Mechanical arm, cleaning equipment, control method and computer readable storage medium

Abstract

The invention provides a mechanical arm, cleaning equipment, a control method and a computer readable storage medium, and relates to the technical field of cleaning. The mechanical arm comprises a base, the base comprises a fixed part and a rotating part, and the rotating part is rotationally connected with the fixed part. And the folding arm comprises a plurality of connecting arms which are rotationally connected, the folding arm comprises a first end part and a second end part, and the first end part is rotationally connected with the rotating part. The clamping jaw is arranged at the second end of the folding arm, the clamping jaw is rotationally connected with the second end, and the clamping jaw is used for executing the grabbing action. And the dust suction pipe is arranged on the folding arm, one end of the dust suction pipe is provided with a dust suction nozzle, the dust suction nozzle is located at the end, away from the second end, of the clamping jaw, the dust suction nozzle communicates with the dust suction pipe, and the dust suction pipe cleans the to-be-cleaned area through the dust suction nozzle. According to the mechanical arm, by arranging the clamping jaw and the dust collection pipe, the grabbing and dust collection functions can be achieved, the functions of the mechanical arm can be enriched, and the user experience feeling is improved.

Description

Technical Field

[0001] The present invention relates to the field of cleaning technology, and in particular to a robot arm, a cleaning device, a control method and a computer-readable storage medium. Background Art

[0002] With the development of science and technology and the improvement of people's living standards, people usually use intelligent cleaning equipment such as sweepers and scrubbers to reduce their workload in home cleaning.

[0003] In order to meet the growing needs of users, smart cleaning devices are usually required to adapt to more application scenarios and realize more cleaning functions to enhance user experience. In related technologies, a robotic arm is set on the smart cleaning device to assist the smart cleaning device in performing cleaning work. For example, it assists in dumping dust boxes, cleaning larger garbage, etc.

[0004] However, the robotic arms on the smart cleaning devices in the related art have fewer functions, resulting in a poor user experience. Summary of the invention

[0005] The present invention provides a robotic arm, a cleaning device, a control method and a computer-readable storage medium. The robotic arm has the functions of grasping and vacuuming, which can enrich the functions of the robotic arm and enhance the user experience.

[0006] An embodiment of the present invention provides a mechanical arm, comprising:

[0007] A base, comprising a fixed portion and a rotating portion, wherein the rotating portion is rotatably connected to the fixed portion;

[0008] A folding arm, comprising a plurality of rotatably connected connecting arms, wherein the folding arm comprises a first end and a second end, wherein the first end is rotatably connected to the rotating portion;

[0009] A clamping claw, disposed at the second end of the folding arm, the clamping claw being rotatably connected to the second end, and the clamping claw being used to perform a grasping action;

[0010] A dust suction pipe is arranged on the folding arm, a dust suction nozzle is provided at one end of the dust suction pipe, the dust suction nozzle is located at the end of the clamping claw away from the second end, the dust suction nozzle is connected to the dust suction pipe, and the dust suction pipe performs cleaning operations on the area to be cleaned through the dust suction nozzle.

[0011] The mechanical arm in the embodiment of the present application can have a grasping action and a vacuuming action by setting a clamp and a vacuum tube, so that the mechanical arm can increase the function of the mechanical arm, so that the cleaning device provided with the mechanical arm can realize the grasping function through the mechanical arm, and can also realize the vacuuming function through the mechanical arm. By setting a vacuum tube, the mechanical arm can perform vacuuming operations on some difficult-to-clean positions (for example, skirtings, facades, sliding door tracks, right angles, bosses, etc.), thereby improving the cleaning effect. By setting a clamp, the mechanical arm can grasp some relatively large garbage or obstacles, such as toys, shoes, etc., and these relatively large garbage or obstacles can be removed by the mechanical arm, which is convenient for the equipment body of the cleaning equipment to perform cleaning operations, making the functions of the cleaning equipment more abundant and improving the user experience.

[0012] In a possible implementation, the suction nozzle includes a first suction port and a second suction port; wherein,

[0013] The first suction port is located at the top of the suction nozzle, and when the clamping claw is perpendicular to the horizontal plane, the first suction port faces the ground;

[0014] The second dust suction port is located on the side wall of the dust suction nozzle, and when the clamping claw is parallel to the horizontal plane, the second dust suction port faces the ground.

[0015] By providing the suction nozzle with a first suction port and a second suction port, it is possible to suck garbage and other objects in different directions. For example, the dust in a narrow space can be sucked through the first suction port. Large and light objects on the ground, such as waste paper, can be sucked through the second suction port. In other words, dust can be sucked through the first suction port, and objects can be picked up through the second suction port. This can improve the applicability of the suction nozzle. The robot arm can achieve more functions and improve the user experience.

[0016] In a possible implementation, a rotation axis between the clamp and the second end of the folding arm is parallel to a horizontal direction;

[0017] The clamping jaw passes through at least a horizontal plane and a vertical plane during the rotation relative to the second end of the folding arm.

[0018] With such a configuration, the clamp can rotate in the horizontal direction relative to the second end of the folding arm to increase the degree of freedom of the clamp, so that the clamp can be more flexible, and the flexibility of the movement of the clamp can be improved, so that the robot arm can achieve more functions. By making the clamp pass through at least a horizontal plane and a vertical plane during the rotation process relative to the second end of the folding arm, the clamp can be in contact with the ground when on the horizontal plane, which is convenient for grasping, and can also be perpendicular to the ground when on the vertical plane, which is convenient for support, etc.

[0019] In a possible implementation, a rotation joint is provided between two adjacent connecting arms of the folding arm;

[0020] Two adjacent connecting arms of the folding arm are rotationally connected via the rotating joint.

[0021] Such a configuration can make the folding arm have more degrees of freedom, so that the clamping claw at the second end of the folding arm has more degrees of freedom, thereby making the clamping claw more flexible, improving the movement flexibility of the clamping claw, and making the mechanical arm realize more functions. By setting a rotating joint between adjacent connecting arms, assembly can be facilitated, thereby reducing the difficulty of assembly between connecting arms and reducing costs.

[0022] In a possible implementation, the dust suction pipe includes a plurality of sub-suction pipes, and at least one end of each of the sub-suction pipes is used to connect to the rotary joint; wherein,

[0023] One end of the sub-suction pipe closest to the clamping claw is communicated with the dust suction nozzle, and the other end is connected with the rotating joint.

[0024] By setting the vacuum tube as multiple sub-tubes, the folding arm connection can be facilitated, and the multiple sub-tubes are respectively connected to the rotating joints and connected into a whole. Compared with setting the vacuum tube as a relatively long tube, it can prevent the mechanical arm from rubbing, colliding and pulling the vacuum tube during the folding and rotation process, thereby improving the service life of the vacuum tube.

[0025] In a possible implementation, the number of the sub-pipelines is two, and the two sub-pipelines are respectively a first sub-pipeline and a second sub-pipeline;

[0026] The first sub-suction pipe is arranged close to the clamping claw, one end of the first sub-suction pipe is connected to the dust suction nozzle, and the other end of the first sub-suction pipe is connected to the rotating joint;

[0027] One end of the second sub-suction tube is communicated with the rotating joint, and the other end is connected with the base.

[0028] With such an arrangement, the first sub-pipe and the second sub-pipe can be connected through the rotating joint, and then the dust nozzle, the first sub-pipe, the rotating joint, and the second sub-pipe can be connected, so that suction can be applied to the dust nozzle through the connected dust pipe, and then the garbage sucked from the dust nozzle can be transmitted to the base through the first sub-pipe, the rotating joint, and the second sub-pipe, and connected to the first dust box of the cleaning equipment through the base, so that the garbage can be collected for centralized treatment.

[0029] In a possible implementation, the number of the connecting arms is two, and the two connecting arms are respectively a first connecting arm and a second connecting arm; wherein,

[0030] One end of the first connecting arm is rotationally connected to the clamping claw, and the other end is rotationally connected to the second connecting arm via the rotating joint;

[0031] One end of the second connecting arm facing away from the first connecting arm is rotatably connected to the rotating part.

[0032] With such an arrangement, the connecting arm having a first connecting arm and a second connecting arm can allow the first connecting arm to rotate relative to the second connecting arm, which can increase the degree of freedom of the clamping jaw and further improve the flexibility of the clamping jaw.

[0033] In a possible implementation, a detection component is also included; wherein,

[0034] The detection component is disposed at the second end portion of the folding arm, the detection component is rotationally connected to the second end portion, and the detection component is at least used to detect the type of obstacles in the area to be cleaned.

[0035] With such a configuration, the detection component can detect the type of obstacle at the front end of the clamp, such as wires, shoes, pets, etc., and then control the clamp to perform corresponding actions according to the type of obstacle. For example, when the obstacle at the front end of the clamp is a movable obstacle such as a shoe, the clamp can be controlled to grab the obstacle. When the obstacle at the front end of the clamp is garbage such as dust and hair, the clamp can be controlled to perform a vacuuming action to absorb dust and hair.

[0036] In a possible implementation, the detection component includes a vision component and a sensor component;

[0037] in,

[0038] The sensor component is used to collect category information of the target obstacle;

[0039] The visual component is used to collect image information of the target obstacle.

[0040] Such a setting can improve the detection accuracy of the detection component, thereby improving the operating accuracy of the robotic arm, and further improving the user experience.

[0041] In a possible implementation manner, a rotation axis between the first end of the folding arm and the rotating portion is parallel to a horizontal direction.

[0042] With such a configuration, the folding arm can be easily folded up for storage. Moreover, when the folding arm is unfolded, the height of the mechanical arm can be increased so that the mechanical arm can grab objects at a higher position, thereby increasing the function of the mechanical arm and improving the user experience.

[0043] In a possible implementation manner, the rotating part is rotatable 360° relative to the fixed part, and a rotation axis of the rotating part is parallel to a vertical direction.

[0044] Such a setting can increase the coverage of the robot arm, so that the robot arm can clear or clean obstacles at any position around the cleaning equipment, thereby improving the applicability of the robot arm.

[0045] In a possible implementation, a soft structure is provided at the end of the dust nozzle.

[0046] Because the soft structure has a certain degree of elasticity and softness, it can buffer impact force and is particularly suitable for fragile or surface-sensitive objects. This can reduce wear or scratches on the ground, walls, and narrow gap boundaries during operation.

[0047] A second aspect of the embodiment of the present application provides a cleaning device, comprising a device body and any one of the mechanical arms described in the first aspect; wherein:

[0048] The mechanical arm is fixedly connected to the equipment body.

[0049] The cleaning device in the embodiment of the present application may be a sweeper or the like. By providing the above-mentioned robotic arm, the cleaning device may have a robotic arm with a grabbing function and a vacuuming function. The robotic arm may be used to perform vacuuming operations on some locations that are difficult to clean on the device body, such as skirtings, facades, sliding door tracks, right angles, bosses, etc., to improve the cleaning effect. The robotic arm may also be used to grab some larger garbage or obstacles, such as toys, shoes, etc. These larger garbage or obstacles may be removed by the robotic arm, making it convenient for the device body to perform cleaning operations, thereby enriching the functions of the cleaning device and improving the user experience.

[0050] In a possible implementation, the device body includes a housing cavity, and the base of the mechanical arm is fixedly disposed in the housing cavity; wherein,

[0051] The robotic arm includes a folded state and an unfolded state. When the robotic arm is in the folded state, the robotic arm is accommodated in the accommodating cavity. When the robotic arm is in the unfolded state, part of the structure of the robotic arm extends out of the accommodating cavity.

[0052] By providing a receiving cavity on the device body, the robotic arm can be easily stored. When the robotic arm is in a folded state, the height of the device body can be reduced, making it easier for the device body to enter some relatively low positions, such as the bottom of the bed for cleaning. When the robotic arm is in an unfolded state, the robotic arm can perform functions such as grabbing or vacuuming. This makes the cleaning device more functional and improves the user experience.

[0053] In a possible implementation, a cover is provided on the device body, and the cover can be opened and closed at the top end of the accommodating cavity.

[0054] With such a configuration, when the robotic arm is in a folded state, the cover plate can be placed on the top of the accommodating cavity, which can prevent the robotic arm from being exposed to the outside world, improve the aesthetics of the cleaning equipment, and prevent dust or other objects from falling into the accommodating cavity, causing the robotic arm to get stuck and making it difficult or impossible to open.

[0055] In a possible implementation, there are multiple mechanical arms, and the multiple mechanical arms are arranged in the same accommodating cavity; or,

[0056] There are multiple accommodating cavities, and each accommodating cavity is provided with a robotic arm.

[0057] There are multiple accommodating cavities, and each accommodating cavity is provided with a robotic arm.

[0058] This configuration allows the cleaning device to have multiple robotic arms, thereby achieving more functions and improving the user experience.

[0059] In a possible implementation, a first dust box is provided on the device body; wherein,

[0060] One end of the dust suction pipe of the robot arm away from the dust suction nozzle is connected to the first dust box.

[0061] With such an arrangement, garbage sucked in by the device body and the dust suction pipe can be conveniently collected in the first dust box for centralized processing.

[0062] In a possible implementation, a second dust box is provided on the device body, and a mounting cavity for assembling the second dust box is provided on the top surface of the device body;

[0063] The second dust box is detachably connected to the installation cavity, and the second dust box is at least used to accommodate the target obstacle grasped by the robot arm.

[0064] By providing a second dust box on the main body of the device, objects grabbed by the robotic arm can be conveniently collected and then processed centrally. For example, the robotic arm can put multiple grabbed toys into the second dust box, and then move them together to a designated location. Compared with grabbing an object and moving it once, this can reduce the number of times the cleaning equipment is moved, thereby saving energy, and can reduce the time of the transportation process, providing better results.

[0065] In a possible implementation, a visual module is also included; wherein,

[0066] The visual module is arranged at the front end of the device body, and is used to obtain environmental information of the area to be cleaned.

[0067] By setting up a visual module, it is convenient for the cleaning equipment to perceive and navigate the environment through the visual module, for example, to identify and detect obstacles such as furniture, walls and other objects to avoid collisions. Identify the edges of the floor and stairs to prevent the robot from falling, identify dirt and garbage on the ground, and optimize the cleaning path. Through the images captured by the visual module, the cleaning equipment can build a map of the environment (simultaneous localization and mapping, SLAM) to help it navigate in complex environments. Based on the constructed map and real-time image data, the robot can plan the optimal cleaning path to improve efficiency and coverage. Through the visual module, the robot can determine its own position and direction to ensure the accuracy of navigation. Through image processing, the cleaning equipment can identify different types of floors, such as carpets, wooden floors, tiles, etc., and adjust the cleaning mode and intensity.

[0068] In a possible implementation, a control device is further included, wherein the control device is electrically connected to the device body, the robotic arm, and the visual module, and the control device is at least used to control the movement of the robotic arm.

[0069] By setting up a control device, it is convenient to control the equipment body and the robotic arm to perform different cleaning tasks based on the information collected by the vision module.

[0070] A third aspect of the embodiments of the present application provides a control method for a cleaning device, which is used for a cleaning device, wherein the cleaning device comprises a device body and a mechanical arm, wherein the mechanical arm is fixedly connected to the device body;

[0071] The mechanical arm includes a folded state and an unfolded state. When the mechanical arm is in the folded state, the mechanical arm is stored in the device body. When the mechanical arm is in the unfolded state, part of the structure of the mechanical arm extends out of the device body.

[0072] The method comprises:

[0073] Acquire first environmental information of the area to be cleaned;

[0074] The device body and the robot arm are controlled according to the first environmental information to perform a cleaning operation.

[0075] The cleaning device in the embodiment of the present application may be a sweeper or the like. By providing the above-mentioned robotic arm, the cleaning device may have a robotic arm with a grabbing function and a vacuuming function. The robotic arm may be used to perform vacuuming operations on some locations that are difficult to clean on the device body, such as skirtings, facades, sliding door tracks, right angles, bosses, etc., to improve the cleaning effect. The robotic arm may also be used to grab some larger garbage or obstacles, such as toys, shoes, etc. These larger garbage or obstacles may be removed by the robotic arm, making it convenient for the device body to perform cleaning operations, thereby enriching the functions of the cleaning device and improving the user experience.

[0076] The control method of the cleaning equipment provided by the embodiment of the present application first obtains the first environmental information of the area to be cleaned, and then controls the main body of the equipment and the mechanical arm according to the first environmental information, so that different cleaning schemes can be determined according to different environmental information. For example, in an environment where the ground is relatively flat, the steps or thresholds are low, and there are fewer obstacles that affect the cleaning of the ground, the main body of the equipment can be controlled to perform cleaning operations first, and then the mechanical arm can be controlled to perform grabbing and carrying operations. After the handling is completed, the position that has not been cleaned can be cleaned by the main body of the equipment. In some environments where the ground is relatively flat, the steps or thresholds are low, and there are many scattered obstacles that affect conventional cleaning, the mechanical arm can be used to grab and carry the work first, and then the entire ground can be cleaned by the main body of the equipment. This can improve cleaning efficiency and save energy. In addition, as the cleaning work proceeds, a new cleaning route can be determined according to the new first environmental information so that the cleaning equipment has autonomous learning capabilities.

[0077] In a possible implementation, the cleaning device is used to perform a cleaning operation on an area to be cleaned, the area to be cleaned includes a regular area and a special area, and the special area includes at least one of an area where a movable obstacle exists, an area that cannot be cleaned by the device body, an area that cannot be passed by the device body, and an area that cannot be passed when the robot arm is in an extended state;

[0078] The cleaning device comprises a visual module, and the visual module is used to obtain first environmental information of the area to be cleaned;

[0079] The obtaining of first environmental information of the area to be cleaned includes:

[0080] The visual module is controlled to obtain position information of a special area in the area to be cleaned.

[0081] This setting can determine how to control the device body and the robotic arm to perform cleaning work according to the location of the special area. It is convenient to plan the order of cleaning work of the cleaning equipment, so as to perform cleaning work quickly and efficiently, save energy and time, and improve user experience.

[0082] In a possible implementation, the mechanical arm includes: a base, including a fixed portion and a rotating portion, the rotating portion is rotationally connected to the fixed portion, and the fixed portion is fixedly connected to the device body;

[0083] A folding arm, comprising a plurality of rotatably connected connecting arms, wherein the folding arm comprises a first end and a second end, wherein the first end is rotatably connected to the rotating portion;

[0084] A clamping claw, disposed at the second end of the folding arm, the clamping claw being rotatably connected to the second end, and the clamping claw being used to perform a grasping action;

[0085] A dust suction pipe is arranged on the folding arm, a dust suction nozzle is arranged at one end of the dust suction pipe, the dust suction nozzle is located at the end of the clamping claw away from the second end, the dust suction nozzle is connected with the dust suction pipe, and the dust suction pipe performs a cleaning operation on the area to be cleaned through the dust suction nozzle;

[0086] The controlling the device body and the robotic arm according to the first environmental information comprises:

[0087] According to the first environmental information, the device body is controlled to perform a cleaning action, and according to the first environmental information, the robot arm is controlled to perform a target action in the special area; wherein,

[0088] The target action includes one or more combinations of an unfolding action, a grabbing action, a carrying action, a supporting action, a vacuuming action, and a folding action.

[0089] With such a configuration, the robot arm can have a grabbing action and a vacuuming action, which can increase the function of the robot arm, so that the cleaning device equipped with the robot arm can realize the grabbing function through the robot arm, and can also realize the vacuuming function through the robot arm. Then, the type of target action is determined according to the special area. For example, when the special area includes movable obstacles, the robot arm can be controlled to perform a grabbing action, etc. Then, the robot arm is controlled to perform reasonable operations in the appropriate area, thereby improving the cleaning efficiency.

[0090] In a possible implementation, the robotic arm further includes a detection component, and the detection component is at least used to detect the type of the special area;

[0091] The controlling the robot arm to perform a target action in the special area according to the first environmental information includes:

[0092] Determining the type of the special area according to the first environmental information;

[0093] According to the type of the special area, the robot arm is controlled to perform a corresponding target action in the special area.

[0094] With such a configuration, the type of obstacles at the front end of the clamp can be detected by the detection component, such as wires, shoes, pets, etc., and then the type of special area can be determined according to the type of obstacle, and then the robot arm can be controlled to perform the corresponding target action in the special area according to the type of special area. The robot arm can be improved to perform different actions for different environments, so that the actions performed by the robot arm match the environment, thereby improving the cleaning efficiency. For example, when the obstacle at the front end of the clamp is a movable obstacle such as a shoe, the special area can be determined as an area where a movable obstacle exists, and the clamp can be controlled to grab and / or carry the obstacle. When the obstacle at the front end of the clamp is dust, hair and other garbage in the sliding door track, the special area can be determined as an area that the device body cannot clean, and the clamp can be controlled to perform a vacuuming action to absorb dust, hair, etc. Of course, the clamp mainly vacuums the area that the device body cannot cover. For the area that the device body can cover, the vacuum is mainly sucked by the device body, and of course, the vacuum can also be sucked by the clamp.

[0095] In a possible implementation, controlling the robot arm to perform a corresponding target action in the special area according to the type of the special area includes:

[0096] When the type of the special area is the area where the movable obstacle exists, the robot arm is controlled to perform a grasping action and / or a carrying action on the movable obstacle.

[0097] In a possible implementation, controlling the robot arm to perform a corresponding target action in the special area according to the type of the special area includes:

[0098] When the type of the special area is the area that cannot be cleaned by the device main body, the robot arm is controlled to perform a vacuuming action in the area that cannot be cleaned by the device main body.

[0099] In a possible implementation, controlling the robot arm to perform a corresponding target action in the special area according to the type of the special area includes:

[0100] When the type of the special area is an area through which the device body cannot pass, the robot arm is controlled to perform a supporting action to assist the device body to pass through the area through which the device body cannot pass.

[0101] In a possible implementation, controlling the robot arm to perform a corresponding target action in the special area according to the type of the special area includes:

[0102] When the type of the special area is an area that the robot arm cannot pass through when in the unfolded state, the robot arm is controlled to perform a folding action so that the cleaning device can pass through the area that the robot arm cannot pass through when in the unfolded state.

[0103] Such a setting can enhance the robot arm to perform different actions in different environments, so that the actions performed by the robot arm match the environment, thereby improving cleaning efficiency.

[0104] In a possible implementation, the first environment information includes location information of a special area;

[0105] The controlling the device body to perform a cleaning action according to the first environmental information, and controlling the robot arm to perform a target action in the special area according to the first environmental information, includes:

[0106] Generate a first preset path according to the position information of the special area, and control the device body to perform a cleaning action along the first preset path in the area to be cleaned, wherein the first preset path passes through the special area;

[0107] When the device body passes through the special area while performing the cleaning action along the first preset path, the robot arm is controlled to perform the target action in the special area.

[0108] With such a setting, the cleaning equipment can perform cleaning operations through the equipment body. When the equipment body is performing cleaning operations and passes through special areas, the robotic arm can perform operations such as grabbing, carrying or supporting through steps. In this way, cleaning, carrying, grabbing, supporting, and crossing can be performed together. This is suitable for situations where there are fewer obstacles on the ground and can improve cleaning efficiency.

[0109] In a possible implementation, the first environment information includes location information of a special area;

[0110] The controlling the device body to perform a cleaning action according to the first environmental information, and controlling the robot arm to perform a target action in the special area according to the first environmental information, includes:

[0111] Generate a second preset path according to the position information of the special area, control the device body to reach the special area along the second preset path in the area to be cleaned, and control the robot arm to perform a target action in the special area, wherein the second preset path passes through the special area;

[0112] After the robot arm completes the target action on all the special areas in the area to be cleaned, a third preset path is generated according to the first environmental information, and the device body is controlled to perform a cleaning action along the third preset path in the area to be cleaned.

[0113] With this arrangement, the special area in the area to be cleaned can be cleaned first, and then the entire area to be cleaned can be cleaned through the main body of the equipment. This can improve the cleaning efficiency on floors without steps and with many movable obstacles.

[0114] In a possible implementation, the first environment information includes location information of a special area;

[0115] The controlling the device body to perform a cleaning action according to the first environmental information, and controlling the robot arm to perform a target action in the special area according to the first environmental information, includes:

[0116] Generate a fourth preset path according to the position information of the special area, and control the device body to perform a cleaning action along the fourth preset path in the area to be cleaned, wherein the fourth preset path bypasses the special area;

[0117] After the device body completes the cleaning action along the fourth preset path, a fifth preset path is generated according to the first environmental information, the device body is controlled to reach a special area along the fifth preset path, and the robot arm is controlled to perform a target action in the special area;

[0118] The device body is controlled to perform a cleaning action in the special area after the target action is completed.

[0119] With this arrangement, the cleaning equipment can first perform cleaning operations on areas outside the special area through the equipment body, and then use the robotic arm to perform operations such as grabbing, carrying or supporting through steps. This is suitable for situations where there are fewer obstacles on the ground and can improve cleaning efficiency.

[0120] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement any method described in the third aspect.

[0121] The construction of the present invention and other objects and advantageous effects thereof will become more apparent through the description of the preferred embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0122] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0123] Figure 1 is a structural schematic diagram of a cleaning device provided by an embodiment of the present invention;

[0124] Figure 2 is a structural schematic diagram of a cleaning device provided by an embodiment of the present invention;

[0125] Figure 3 is a structural schematic diagram of a cleaning device provided by an embodiment of the present invention;

[0126] Figure 4 is a structural schematic diagram of a cleaning device provided by an embodiment of the present invention;

[0127] Figure 5 is a structural schematic diagram of a cleaning device provided by an embodiment of the present invention;

[0128] Figure 6 is a structural schematic diagram of a cleaning device provided by an embodiment of the present invention;

[0129] Figure 7 is a schematic structural diagram of a second dust box of a cleaning device provided by an embodiment of the present invention;

[0130] Figure 8 is a schematic structural diagram of a mechanical arm provided by an embodiment of the present invention;

[0131] Fig. 9 This is a schematic diagram of the structure of a cleaning device provided by an embodiment of the present invention when grasping Figure 1 ;

[0132] Fig.10 This is a schematic diagram of the structure of a cleaning device provided by an embodiment of the present invention when grasping Figure 2 ;

[0133] Fig.11 It is a schematic diagram of the structure of a cleaning device provided by an embodiment of the present invention during suction;

[0134] Fig.12 This is a schematic diagram of a scene of cleaning a skirting board using a cleaning device provided by an embodiment of the present invention;

[0135] Fig.13 This is a schematic diagram of a scene in which a cleaning device provided by an embodiment of the present invention cleans a low wall;

[0136] Fig.14 This is a schematic diagram of a scene in which a cleaning device provided by an embodiment of the present invention cleans a sliding door rail;

[0137] Fig.15 It is a schematic diagram of a scene of cleaning a blind spot with a cleaning device provided by an embodiment of the present invention;

[0138] Fig.16 It is a schematic diagram of a scene of cleaning a protrusion by a cleaning device provided by an embodiment of the present invention;

[0139] Fig.17 This is a schematic diagram of a scene when a cleaning device passes through a step provided by an embodiment of the present invention;

[0140] Fig.18 It is a flow chart of a control method of a cleaning device provided in an embodiment of the present invention.

[0141] Description of reference numerals:

[0142] 1000-cleaning equipment; 100-robot arm; 110-base;

[0143] 111-rotating part; 112-fixed part; 120-folding arm;

[0144] 121-first end; 122-second end; 123-rotation joint;

[0145] 124-first connecting arm; 125-second connecting arm; 130-clamping claw;

[0146] 131-clamping arm; 140-dust suction pipe; 141-first sub-suction pipe;

[0147] 142 - second suction tube; 150 - suction nozzle; 151 - first suction port;

[0148] 152-second suction port; 160-detection component; 161-visual component;

[0149] 162-sensor assembly; 200-equipment body; 210-top surface;

[0150] 220- bottom surface; 230- side wall; 240- accommodating cavity;

[0151] 250-cover plate; 260-second dust box; 270-visual module;

[0152] 280-side brush; 290-rag tray;

[0153] 300-area to be cleaned; 310-conventional area; 320-special area;

[0154] 400-Obstacles. DETAILED DESCRIPTION

[0155] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0156] Cleaning equipment such as sweepers and floor scrubbers are popular among people for their advantages of being able to automatically perform cleaning operations. Taking a sweeper as an example, in order to improve the automation of the sweeper, a robotic arm is usually provided on the sweeper, and the robotic arm can be provided above the body of the sweeper.

[0157] For example, one end of the robot arm is connected to the body, and the other end is connected to the dust box of the cleaning device. The robot arm is used to pick up and dump the dust box, so that the cleaning device can automatically pick up and dump the dust box without the need for the user to manually pick up and dump, thereby improving the automation of the cleaning device and the user experience. However, the function of the robot arm is only to dump the dust box, and the installation of the robot arm will increase the height of the sweeper, making it impossible for the sweeper to enter some relatively low spaces, limiting the mobility of the sweeper.

[0158] In order to solve the above technical problems, the mechanical arm can be set to a folding structure, and when the mechanical arm is not needed, the mechanical arm can be folded into the body of the sweeper, thereby preventing the height of the sweeper from increasing. However, the function of the mechanical arm is single and cannot meet people's daily needs.

[0159] In order to solve the above technical problems, the present application proposes a robot arm, a cleaning device, a control method and a computer-readable storage medium. The robot arm has the functions of grabbing and vacuuming, which can enrich the functions of the robot arm and improve the user experience.

[0160] The following is a detailed description of the robotic arm, cleaning equipment, control method and computer-readable storage medium provided in the embodiments of the present application in conjunction with the accompanying drawings.

[0161] The embodiment of the present application provides a cleaning device, which may be a sweeper, a floor scrubber, etc. In the embodiment of the present application, the type of the cleaning device is not further limited. The cleaning device is described below as a sweeper.

[0162] Figure 1 It is a structural schematic diagram of a cleaning device provided by an embodiment of the present invention. Figure 2It is a structural schematic diagram of a cleaning device provided by an embodiment of the present invention. Figure 3 It is a structural schematic diagram of a cleaning device provided by an embodiment of the present invention. Figure 4 It is a structural schematic diagram of a cleaning device provided by an embodiment of the present invention.

[0163] For the convenience of description, in the embodiment of the present application, the horizontal direction is taken as the x direction, and the vertical direction is taken as the z direction.

[0164] like Figure 1 and Figure 2 As shown, an embodiment of the present application provides a cleaning device 1000, which may include a device body 200 and a mechanical arm 100. The mechanical arm 100 is connected to the device body 200. Exemplarily, the mechanical arm 100 can rotate 360° relative to the device body, and the axis of rotation of the mechanical arm 100 relative to the device body 200 can be parallel to the vertical direction (z direction). This can increase the coverage of the mechanical arm 100.

[0165] The cleaning device 1000 in the embodiment of the present application can have a robotic arm 100 by setting the above-mentioned robotic arm 100. The robotic arm 100 has a grabbing function and a vacuuming function. The robotic arm 100 can be used to perform vacuuming operations on some difficult-to-clean locations of the device main body 200, such as skirtings, facades, sliding door tracks, right angles, bosses, etc., to improve the cleaning effect. The robotic arm 100 can also be used to grab some larger garbage or obstacles 400, such as toys, shoes, etc. These larger garbage or obstacles 400 can be removed by the robotic arm 100, which facilitates the device main body 200 to perform cleaning operations, making the cleaning device 100 more functional and improving the user experience.

[0166] like Figure 3 As shown, the device body 200 may include a housing chamber 240, and the base 110 of the robot arm 100 is disposed in the housing chamber 240. The robot arm 100 includes a folded state and an unfolded state. When the robot arm 100 is in the folded state, the robot arm 100 is stored in the housing chamber 240. When the robot arm 100 is in the unfolded state, part of the structure of the robot arm 100 extends out of the housing chamber 240 (see Figure 4 shown).

[0167] Exemplarily, the device body 200 includes a top surface 210, a bottom surface 220, and a side wall 230. In the thickness direction of the device body 200, the top surface 210 and the bottom surface 220 are relatively arranged at two ends of the side wall 230 and are separated from each other, and the bottom surface 220 is arranged toward the ground. The accommodating cavity 240 can be arranged on the top surface 210 of the device body 200, and is recessed from the top surface 210 of the device body 200 toward the bottom surface 220.

[0168] Illustratively, a mounting position (not shown in the figure) for mounting the robot arm 100 is provided in the accommodating cavity 240 , and the base 110 of the robot arm 100 can be connected to the mounting position.

[0169] By providing the accommodating cavity 240 on the device body 200, the robot arm 100 can be conveniently stored. Thus, when the robot arm 100 is in a folded state, the height of the device body 200 can be reduced, and the device body 200 can be conveniently placed in some relatively low positions, such as the bottom of a bed for cleaning. When the robot arm 100 is in an unfolded state, the robot arm 100 can perform functions such as grabbing or vacuuming. This makes the cleaning device 1000 more functional and improves the user experience.

[0170] Continue to see Figure 3 As shown, a cover plate 250 is provided on the device body 200 , and the cover plate 250 can be opened and closed at the top of the accommodating cavity 240 .

[0171] With such an arrangement, when the robot arm 100 is in a folded state, the cover plate 250 can be placed on the top of the accommodating cavity 240, thereby preventing the robot arm 100 from being exposed to the outside world, improving the aesthetics of the cleaning equipment 1000, and preventing dust or other objects from falling into the accommodating cavity, causing the robot arm 100 to get stuck and making it difficult or impossible to open.

[0172] It should be noted that the cover 250 can be opened automatically or manually. In the embodiment of the present application, there is no further limitation on the opening method of the cover 250. The size of the accommodating cavity 240 matches the robot arm 100. In the embodiment of the present application, there is no further limitation on the size of the accommodating cavity 240.

[0173] In a possible implementation, the robot arm 100 can rotate 360° relative to the accommodating cavity 240, and the base 110 can include a fixed portion 112 and a rotating portion 111 (see Figure 8 As shown in FIG. 1 , the rotating part 111 is rotatably connected to the fixed part 112, the fixed part 112 is fixedly connected to the device body 200, and the rotation axis of the rotating part 111 is parallel to the vertical direction (z direction). In this way, the coverage range of the robot arm 100 can be increased, so that the robot arm 100 can clear or clean obstacles 400 at any position around the device body 200, thereby improving the applicability of the robot arm 100.

[0174] like Figure 5 As shown, the number of the robotic arms 100 may be multiple, for example, two, three, four or more. The number of the robotic arms 100 is not further limited in the embodiment of the present application.

[0175] By providing a plurality of robotic arms 100 , the cleaning device 1000 can have a plurality of robotic arms 100 , thereby realizing more functions and improving the user experience.

[0176] In some embodiments, multiple robotic arms 100 may be disposed in the same accommodating cavity 240. Exemplarily, the accommodating cavity 240 is relatively large and can accommodate multiple robotic arms 100. The accommodating cavity 240 is provided with multiple mounting positions, and a robotic arm 100 may be disposed at each mounting position, which can simplify the structure of the accommodating cavity 240 and reduce the difficulty of processing.

[0177] In some other embodiments, there may be a plurality of accommodating cavities 240, and a robotic arm 100 may be disposed in each accommodating cavity 240. In this way, the robotic arms 100 may be disposed in different accommodating cavities 240, and when all the robotic arms 100 are not needed, a portion of the accommodating cavities 240 may be opened, and the other accommodating cavities 240 may be in a closed state, so that dust may be prevented from entering the accommodating cavities 240.

[0178] In a possible implementation, a first dust box (not shown) is provided on the device body 200. For example, the first dust box can be embedded in the device body 200 from the bottom surface 220 of the device body 200. In the embodiment of the present application, the setting position of the first dust box is not further limited.

[0179] It should be noted that the device body 200 includes a dust suction port and a fan (not shown in the figure), the dust suction port is connected to the first dust box, and the fan can apply suction to the dust suction port through the first dust box so that the garbage sucked into the device body 200 through the dust suction port enters the first dust box.

[0180] In an embodiment of the present application, the dust suction pipe 140 of the robot arm 100 is connected to the first dust box, and the fan can apply suction to the dust suction pipe 140 through the first dust box so that the end of the dust suction pipe 140 away from the dust suction nozzle 150 has suction, thereby enabling the robot arm 100 to have a dust suction function.

[0181] With such an arrangement, garbage sucked in by the device body 200 and the dust suction tube 140 can be conveniently collected in the first dust box for centralized processing.

[0182] In one possible implementation, Figure 6 As shown, the device body 200 is provided with a second dust box 260, and the top surface 210 of the device body 200 is provided with an installation cavity for assembling the second dust box 260. Figure 7 As shown, the second dust box 260 is detachably connected to the installation cavity, and the second dust box 260 is at least used to accommodate the target obstacle 400 grasped by the robot arm 100.

[0183] Exemplarily, the second dust box 260 may be plugged into the mounting cavity. In the embodiment of the present application, the connection method between the second dust box 260 and the mounting cavity is not further limited.

[0184] By providing a second dust box 260 on the device body 200, the objects grasped by the robot arm 100 can be conveniently collected and then processed centrally. For example, the robot arm 100 can put multiple grasped toys into the second dust box 260, and then move them together to a designated location. Compared with grasping one object and moving it once, this can reduce the number of times the cleaning device 1000 moves, thereby saving energy, and can reduce the time of the transportation process, providing better results.

[0185] See also Figure 6 As shown, the cleaning device 1000 may further include a vision module 270. The vision module 270 is disposed at the front end of the device body 200, and the vision module 270 is used to obtain environmental information of the area to be cleaned 300. For example, the vision module 270 can realize mobile navigation, obstacle avoidance, object recognition, object positioning, etc. of the cleaning device 1000 based on the obtained environmental information.

[0186] It should be noted that the front end of the device body 200 refers to the end facing the forward direction of the device body 200 .

[0187] By setting up the vision module 270, the cleaning device 1000 can be facilitated to perceive and navigate the environment through the vision module 270, for example, to identify and detect obstacles 400, such as furniture, walls and other objects, to avoid collisions. Identify the edges and stairs of the floor to prevent the robot from falling, identify dirt and garbage on the ground, and optimize the cleaning path. Through the images captured by the vision module 270, the cleaning device 1000 can build a map of the environment (simultaneous localization and mapping, SLAM) to help it navigate in a complex environment. Based on the constructed map and real-time image data, the robot can plan the optimal cleaning path to improve efficiency and coverage. Through the vision module 270, the robot can determine its own position and direction to ensure the accuracy of navigation. Through image processing, the cleaning device 1000 can identify different types of floors, such as carpets, wooden floors, tiles, etc., and adjust the cleaning mode and intensity.

[0188] Continue to see Figure 6As shown, the cleaning device 1000 may also include cleaning components such as a side brush 280 and a rag disc 290. Exemplarily, two side brushes 280 and two rag discs 290 are provided on the device body 200, the two side brushes 280 are arranged near the front end of the device body 200, and the two rag discs 290 are arranged near the rear end of the device body 200. The two rag discs 290 are arranged on the bottom surface 220 of the device body 200 and can be used to clean the floor. One end of the two side brushes 280 is arranged in contact with the ground and can be used to clean the ground.

[0189] The two side brushes 280 are symmetrically arranged on the device body 200 to clean the floor and part of the facade, and the rag tray 290 is symmetrically arranged on the device body 200. The cover plate 250 can be automatically flipped to close the body of the robot arm 100 after it is received inside the device body 200 and to avoid the robot arm 100 after it is unfolded. Figures 1 to 3 The process of unfolding and folding and unfolding is shown.

[0190] In some embodiments, two side brushes 280 are movably disposed on the device body 200, and the two side brushes 280 can move toward or away from each other to achieve more cleaning work. In the embodiment of the present application, the specific structure of the side brush 280 is not further limited.

[0191] In a possible implementation, the cleaning device 1000 may also include a control device (not shown in the figure), which is electrically connected to the device body 200, the robotic arm 100, and the visual module 270, and the control device is at least used to control the movement of the robotic arm 100.

[0192] By setting up a control device, it is convenient to control the equipment body 200 and the robot arm 100 to perform different cleaning tasks according to the information collected by the visual module 270.

[0193] The robotic arm 100 proposed in the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0194] The embodiment of the present invention provides a robot arm 100, which is used for the cleaning device 1000 in the above embodiment. Figure 8As shown, the robot arm 100 may include a base 110, a folding arm 120, a clamping claw 130 and a dust suction pipe 140. The base 110 includes a fixed portion 112 and a rotating portion 111, the rotating portion 111 is rotatably connected to the fixed portion 112, and the fixed portion 112 is used to connect to the device body 200 of the cleaning device 1000. The folding arm 120 may include a plurality of rotatably connected connecting arms, the folding arm 120 includes a first end 121 and a second end 122, and the first end 121 is rotatably connected to the rotating portion 111. The clamping claw 130 is provided at the second end 122 of the folding arm 120, and the clamping claw 130 is rotatably connected to the second end 122, and the clamping claw 130 is used to perform a grasping action. The dust suction tube 140 is arranged on the folding arm 120. A dust suction nozzle 150 is provided at one end of the dust suction tube 140. The dust suction nozzle 150 is located at the end of the clamp 130 away from the second end 122. The dust suction nozzle 150 is connected to the dust suction tube 140. The dust suction tube 140 performs cleaning operations on the area to be cleaned 300 through the dust suction nozzle 150.

[0195] The robot arm 100 in the embodiment of the present application can have a grasping action and a dust collecting action by providing a clamping claw 130 and a dust collecting tube 140, so that the function of the robot arm 100 can be increased, so that the cleaning device 1000 provided with the robot arm 100 can achieve a grasping function through the robot arm 100, and can also achieve a dust collecting function through the robot arm 100. By providing a dust collecting tube 140 and providing a dust collecting nozzle 150 at one end of the dust collecting tube 140, the dust collecting nozzle 150 can be controlled by the robot arm 100 to reach dead corners, sliding door rails, gaps, skirtings and other locations that cannot be cleaned by the device body 200, and dust collecting and cleaning can be performed through the dust collecting tube 140, thereby improving the cleaning effect. By setting the clamp 130, some relatively large garbage or obstacles 400, such as toys, shoes, etc., can be grabbed by the robot arm 100. These relatively large garbage or obstacles 400 can be removed by the robot arm 100, making it convenient for the device body 200 of the cleaning device 1000 to perform cleaning operations, making the functions of the cleaning device 1000 more abundant and improving the user experience.

[0196] In the embodiment of the present application, the rotating part 111 can rotate 360° relative to the fixed part 112, and the rotation axis of the rotating part 111 is parallel to the vertical direction. In this way, when the robot arm 100 is set on the device body 200, the robot arm 100 can rotate 360° relative to the device body.

[0197] A rotation joint 123 is provided between two adjacent connecting arms of the folding arm 120. The two adjacent connecting arms of the folding arm 120 are rotationally connected through the rotation joint 123. The rotation axes of the two adjacent connecting arms are parallel to the horizontal direction.

[0198] Such a configuration can make the folding arm 120 have more degrees of freedom in different directions, so that the clamping jaw 130 located at the second end 122 of the folding arm 120 has more degrees of freedom, for example, the clamping jaw 130 can be located at more heights, the clamping jaw 130 can be located at more different angles of the device body 200, etc., thereby making the clamping jaw 130 more flexible, improving the movement flexibility of the clamping jaw 130, and enabling the robot arm 100 to achieve more functions. By providing a rotating joint 123 between adjacent connecting arms, assembly can be facilitated, thereby reducing the difficulty of assembly between connecting arms and reducing costs.

[0199] In a possible implementation, the rotary joint 123 may be provided on one of the two adjacent connecting arms, for example, the rotary joint 123 is integrally formed on one of the two adjacent connecting arms, and the other of the two connecting walls is rotationally connected to the rotary joint 123. Alternatively, the rotary joint 123 is fixedly connected to one of the two adjacent connecting arms, and the other of the two connecting walls is rotationally connected to the rotary joint 123. In the embodiment of the present application, the specific structure of the rotary joint 123 is not further limited.

[0200] In a possible implementation, there are two connecting arms, namely a first connecting arm 124 and a second connecting arm 125. One end of the first connecting arm 124 is rotationally connected to the clamp 130, and the other end is rotationally connected to the second connecting arm 125 via a rotating joint 123. The end of the second connecting arm 125 that is away from the first connecting arm 124 is rotationally connected to the base 110.

[0201] With such configuration, the connecting arm having the first connecting arm 124 and the second connecting arm 125 can allow the first connecting arm 124 to rotate relative to the second connecting arm 125 , thereby increasing the degree of freedom of the clamping jaw 130 and further improving the flexibility of the clamping jaw 130 .

[0202] In a possible implementation, the rotation axis between the clamping jaw 130 and the second end 122 of the folding arm 120 is parallel to the horizontal direction. During the rotation process of the clamping jaw 130 relative to the second end 122 of the folding arm 120, the clamping jaw 130 passes through at least a horizontal plane and a vertical plane.

[0203] like Fig. 9 As shown, when the clamping jaw 130 is in a horizontal plane, objects on the ground can be clamped. Fig.10 As shown, when the clamping jaw 130 is in a vertical plane, the object can be clamped vertically.

[0204] In addition, compared with the traditional sweeping machine, when encountering a high step or obstacle 400, it needs to sprint and rush through by inertia, which is easy to get stuck. In addition, when the height is higher or exceeds the height of the machine body, it cannot pass. The mechanical arm 100 in this solution can adjust the clamping claw 130 to a vertical plane, so that the clamping claw 130 forms a support with the ground, plays a supporting role for the equipment body 200, lifts the equipment body 200 to the height of the step or obstacle, and provides a certain driving force to achieve the passage of high obstacles and obstacles exceeding the height of the machine body.

[0205] With such a configuration, the clamping jaw 130 can rotate in the horizontal direction relative to the second end 122 of the folding arm 120, so as to increase the degree of freedom of the clamping jaw 130, so as to make the clamping jaw 130 more flexible, improve the movement flexibility of the clamping jaw 130, and enable the robot arm 100 to achieve more functions. By making the clamping jaw 130 pass through at least a horizontal plane and a vertical plane during the rotation process relative to the second end 122 of the folding arm 120, the clamping jaw 130 can be in contact with the ground when in the horizontal plane, which is convenient for grasping, and can also be perpendicular to the ground when in the vertical plane, which is convenient for support, etc.

[0206] In a possible implementation, a rotation axis between the first end 121 of the folding arm 120 and the base 110 is parallel to the horizontal direction.

[0207] With such a configuration, the foldable arm 120 can be conveniently folded up for storage. Moreover, when the foldable arm 120 is unfolded, the height of the mechanical arm 100 can be increased, so that the mechanical arm 100 can grab objects at a higher position, increase the function of the mechanical arm 100, and enhance the user experience.

[0208] It should be noted that the robot arm 100 in the embodiment of the present application may be a robot arm 100 with 4, 5, 6 or 7 degrees of freedom, which can be set as needed. In the embodiment of the present application, the number of degrees of freedom of the robot arm 100 is not further limited. The following is an example of a robot arm 100 with 4 degrees of freedom, wherein the gripper 130 of the robot arm 100 has 1 degree of freedom.

[0209] It should be noted that the freedom of the base 110 of the robot 100 is rotation around the vertical direction, the freedom of the connecting arm of the robot 100 is rotation around the horizontal direction, and the freedom of the clamp 130 is opening or closing along the opening and closing direction of the clamp 130.

[0210] For example, the clamping jaws 130 can be opened or closed to facilitate the grasping action. Figure 8 The gripper 130 of the robot arm 100 shown in FIG. 1 includes two gripper arms 131 .

[0211] Of course, in other embodiments, the clamp 130 may also include multiple clamp arms 131, and the object can be grasped by opening and closing the multiple clamp arms 131. In the embodiment of the present application, the number of clamp arms 131 set in the clamp 130 is not further limited.

[0212] When in use, the mechanical arm 100 can control the gripper 130 to grab and remove the target obstacle 400 that cannot be cleaned by the device body 200 or hinders the cleaning of the device body 200, and to classify and place the untidy items. In the embodiment of the present application, the gripping process of the gripper 130 is not further limited.

[0213] In a possible implementation, the suction pipe 140 may include a plurality of sub-pipes, at least one end of each sub-pipe being connected to the rotary joint 123. One end of the sub-pipe closest to the clamp 130 is connected to the suction nozzle 150, and the other end is connected to the rotary joint 123.

[0214] By configuring the dust suction tube 140 to be a plurality of sub-tubes, it can be conveniently connected to the folding arm 120, and the plurality of sub-tubes are respectively connected to the rotating joint 123 and connected into a whole. Compared with configuring the dust suction tube 140 to be a relatively long tube, it can prevent the mechanical arm 100 from rubbing, colliding and pulling the dust suction tube 140 during the folding and rotation process, thereby improving the service life of the dust suction tube 140.

[0215] Exemplarily, a buckle or a clamp (not shown) for fixing the dust suction tube 140 may be provided on the folding arm 120, and the dust suction tube 140 is fixed to the folding arm 120 by the buckle or the clamp. Of course, the dust suction tube 140 may also be fixed to the folding arm 120 by other fixing structures.

[0216] In one possible implementation, Figure 8 As shown, there are two sub-pipes, namely a first sub-pipe 141 and a second sub-pipe 142. The first sub-pipe 141 is disposed near the clamp 130, one end of the first sub-pipe 141 is connected to the suction nozzle 150, and the other end is connected to the rotating joint 123. One end of the second sub-pipe 142 is connected to the rotating joint 123, and the other end is connected to the base 110.

[0217] With such an arrangement, the first sub-pipe 141 and the second sub-pipe 142 can be connected via the rotating joint 123, and then the dust nozzle 150, the first sub-pipe 141, the rotating joint 123, and the second sub-pipe 142 can be connected, so that suction can be applied to the dust nozzle 150 through the connected dust pipe 140, and then the garbage sucked from the dust nozzle 150 can be transmitted to the base 110 through the first sub-pipe 141, the rotating joint 123, and the second sub-pipe 142, and connected to the dust box of the cleaning device 1000 through the base 110, so that the garbage can be collected for centralized treatment.

[0218] In some embodiments, the dust suction tube 140 can be an independent pipeline, for example, a hose structure or a hard pipe structure. The dust suction tube 140 can also be a hard pipe integrated with the robot arm 100. In the embodiment of the present application, the structure and material of the dust suction tube 140 are not further described.

[0219] In a possible implementation, a detection component 160 is further included. The detection component 160 is disposed at the second end 122 of the folding arm 120, and the detection component 160 is rotatably connected to the second end 122. The detection component 160 is at least used to detect the type of the obstacle 400 in the area 300 to be cleaned.

[0220] Exemplarily, the detection component 160 is fixedly connected to the clamping jaw 130, so that when the clamping jaw 130 rotates relative to the second end 122 of the robot arm 100, the detection component 160 can be driven to rotate with the clamping jaw 130, which can reduce the difficulty of installing the detection component 160 and thus reduce the cost. In addition, the detection component 160 can also be always directed toward the front end of the clamping jaw 130, so as to facilitate the detection of the object in front of the clamping jaw 130, facilitate information collection, and improve the detection efficiency.

[0221] The type of obstacle 400 at the front end of the clamp 130 is detected by the detection component 160, such as wires, shoes, pets, etc., and then the clamp 130 is controlled to perform corresponding actions according to the type of obstacle 400. For example, when the obstacle 400 at the front end of the clamp 130 is a movable obstacle 400 such as a shoe, the clamp 130 can be controlled to grab the obstacle 400. When the obstacle 400 at the front end of the clamp 130 is garbage such as dust and hair, the clamp 130 can be controlled to perform a vacuuming action to absorb dust and hair.

[0222] Of course, it should be noted that the clamping jaws 130 are mainly used to vacuum the areas that cannot be covered by the device body 200 (for example, narrow spaces, corners that cannot be cleaned, protrusions, low walls, sliding door rails, gaps, skirtings, steps, etc.), and for the areas that can be covered by the device body 200, the dust is mainly sucked by the device body 200, and of course, the dust can also be sucked by the clamping jaws 130. In the embodiment of the present application, the scope of use of the clamping jaws 130 is not further limited.

[0223] In a possible implementation, the detection component 160 includes a visual component 161 and a sensor component 162. The sensor component 162 is used to collect category information of the target obstacle 400. The visual component 161 is used to collect image information of the target obstacle 400.

[0224] Such a configuration can improve the detection accuracy of the detection component 160, thereby improving the operation accuracy of the robot arm 100, and thereby improving the user experience. In addition, the detection component 160 cooperates with the visual module 270 on the device body 200 to improve the environmental perception and navigation capabilities of the cleaning device 1000, thereby enabling the cleaning device 1000 to have more functions and improve the user experience.

[0225] For example, the sensor assembly 162 may include one or more of a shape sensor, a distance sensor, an infrared sensor, a temperature sensor, a material sensor, a dirt sensor, etc., so as to detect the type of the object. In the embodiment of the present application, the specific composition of the sensor assembly 162 is not further limited.

[0226] For example, in some families with pets or children, the visual component 161 in the detection component 160 can be used to take photos of the pets or children, record the daily life of the pets and children, etc. The visual component 161 and the sensor component 162 can be used to interact with the children, build blocks, etc. A voice module can also be set to realize chat interaction with the user through the visual component 161, the sensor component 162 and the voice module.

[0227] In a possible implementation, a soft structure is provided at the end of the suction nozzle 150. For example, a soft brush, a silicone structure, a rubber structure, a plastic structure, etc. In the embodiment of the present application, the material of the soft structure is not further limited.

[0228] Because the soft structure has a certain degree of elasticity and softness, it can buffer impact force and is particularly suitable for fragile or surface-sensitive objects. This can reduce wear or scratches on the ground, walls, and narrow gap boundaries during operation.

[0229] In one possible implementation, Fig.11As shown, the dust suction nozzle 150 may include a first dust suction port 151 and a second dust suction port 152. The first dust suction port 151 is located at the top of the dust suction nozzle 150, and when the clamping jaw 130 is perpendicular to the horizontal plane, the first dust suction port 151 faces the ground. The second dust suction port 152 is located on the side wall 230 of the dust suction nozzle 150, and when the clamping jaw 130 is parallel to the horizontal plane, the second dust suction port 152 faces the ground.

[0230] By providing the suction nozzle 150 with a first suction port 151 and a second suction port 152, it is possible to suck garbage and other objects in different directions. For example, the first suction port 151 can be used to suck dust in a narrow space. The second suction port 152 can be used to suck large, difficult to pick up, or light objects on the ground, such as waste paper and balloons. In other words, dust can be sucked through the first suction port 151, and objects can be picked up through the second suction port 152. This can improve the applicability of the suction nozzle 150. The robot arm 100 can achieve more functions and improve the user experience.

[0231] The cleaning device 1000 in the embodiment of the present application can be provided with the above-mentioned robot arm 100 so as to have the functions of the robot arm 100, thereby enriching the functions of the cleaning device 1000. Fig.12 , Fig.13 , Fig.14 , Fig.15 , Fig.16 and Fig.17 As shown, the robot arm 100 can control the suction nozzle 150 to reach dead corners, protrusions, low walls, sliding door rails, gaps, skirtings, steps and other locations that cannot be cleaned by the device body 200, and the suction tube 140 can be used to perform vacuum cleaning to improve the cleaning effect. By setting the clamping claw 130, the robot arm 100 can grab some relatively large garbage or obstacles 400, such as toys, shoes, etc., and these relatively large garbage or obstacles 400 can be removed by the robot arm 100, which facilitates the device body 200 of the cleaning device 1000 to perform cleaning operations, making the cleaning device 1000 more functional and improving the user experience.

[0232] It should be noted that protrusions include steps, door sills, bases for fixtures, etc.

[0233] The embodiment of the present application also provides a control method for a cleaning device, which is used for the cleaning device in the above embodiment, wherein the cleaning device includes a device body and a mechanical arm, and the mechanical arm is connected to the device body. The mechanical arm includes a folded state and an unfolded state. When the mechanical arm is in the folded state, the mechanical arm is stored in the device body, and when the mechanical arm is in the unfolded state, part of the structure of the mechanical arm extends out of the device body.

[0234] It should be noted that the following Fig.12 , Fig.13 , Fig.14 , Fig.15 , Fig.16 and Fig.17 The special area and the regular area in the area to be cleaned are shown to illustrate the control method of the cleaning equipment.

[0235] like Fig.18 As shown, the control method may include the following steps.

[0236] S101. Acquire first environmental information of an area to be cleaned.

[0237] S102. Control the equipment body and the robot arm according to the first environmental information to perform a cleaning operation.

[0238] The cleaning device in the embodiment of the present application may be a sweeper or the like. By providing the above-mentioned robotic arm, the cleaning device may have a robotic arm with a grabbing function and a vacuuming function. The robotic arm may be used to perform vacuuming operations on some locations that are difficult to clean on the device body, such as skirtings, facades, sliding door tracks, right angles, bosses, etc., to improve the cleaning effect. The robotic arm may also be used to grab some larger garbage or obstacles, such as toys, shoes, etc. These larger garbage or obstacles may be removed by the robotic arm, making it convenient for the device body to perform cleaning operations, thereby enriching the functions of the cleaning device and improving the user experience.

[0239] The control method of the cleaning equipment provided by the embodiment of the present application first obtains the first environmental information of the area to be cleaned, and then controls the main body of the equipment and the mechanical arm according to the first environmental information, so that different cleaning schemes can be determined according to different environmental information. For example, in an environment where the ground is relatively flat, the steps or thresholds are low, and there are fewer obstacles that affect the cleaning of the ground, the main body of the equipment can be controlled to perform cleaning operations first, and then the mechanical arm can be controlled to perform grabbing and carrying operations. After the handling is completed, the position that has not been cleaned can be cleaned by the main body of the equipment. In some environments where the ground is relatively flat, the steps or thresholds are low, and there are many scattered obstacles that affect conventional cleaning, the mechanical arm can be used to grab and carry the work first, and then the entire ground can be cleaned by the main body of the equipment. This can improve cleaning efficiency and save energy. In addition, as the cleaning work proceeds, a new cleaning route can be determined according to the new first environmental information so that the cleaning equipment has autonomous learning capabilities.

[0240] It should be noted that the first environmental information is the overall environmental information of the area to be cleaned, including the position information of the regular area and the position information of the special area. The position information of the regular area is the position information excluding the position information of the special area.

[0241] Among them, the first environmental information changes in real time as the cleaning work proceeds. That is to say, the process of the cleaning equipment obtaining the first environmental information is a process of autonomously learning the user environment. Controlling the equipment body and the robotic arm according to the first environmental information to perform the cleaning operation is a process of adjusting the cleaning logic according to different environments.

[0242] The following is a detailed description of step S101.

[0243] In one possible implementation, Fig.12 , Fig.13 , Fig.14 , Fig.15 , Fig.16 and Fig.17 As shown, the cleaning device is used to perform cleaning operations on the area to be cleaned 300, and the area to be cleaned 300 includes a regular area 310 and a special area 320. The special area 320 includes at least one of an area where movable obstacles exist, an area that the device body cannot clean, an area that the device body cannot pass through, and an area that the robot arm cannot pass through when it is in the unfolded state. The regular area 310 refers to the area that the device body can pass through, that is, the area where the device body can perform regular cleaning, for example, a flat ground.

[0244] The cleaning device includes a visual module, and the visual module is used to obtain first environmental information of the area 300 to be cleaned.

[0245] S101, obtaining first environmental information of an area to be cleaned includes the following steps.

[0246] Step 1.1, control the visual module to obtain the position information of the special area in the area to be cleaned.

[0247] In this way, it is possible to determine how to control the device body and the robot arm to perform cleaning work according to the position of the special area 320. This facilitates planning the order of cleaning work of the cleaning device, thereby quickly and efficiently performing cleaning operations, saving energy and time, and improving user experience.

[0248] Optionally, the first environment information may include one or more image information and / or video information.

[0249] Step 1.1, controlling the visual module to obtain the location information of the special area in the area to be cleaned, may include:

[0250] Step 1.11: Control the visual module to obtain one or more image information and / or video information in the area to be cleaned.

[0251] Step 1.12: Obtain location information of a special area based on one or more image information and / or video information.

[0252] Optionally, in step 1.11, the visual module obtains one or more image information and / or video information in the area to be cleaned, which can be: one or more image information and / or video information obtained before the device body and the robotic arm perform the cleaning operation. It can also be one or more image information and / or video information obtained in real time during the cleaning operation of the cleaning device. It can also be one or more image information and / or video information obtained before the device body and the robotic arm perform the cleaning operation, and one or more image information and / or video information obtained after the device body completes the cleaning action or the robotic arm completes the target action.

[0253] In one possible implementation, the robot arm includes: a base including a fixed portion and a rotating portion, the rotating portion is rotationally connected to the fixed portion, and the fixed portion is fixedly connected to the device body. A folding arm includes a plurality of rotationally connected connecting arms, the folding arm includes a first end and a second end, and the first end is rotationally connected to the rotating portion. A clamp is provided at the second end of the folding arm, and the clamp is rotationally connected to the second end, and the clamp is used to perform a grasping action. A dust suction pipe is provided on the folding arm, and a dust suction nozzle is provided at one end of the dust suction pipe, and the dust suction nozzle is located at the end of the clamp away from the second end, and the dust suction nozzle is connected to the dust suction pipe, and the dust suction pipe performs a cleaning operation on the area to be cleaned 300 through the dust suction nozzle.

[0254] Step S102, controlling the device body and the mechanical arm according to the first environmental information, may include the following steps.

[0255] Step 1.2: Control the device body to perform a cleaning action according to the first environmental information, and control the robot arm to perform a target action in a special area according to the first environmental information, wherein the target action includes one or more combinations of an unfolding action, a grabbing action, a carrying action, a supporting action, a vacuuming action, and a folding action.

[0256] With such a configuration, the robot arm can have a grabbing action and a vacuuming action, which can increase the function of the robot arm, so that the cleaning device equipped with the robot arm can realize the grabbing function through the robot arm, and can also realize the vacuuming function through the robot arm. Then, the type of target action is determined according to the special area 320. For example, when the special area 320 includes a movable obstacle, the robot arm can be controlled to perform a grabbing action, etc. Then, the robot arm is controlled to perform reasonable operations in the appropriate area, thereby improving the cleaning efficiency.

[0257] In a possible implementation, the robot arm further includes a detection component, which is at least used to detect the type of the special area 320 .

[0258] It should be noted that the detection component can determine the type of the special area 320 by detecting the type of obstacles in the special area 320. The obstacles are obstacles in a broad sense, for example, steps, toys, garbage, low areas, etc. are all considered obstacles.

[0259] In step 1.2, controlling the robot arm to perform the target action in the special area according to the first environmental information may include:

[0260] Step 2.1: Determine the type of the special area according to the first environmental information.

[0261] Step 2.2: According to the type of the special area, control the robot arm to perform the corresponding target action in the special area.

[0262] It should be noted that the type of special area refers to whether the special area is an area where movable obstacles exist, an area that cannot be cleaned by the equipment body, an area that cannot be passed by the equipment body, or an area that cannot be passed when the robot arm is in the unfolded state.

[0263] For example, when there is a movable obstacle (e.g., shoes, toys, etc.) in the special area, the type of the special area 320 is determined to be an area with movable obstacles, and the robot arm can be controlled to perform the target action of grabbing and / or carrying. When the special area includes stairs, the special area 320 is determined to be an area that the device body cannot pass through, and the robot arm can be controlled to support the ground so that the front end of the device body is tilted and passes through the stairs.

[0264] With such a configuration, the type of obstacle at the front end of the clamp can be detected by the detection component, such as wires, shoes, pets, etc., and then the type of the special area can be determined according to the type of the obstacle, and then the robot arm can be controlled to perform the corresponding target action in the special area 320 according to the type of the special area. For example, when the obstacle at the front end of the clamp is a movable obstacle such as a shoe, the special area can be determined as an area where a movable obstacle exists, and the clamp can be controlled to grab and / or carry the obstacle. When the obstacle at the front end of the clamp is garbage such as dust, hair, etc. in the sliding door track, the special area can be determined as an area that cannot be cleaned by the main body of the device, and the clamp can be controlled to perform a vacuuming action to absorb dust, hair, etc.

[0265] In a possible implementation, step 2.2, according to the type of the special area, controls the robot arm to perform the corresponding target action in the special area, including the following steps.

[0266] Step 2.21: When the type of the special area is an area where a movable obstacle exists, the robot arm is controlled to perform a grasping action and / or a carrying action on the movable obstacle.

[0267] Step 2.22: When the type of the special area is an area that cannot be cleaned by the main body of the device, the robot arm is controlled to perform vacuuming in the area that cannot be cleaned by the main body of the device.

[0268] Step 2.23: When the type of the special area is an area that the device body cannot pass through, the robot arm is controlled to perform a supporting action to assist the device body to pass through the area that the device body cannot pass through.

[0269] Step 2.24: When the type of the special area is an area that cannot be passed when the robot arm is in the unfolded state, the robot arm is controlled to perform a folding action so that the cleaning device can pass through the area that cannot be passed when the robot arm is in the unfolded state.

[0270] Such a setting can enhance the robot arm to perform different actions in different environments, so that the actions performed by the robot arm match the environment, thereby improving cleaning efficiency.

[0271] It should be noted that when the robot arm performs the target action in the special area 320, it can cooperate with the moving action of the device body to achieve the purpose of transportation, etc. For example, when the robot arm fills the second dust box, it can control the device body to move to the target position and place the objects in the second dust box at the target position, thereby achieving the purpose of sorting and storage.

[0272] In a possible implementation manner, the first environment information includes location information of the special area.

[0273] Step 1.2, controlling the device body to perform a cleaning action according to the first environmental information, and controlling the robot arm to perform a target action in a special area according to the first environmental information, may include the following steps:

[0274] Step 3.1, generate a first preset path according to the position information of the special area, and control the device body to perform a cleaning action along the first preset path in the area to be cleaned, wherein the first preset path passes through the special area.

[0275] Step 3.2: When the device body is performing the cleaning action along the first preset path, if it passes through a special area, the robot arm is controlled to perform the target action in the special area.

[0276] With such an arrangement, the cleaning equipment can perform cleaning operations through the equipment body. When the equipment body is performing the cleaning operation and passes through the special area 320, the robotic arm can be used to perform operations such as grabbing, carrying, or supporting through steps. In this way, cleaning, carrying, grabbing, supporting, and crossing can be performed together. This is suitable for situations where there are fewer obstacles on the ground and can improve cleaning efficiency.

[0277] Exemplarily, when the cleaning device performs a cleaning operation, the first environmental information of the entire area to be cleaned 300 can be obtained first, and a first preset path can be constructed. The first environmental information includes the location information of all areas (including the location information of regular areas and the location information of special areas). The first preset path can be constructed by constructing the first preset path based on the location information of all areas. The first preset path constructed in the above manner can cover all areas to achieve the purpose of cleaning all areas.

[0278] After the construction of the first preset path is completed, the device body can be controlled to perform cleaning operations along the first preset path. During the cleaning process of the device body along the first preset path, if a special area 320 is passed, the robotic arm is controlled to perform the corresponding target action in the special area 320.

[0279] Exemplarily, when the cleaning device is performing a cleaning operation, it can first perform conventional cleaning through the main body of the device. When encountering a special area 320 during the cleaning process, the special area 320 may include movable obstacles, steps, low spaces, etc. At this time, the robot arm can be controlled to perform a suitable target action, thereby also cleaning the special area 320 in the first preset path. When the cleaning device completes cleaning along the first preset path, the cleaning of the entire area to be cleaned 300 is completed. It can be understood that while the robot arm performs the target action, the main body of the device performs a cleaning action in the special area.

[0280] It should be noted that the cleaning equipment needs to cooperate with the use of the visual module and the detection component during the cleaning operation, so as to accurately determine the first environmental information and perform the cleaning operation according to the first environmental information.

[0281] For example, when the vision module detects a movable obstacle in the special area 320, the robot arm is controlled to expand and perform a grabbing operation to handle the obstacle. When the vision module detects a step or obstacle that the device body cannot pass through, the robot arm is controlled to assist in passing through. When the vision module detects an environment that the robot arm cannot pass through, the robot arm is controlled to retract. When the vision module detects a skirting, the robot arm is controlled to perform vacuuming to clean the skirting.

[0282] This arrangement allows the cleaning device to perform routine cleaning, obstacle picking operations, and cleaning of the special area 320 at the same time. Routine cleaning refers to the cleaning device cleaning the floor with the main body of the cleaning device.

[0283] When the cleaning device is performing cleaning operations, the vision module detects an area that the robot arm cannot pass through, and the robot arm retracts to avoid it. When passing through another special area, for example, when obstacles need to be handled and special areas need to be cleaned, the robot arm is deployed again. In this way, the cleaning device can complete routine cleaning, obstacle handling, and cleaning of special areas 320 in one trip, thereby improving cleaning efficiency.

[0284] It should be noted that the above cleaning logic is suitable for environments with many thresholds and steps on the ground, many scattered obstacles that affect routine cleaning, many corners, and many block areas created by placed furniture or boxes. The robotic arm can be in a normally unfolded state. When the ground is routinely cleaned, when encountering special areas 320 (corners, small areas, and three-dimensional dead corners in space), the vacuum nozzle at the end of the robotic arm is used for cleaning. When encountering obstacles that affect routine cleaning, the gripper at the end of the robotic arm performs a grabbing operation. When encountering higher steps, the robotic arm assists in crossing. The cleaning equipment runs to the shoe cabinet area to place and classify the shoes and performs routine cleaning and vacuuming operations on the special area 320. This kind of logical cleaning equipment completes cleaning after one run, avoiding the time loss caused by single-block cleaning. Of course, the above cleaning logic is also applicable to other environments.

[0285] Based on the above cleaning logic, the corner positions can also be distinguished. For example, the corner area in the special area 320 can be defined as the finishing area. When the regular area 310 in the area to be cleaned 300 and the areas except the finishing area in the special area 320 are cleaned, the robotic arm can perform vacuuming and other cleaning operations on the corner positions.

[0286] For example, there are many thresholds and steps on the ground, which are difficult or not easy to pass by relying on the equipment itself. There are many obstacles that affect the routine cleaning of the cleaning equipment, and there are few corners and dead ends. The robotic arm is deployed, and routine cleaning and obstacle grabbing operations are carried out simultaneously. For example, if scattered shoes are encountered during routine cleaning, the shoes are classified and placed, and then routine cleaning is carried out on the area previously occupied by the shoes. When encountering steps, the robotic arm assists in crossing. When encountering places with low height such as the bottom of beds, sofas, and coffee tables, the robotic arm is retracted. After this part of the cleaning is completed, the robotic arm is deployed to continue working. After completing the above tasks, the robotic arm uses the vacuum port at the end to clean the corners specifically.

[0287] In a possible implementation manner, the first environment information includes location information of the special area.

[0288] Step 1.2, controlling the device body to perform a cleaning action according to the first environmental information, and controlling the robot arm to perform a target action in a special area according to the first environmental information, may include the following steps:

[0289] Step 4.1, generate a second preset path according to the position information of the special area, control the device body to reach the special area along the second preset path in the area to be cleaned, and control the robot arm to perform the target action in the special area, wherein the second preset path passes through the special area.

[0290] Exemplarily, when the cleaning device performs a cleaning operation, it can first obtain the location information of the special area and construct a second preset path to directly reach each special area to perform the target action.

[0291] Step 4.2: After the robot arm completes the target action on all special areas in the area to be cleaned, a third preset path is generated according to the first environmental information, and the device body is controlled to perform a cleaning action along the third preset path in the area to be cleaned.

[0292] Exemplarily, when the cleaning device performs a cleaning operation, it can first obtain the first environmental information of the entire area to be cleaned 300, and construct a second preset path based on the location information of the special area of ​​the first environmental information to directly reach each special area to perform the target action. After the target action is completed for all special areas in the area to be cleaned. According to the first environmental information including the location information of all areas (including the location information of the regular area and the location information of the special area), a third preset path is constructed. The third preset path constructed in the above manner can cover all areas to achieve the purpose of cleaning all areas.

[0293] With such arrangement, the special area 320 in the area to be cleaned 300 can be cleaned first, and then the entire area to be cleaned 300 can be cleaned through the main body of the device. This can improve the cleaning efficiency on floors without steps and with many movable obstacles.

[0294] For example, when the cleaning device is performing a cleaning operation, the device body can first perform special cleaning on the special area 320 through the robot arm, and then perform regular cleaning on the entire area through the device body. This logic is suitable for scenes where the ground is relatively flat, the steps or thresholds are low, there are many movable obstacles that affect the cleaning of the ground, and there are few corners and dead corners. Clearing the ground first and then performing regular cleaning can improve efficiency.

[0295] In a possible implementation manner, the first environment information includes location information of the special area.

[0296] Step 1.2, controlling the device body to perform a cleaning action according to the first environmental information, and controlling the robot arm to perform a target action in a special area according to the first environmental information, may include the following steps:

[0297] Step 5.1, generating a fourth preset path according to the location information of the special area, and controlling the device body to perform a cleaning action along the fourth preset path in the area to be cleaned, wherein the fourth preset path bypasses the special area.

[0298] Exemplarily, when the cleaning device performs a cleaning operation, the first environmental information of the entire area to be cleaned 300 can be obtained first, and a fourth preset path can be constructed. The first environmental information includes the location information of the conventional area. The fourth preset path can be constructed by constructing the fourth preset path according to the location information of the conventional area. The fourth preset path constructed in the above manner can cover the conventional area to achieve the purpose of cleaning the conventional area first.

[0299] Step 5.2: After the device body completes the cleaning action along the fourth preset path, a fifth preset path is generated according to the first environmental information, the device body is controlled to reach the special area along the fifth preset path, and the robotic arm is controlled to perform the target action in the special area.

[0300] Exemplarily, after the device body completes the cleaning action along the fourth preset path, a second preset path can be constructed based on the location information of the special areas in the first environmental information to directly reach each special area to perform the target action.

[0301] Step 5.3, controlling the device body to perform a cleaning action in the special area after completing the target action.

[0302] With this arrangement, the cleaning device can first perform cleaning operations on areas outside the special area 320 through the device body, and then use the robotic arm to grab, move or support the special area 320 through steps. This is suitable for situations where there are fewer obstacles on the ground and can improve cleaning efficiency.

[0303] For example, when the cleaning device performs a cleaning operation, the first environment information of the entire area to be cleaned 300 may be obtained, wherein the first environment information includes the location of the special area 320. Then, a fourth preset path may be constructed according to the first environment, wherein the fourth preset path may avoid the special area 320.

[0304] The device body is controlled to perform a cleaning operation along the fourth preset path. After the device body is cleaned, a fifth preset path is generated according to the first environmental information. Then, the device body is controlled to reach each special area 320 along the fifth preset path, and the robot arm is controlled to perform a corresponding target action in the special area according to the type of the special area 320. After the robot arm performs the target action, the device body can perform a regular cleaning on the position that has not been routinely cleaned, thereby completing the cleaning operation of the entire area to be cleaned 300.

[0305] Exemplarily, when the cleaning device is performing a cleaning operation, the device body can first perform routine cleaning on the conventional area 310. During the cleaning process, when the visual module detects an obstacle that needs to be operated or an area that cannot be cleaned (that is, the special area 320), the position information of the area is recorded, that is, the position information of the special area 320, so as to generate a fifth preset path. After the routine cleaning is completed, the device body can be controlled to reach each special area 320 along the fifth preset path to perform special operations on obstacles. And vacuuming of corners.

[0306] Among them, when performing special operations on obstacle objects and vacuuming corners, the device body can also perform regular cleaning on locations that are not routinely cleaned.

[0307] The above cleaning logic is suitable for a relatively flat floor, low steps or thresholds, fewer obstacles that affect floor cleaning, and fewer corners. Clean the floor first, bypass obstacles when encountering them, and after completing routine cleaning, the robotic arm unfolds to specifically grab obstacles, such as sorting toys and shoes. After the grabbing operation is completed, vacuum the sliding door tracks, corner areas, etc. This scenario uses this cleaning logic to reduce the impact of time consumption in dealing with a small number of obstacles on routine cleaning, and is more efficient.

[0308] The control method of the cleaning device in the embodiment of the present application can adopt different control logics according to the environment, thereby improving the cleaning efficiency.

[0309] Of course, in other embodiments, the cleaning of the to-be-cleaned area 300 may also be achieved by using other logic methods. In the embodiments of the present application, no further limitation is made to the logic methods used in different environments.

[0310] An embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the control method of the cleaning device in any of the above embodiments.

[0311] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0312] In the description of the present invention, it should be understood that the terms "including" and "having" and any variations thereof used herein are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0313] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense, for example, it can be fixedly connected, detachably connected, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, and it can make the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, the terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

[0314] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robotic arm for cleaning equipment, characterized in that: include: A base (110) comprises a fixed portion (112) and a rotating portion (111), wherein the rotating portion (111) is rotatably connected to the fixed portion (112); A folding arm (120) comprising a plurality of rotatably connected connecting arms, wherein the folding arm (120) comprises a first end (121) and a second end (122), wherein the first end (121) is rotatably connected to the rotating portion (111); A clamping claw (130) is arranged at the second end (122) of the folding arm (120), and the clamping claw (130) is rotatably connected to the second end (122), and the clamping claw (130) is used to perform a grasping action; A dust suction pipe (140) is arranged on the folding arm (120); a dust suction nozzle (150) is provided at one end of the dust suction pipe (140); the dust suction nozzle (150) is located at the end of the clamping jaw (130) away from the second end portion (122); the dust suction nozzle (150) is connected to the dust suction pipe (140); and the dust suction pipe (140) performs a cleaning operation on the area to be cleaned (300) through the dust suction nozzle (150).

2. The robotic arm according to claim 1, characterized in that: The dust suction nozzle (150) comprises a first dust suction port (151) and a second dust suction port (152); wherein, The first dust suction port (151) is located at the top end of the dust suction nozzle (150), and when the clamping claw (130) is perpendicular to a horizontal plane, the first dust suction port (151) faces the ground; The second dust suction port (152) is located on the side wall (230) of the dust suction nozzle (150); when the clamping claw (130) is parallel to a horizontal plane, the second dust suction port (152) faces the ground.

3. The robotic arm according to claim 1 or 2, characterized in that: The rotation axis between the clamping claw (130) and the second end (122) of the folding arm (120) is parallel to the horizontal direction; The clamping jaw (130) passes through at least a horizontal plane and a vertical plane during the rotation relative to the second end (122) of the folding arm (120).

4. The robotic arm according to claim 1 or 2, characterized in that: A rotating joint (123) is provided between two adjacent connecting arms of the folding arm (120); Two adjacent connecting arms of the folding arm (120) are rotationally connected via the rotating joint (123).

5. The robotic arm according to claim 4, characterized in that: The dust suction pipe (140) comprises a plurality of sub-suction pipes, and at least one end of each of the sub-suction pipes is used to be connected to the rotating joint (123); wherein: One end of the sub-suction pipe closest to the clamping claw (130) is connected to the dust suction nozzle (150), and the other end is connected to the rotating joint (123).

6. The robotic arm according to claim 5, characterized in that: The number of the sub-pipes is two, and the two sub-pipes are respectively a first sub-pipe (141) and a second sub-pipe (142); The first sub-suction pipe (141) is arranged close to the clamping claw (130), one end of the first sub-suction pipe (141) is connected to the dust suction nozzle (150), and the other end of the first sub-suction pipe (141) is connected to the rotating joint (123); One end of the second sub-suction pipe (142) is communicated with the rotating joint (123), and the other end is connected to the base (110).

7. The robot arm according to claim 6, characterized in that: The number of the connecting arms is two, and the two connecting arms are respectively a first connecting arm (124) and a second connecting arm (125); wherein, One end of the first connecting arm (124) is rotationally connected to the clamping claw (130), and the other end is rotationally connected to the second connecting arm (125) via the rotating joint (123); One end of the second connecting arm (125) facing away from the first connecting arm (124) is rotatably connected to the rotating portion (111).

8. The robotic arm according to claim 1 or 2, characterized in that: Also included is a detection component (160); wherein, The detection component (160) is arranged at the second end (122) of the folding arm (120), the detection component (160) is rotationally connected to the second end (122), and the detection component (160) is at least used to detect the type of obstacles (400) in the area (300) to be cleaned.

9. The robot arm according to claim 8, characterized in that: The detection component (160) includes a visual component (161) and a sensor component (162); wherein, The sensor component (162) is used to collect category information of the target obstacle (400); The visual component (161) is used to collect image information of the target obstacle (400).

10. The robot arm according to claim 1 or 2, characterized in that: A rotation axis between the first end portion (121) of the folding arm (120) and the rotating portion (111) is parallel to a horizontal direction.

11. The robotic arm according to claim 1 or 2, characterized in that: The rotating part (111) is rotatable 360 ​​degrees relative to the fixed part (112), and a rotation axis of the rotating part (111) is parallel to the vertical direction.

12. The robotic arm according to claim 1 or 2, characterized in that: The end of the dust suction nozzle (150) is provided with a soft structure.

13. A cleaning device, characterized in that: It comprises a device body (200) and a robot arm (100) as described in any one of claims 1 to 12 above; wherein: The mechanical arm (100) is fixedly connected to the equipment body (200).

14. The cleaning device according to claim 13, characterized in that The device body (200) comprises a housing cavity (240), and the base (110) of the robot arm (100) is fixedly arranged in the housing cavity (240); wherein, The robotic arm (100) includes a folded state and an unfolded state. When the robotic arm (100) is in the folded state, the robotic arm (100) is accommodated in the accommodating cavity (240). When the robotic arm (100) is in the unfolded state, part of the structure of the robotic arm (100) extends out of the accommodating cavity (240).

15. The cleaning device according to claim 14, characterized in that The number of the mechanical arms (100) is multiple; wherein, A plurality of the robot arms (100) are arranged in the same accommodating chamber (240); or, There are a plurality of the accommodating cavities (240), and each of the accommodating cavities (240) contains a mechanical arm (100).

16. The cleaning device according to any one of claims 13 to 15, characterized in that: The device body (200) is provided with a first dust box; wherein, One end of the dust suction pipe (140) of the robot arm (100) that is away from the dust suction nozzle (150) is connected to the first dust box.

17. The cleaning device according to any one of claims 13 to 15, characterized in that: A second dust box (260) is provided on the device body (200), and a mounting cavity for assembling the second dust box (260) is provided on the top surface (210) of the device body (200); The second dust box (260) is detachably connected to the installation cavity, and the second dust box (260) is at least used to accommodate a target obstacle (400) grasped by the robot arm (100).

18. The cleaning device according to claim 17, characterized in that Also includes a visual module (270); wherein, The visual module (270) is arranged at the front end of the device body (200), and the visual module (270) is used to obtain environmental information of the area to be cleaned (300).

19. The cleaning device according to claim 18, characterized in that It also includes a control device, which is electrically connected to the device body (200), the robotic arm (100), and the visual module (270), and the control device is at least used to control the movement of the robotic arm (100).

20. A control method for a cleaning device, used for a cleaning device, characterized in that: The cleaning device comprises a device body and a mechanical arm, wherein the mechanical arm is fixedly connected to the device body; The mechanical arm includes a folded state and an unfolded state. When the mechanical arm is in the folded state, the mechanical arm is stored in the device body. When the mechanical arm is in the unfolded state, part of the structure of the mechanical arm extends out of the device body. The method comprises: Acquire first environmental information of the area to be cleaned; The device body and the robot arm are controlled according to the first environmental information to perform a cleaning operation.

21. The control method according to claim 20, characterized in that: The cleaning device is used to perform cleaning operations on an area to be cleaned, the area to be cleaned includes a conventional area and a special area, the special area includes at least one of an area where a movable obstacle exists, an area that cannot be cleaned by the device body, an area that cannot be passed by the device body, and an area that cannot be passed when the robot arm is in an extended state; The cleaning device comprises a visual module, and the visual module is used to obtain first environmental information of the area to be cleaned; The obtaining of first environmental information of the area to be cleaned includes: The visual module is controlled to obtain position information of a special area in the area to be cleaned.

22. The control method according to claim 21, characterized in that: The mechanical arm comprises: a base, comprising a fixed part and a rotating part, the rotating part is rotatably connected to the fixed part, and the fixed part is fixedly connected to the device body; A folding arm, comprising a plurality of rotatably connected connecting arms, wherein the folding arm comprises a first end and a second end, wherein the first end is rotatably connected to the rotating portion; A clamping claw, disposed at the second end of the folding arm, the clamping claw being rotatably connected to the second end, and the clamping claw being used to perform a grasping action; A dust suction pipe is arranged on the folding arm, a dust suction nozzle is arranged at one end of the dust suction pipe, the dust suction nozzle is located at the end of the clamping claw away from the second end, the dust suction nozzle is connected with the dust suction pipe, and the dust suction pipe performs a cleaning operation on the area to be cleaned through the dust suction nozzle; The controlling the device body and the robotic arm according to the first environmental information comprises: According to the first environmental information, the device body is controlled to perform a cleaning action, and according to the first environmental information, the robot arm is controlled to perform a target action in the special area; wherein, The target action includes one or more combinations of an unfolding action, a grabbing action, a carrying action, a supporting action, a vacuuming action, and a folding action.

23. The control method according to claim 22, characterized in that: The robotic arm further comprises a detection component, the detection component being used at least to detect the type of the special area; The controlling the robot arm to perform a target action in the special area according to the first environmental information includes: Determining the type of the special area according to the first environmental information; According to the type of the special area, the robot arm is controlled to perform a corresponding target action in the special area.

24. The control method according to claim 23, characterized in that: According to the type of the special area, controlling the robot arm to perform a corresponding target action in the special area includes: When the type of the special area is the area where the movable obstacle exists, the robot arm is controlled to perform a grasping action and / or a carrying action on the movable obstacle.

25. The control method according to claim 23, characterized in that: According to the type of the special area, controlling the robot arm to perform a corresponding target action in the special area includes: When the type of the special area is the area that cannot be cleaned by the device main body, the robot arm is controlled to perform a vacuuming action in the area that cannot be cleaned by the device main body.

26. The control method according to claim 23, characterized in that: According to the type of the special area, controlling the robot arm to perform a corresponding target action in the special area includes: When the type of the special area is an area through which the device body cannot pass, the robot arm is controlled to perform a supporting action to assist the device body to pass through the area through which the device body cannot pass.

27. The control method according to claim 23, characterized in that: According to the type of the special area, controlling the robot arm to perform a corresponding target action in the special area includes: When the type of the special area is an area that the robot arm cannot pass through when in the unfolded state, the robot arm is controlled to perform a folding action so that the cleaning device can pass through the area that the robot arm cannot pass through when in the unfolded state.

28. The control method according to claim 22, characterized in that: The first environmental information includes location information of a special area; The controlling the device body to perform a cleaning action according to the first environmental information, and controlling the robot arm to perform a target action in the special area according to the first environmental information, includes: Generate a first preset path according to the position information of the special area, and control the device body to perform a cleaning action along the first preset path in the area to be cleaned, wherein the first preset path passes through the special area; When the device body passes through the special area while performing the cleaning action along the first preset path, the robot arm is controlled to perform the target action in the special area.

29. The control method according to claim 22, characterized in that: The first environmental information includes location information of a special area; The controlling the device body to perform a cleaning action according to the first environmental information, and controlling the robot arm to perform a target action in the special area according to the first environmental information, includes: Generate a second preset path according to the position information of the special area, control the device body to reach the special area along the second preset path in the area to be cleaned, and control the robot arm to perform a target action in the special area, wherein the second preset path passes through the special area; After the robot arm completes the target action on all the special areas in the area to be cleaned, a third preset path is generated according to the first environmental information, and the device body is controlled to perform a cleaning action along the third preset path in the area to be cleaned.

30. The control method according to claim 22, characterized in that: The first environmental information includes location information of a special area; The controlling the device body to perform a cleaning action according to the first environmental information, and controlling the robot arm to perform a target action in the special area according to the first environmental information, includes: Generate a fourth preset path according to the position information of the special area, and control the device body to perform a cleaning action along the fourth preset path in the area to be cleaned, wherein the fourth preset path bypasses the special area; After the device body completes the cleaning action along the fourth preset path, a fifth preset path is generated according to the first environmental information, the device body is controlled to reach a special area along the fifth preset path, and the robot arm is controlled to perform a target action in the special area; The device body is controlled to perform a cleaning action on the special area after the target action is completed.

31. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the control method according to any one of claims 20 to 30 when executed by a processor.

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