprint further comprises a target execution condition corresponding to each first candidate blueprint node, and the executing the preset functions corresponding to the blueprint nodes according to the target sequence comprises:

determining, if there are a plurality of the first candidate blueprint nodes, a first candidate blueprint node corresponding to satisfying the target execution condition according to an execution result of the first blueprint node and/or a current state of the robot after executing the preset function corresponding to the first blueprint node, and determining the first candidate blueprint node as a second blueprint node; and

executing a preset function corresponding to the second blueprint node.

4. The method according to claim 1 , wherein the method further comprises:

obtaining, if receiving a node control instruction input by a user specific to the robot, a target blueprint node indicated by the node control instruction in a case of executing a preset function corresponding to a current blueprint node;

continuing to execute a preset function corresponding to the target blueprint node after executing the preset function corresponding to the current blueprint node; and

continuing to execute a preset function corresponding to a blueprint node located after the target blueprint node in the behavior blueprint according to the sequence.

5. The method according to claim 1 , wherein the behavior blueprint is generated in advance in the following manner:

obtaining a blueprint constructing instruction input by a user;

generating the plurality of blueprint nodes according to a node function correspondence relation in the blueprint constructing instruction, wherein the node function correspondence relation comprises correspondence relations between the blueprint nodes and the preset functions;

generating the target sequence for connecting the plurality of blueprint nodes according to a node connection relation in the blueprint constructing instruction; and

connecting the plurality of blueprint nodes according to the target sequence to generate the behavior blueprint.

6. A non-transitory computer readable storage medium, storing a computer program thereupon, when the computer program in the non-transitory computer readable storage medium is executed by a processor, the processor is caused to:

obtain a first control instruction of a robot;

determine a behavior blueprint corresponding to the first control instruction, wherein the behavior blueprint comprises a plurality of blueprint nodes connected according to a target sequence; and

execute preset functions corresponding to the blueprint nodes according to the target sequence; wherein

the preset functions corresponding to the blueprint nodes comprise an atomic API ability, a meta skill and a task skill, wherein the atomic API ability is used for characterizing a specific function executed by the robot through a component, the meta skill is used for characterizing a function of an execution unit of the robot, the task skill is used for characterizing a function of user-oriented execution of a target task by the robot, the robot comprises one or a plurality of execution units, and each execution unit comprises one or a plurality of components;

wherein the task skill comprises a behavior skill; the behavior skill comprises one or a plurality of action skills; each action skill comprises one or a plurality of the meta skills; and each meta skill comprises one or a plurality of the atomic API abilities;

wherein there are a plurality of the behavior blueprints, and the processor is further configured to perform nested calls of the plurality of the behavior blueprints.

7. The non-transitory computer readable storage medium according to claim 6 , wherein the behavior blueprint comprises a first blueprint node and one or a plurality of first candidate blueprint nodes connected after the first blueprint node according to the target sequence; and when the computer program in the non-transitory computer readable storage medium is executed by the processor, the processor is further caused to:

execute, if there is one first candidate blueprint node, a preset function corresponding to the first candidate blueprint node after executing a preset function corresponding to the first blueprint node.

8. The non-transitory computer readable storage medium according to claim 7 , wherein the behavior blueprint comprises a target execution condition corresponding to each first candidate blueprint node; and when the computer program in the non-transitory computer readable storage medium is executed by the processor, the processor is further caused to:

determine, if there are a plurality of the first candidate blueprint nodes, a first candidate blueprint node corresponding to satisfying the target execution condition according to an execution result of the first blueprint node and/or a current state of the robot after executing the preset function corresponding to the first blueprint node, and determining the first candidate blueprint node as a second blueprint node; and

execute a preset function corresponding to the second blueprint node.

9. The non-transitory computer readable storage medium according to claim 6 , when the computer program in the non-transitory computer readable storage medium is executed by the processor, the processor is further caused to:

obtain, if receiving a node control instruction input by a user specific to the robot, a target blueprint node indicated by the node control instruction in a case of executing a preset function corresponding to a current blueprint node;

continue to execute a preset function corresponding to the target blueprint node after executing the preset function corresponding to the current blueprint node; and

continue to execute a preset function corresponding to a blueprint node located after the target blueprint node in the behavior blueprint according to the sequence.

10. The non-transitory computer readable storage medium according to claim 6 , when the computer program in the non-transitory computer readable storage medium is executed by the processor, the processor is further caused to:

obtain a blueprint constructing instruction input by a user;

generate the plurality of blueprint nodes according to a node function correspondence relation in the blueprint constructing instruction, wherein the node function correspondence relation comprises correspondence relations between the blueprint nodes and the preset functions;

generate the target sequence for connecting the plurality of blueprint nodes according to a node connection relation in the blueprint constructing instruction; and

connect the plurality of blueprint nodes according to the target sequence to generate the behavior blueprint.

11. An electronic device, comprising:

a memory, storing a computer program thereupon; and

a processor, configured to execute the computer program in the memory so as to:

obtain a first control instruction of a robot;

determine a behavior blueprint corresponding to the first control instruction, wherein the behavior blueprint comprises a plurality of blueprint nodes connected according to a target sequence; and

execute preset functions corresponding to the blueprint nodes according to the target sequence; wherein

the preset functions corresponding to the blueprint nodes comprise an atomic API ability, a meta skill and a task skill, wherein the atomic API ability is used for characterizing a specific function executed by the robot through a component, the meta skill is used for characterizing a function of an execution unit of the robot, the task skill is used for characterizing a function of user-oriented execution of a target task by the robot, the robot comprises one or a plurality of execution units, and each execution unit comprises one or a plurality of components;

wherein the task skill comprises a behavior skill; the behavior skill comprises one or a plurality of action skills; each action skill comprises one or a plurality of the meta skills; and each meta skill comprises one or a plurality of the atomic API abilities;

wherein there are a plurality of the behavior blueprints, and the processor is further configured to perform nested calls of the plurality of the behavior blueprints.

12. The electronic device according to claim 11 , wherein the behavior blueprint comprises a first blueprint node and one or a plurality of first candidate blueprint nodes connected after the first blueprint node according to the target sequence; and the processor is further configured to:

execute, if there is one first candidate blueprint node, a preset function corresponding to the first candidate blueprint node after executing a preset function corresponding to the first blueprint node.

13. The electronic device according to claim 12 , wherein the behavior blueprint further comprises a target execution condition corresponding to each first candidate blueprint node; and the processor is further configured to:

determine, if there are a plurality of the first candidate blueprint nodes, a first candidate blueprint node corresponding to satisfying the target execution condition according to an execution result of the first blueprint node and/or a current state of the robot after executing the preset function corresponding to the first blueprint node, and determining the first candidate blueprint node as a second blueprint node; and

execute a preset function corresponding to the second blueprint node.

14. The electronic device according to claim 11 , wherein the processor is further configured to:

obtain, if receiving a node control instruction input by a user specific to the robot, a target blueprint node indicated by the node control instruction in a case of executing a preset function corresponding to a current blueprint node;

continue to execute a preset function corresponding to the target blueprint node after executing the preset function corresponding to the current blueprint node; and

continue to execute a preset function corresponding to a blueprint node located after the target blueprint node in the behavior blueprint according to the sequence.

15. The electronic device according to claim 11 , wherein the processor is further configured to:

obtain a blueprint constructing instruction input by a user;

generate the plurality of blueprint nodes according to a node function correspondence relation in the blueprint constructing instruction, wherein the node function correspondence relation comprises correspondence relations between the blueprint nodes and the preset functions;

generate the target sequence for connecting the plurality of blueprint nodes according to a node connection relation in the blueprint constructing instruction; and

connect the plurality of blueprint nodes according to the target sequence to generate the behavior blueprint.

Assignments (2)

Priority Claims (1)

Continuity (2)

References Cited (17)